+ python -m lidar_slam --no-model /working/a0cbbdfb-dfc8-4cbe-b397-d4750ceff92a Lidar SLAM 0.0.15 ===================================================== The recording path: /working/a0cbbdfb-dfc8-4cbe-b397-d4750ceff92a 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 0.015898227 Adjusted end_distance from 9.223372036854776e+18 to 397.625898227 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.015898227 meters Centerline goodness : 0.235106 Centerline is valid? [0, False] SLAMing on 0.045898227 meters Centerline goodness : 0.271009 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99999703e-01 6.36224846e-04 -4.35523062e-04 9.12558899e-03] [-6.35976014e-04 9.99999635e-01 5.71241726e-04 -4.18682040e-03] [ 4.35886341e-04 -5.70964574e-04 9.99999742e-01 -3.87960793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.075898227 meters Centerline goodness : 0.238043 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99998854e-01 1.08356926e-03 -1.05763670e-03 1.49616908e-02] [-1.08277846e-03 9.99999134e-01 7.47992763e-04 -3.55232954e-03] [ 1.05844629e-03 -7.46846720e-04 9.99999161e-01 -6.54054333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.105898227 meters Centerline goodness : 0.121333 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.99999719 0.00169931 -0.0016521 0.02151727] [-0.00169756 0.99999799 0.00106386 -0.00368753] [ 0.0016539 -0.00106105 0.99999807 -0.01016355] [ 0. 0. 0. 1. ]] SLAMing on 0.13589822699999998 meters Centerline goodness : 0.152935 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99999546 0.00221719 -0.00204086 0.0270142 ] [-0.00221426 0.99999651 0.00144009 -0.00573094] [ 0.00204405 -0.00143556 0.99999688 -0.01343233] [ 0. 0. 0. 1. ]] SLAMing on 0.165898227 meters Centerline goodness : 0.227538 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 0.99999293 0.00275558 -0.00255781 0.03323071] [-0.00275108 0.99999467 0.00176067 -0.00659308] [ 0.00256265 -0.00175362 0.99999518 -0.01691268] [ 0. 0. 0. 1. ]] SLAMing on 0.19589822699999998 meters Centerline goodness : 0.228912 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 0.99998916 0.00354589 -0.00301901 0.04350867] [-0.00353986 0.99999173 0.0020004 -0.00870988] [ 0.00302608 -0.00198969 0.99999344 -0.02086473] [ 0. 0. 0. 1. ]] SLAMing on 0.225898227 meters Centerline goodness : 0.241494 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 0.9999855 0.00404373 -0.00355645 0.04972603] [-0.00403561 0.99998924 0.00228639 -0.00981198] [ 0.00356566 -0.002272 0.99999106 -0.02383509] [ 0. 0. 0. 1. ]] SLAMing on 0.255898227 meters Centerline goodness : 0.283642 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.03 [[ 0.99998167 0.00336223 -0.00503453 0.06619033] [-0.00335504 0.99999334 0.00143526 -0.01035764] [ 0.00503932 -0.00141835 0.9999863 -0.03001353] [ 0. 0. 0. 1. ]] SLAMing on 0.285898227 meters Centerline goodness : 0.300045 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.03 [[ 0.9999777 0.00381095 -0.00548493 0.0718881 ] [-0.00380132 0.99999122 0.00176464 -0.01271335] [ 0.0054916 -0.00174375 0.9999834 -0.03270254] [ 0. 0. 0. 1. ]] SLAMing on 0.315898227 meters Centerline goodness : 0.314442 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.04 [[ 0.99997317 0.00424051 -0.00597373 0.07760832] [-0.00422902 0.99998919 0.00193393 -0.0133431 ] [ 0.00598187 -0.00190861 0.99998029 -0.03531521] [ 0. 0. 0. 1. ]] SLAMing on 0.34589822699999995 meters Centerline goodness : 0.314235 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.04 [[ 0.99996949 0.0047315 -0.00621495 0.08273824] [-0.00471795 0.99998647 0.00219324 -0.01548496] [ 0.00622524 -0.00216385 0.99997828 -0.03788042] [ 0. 0. 0. 1. ]] SLAMing on 0.375898227 meters Centerline goodness : 0.309468 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.04 [[ 0.99997753 0.00146547 -0.00654129 0.0871505 ] [-0.00147921 0.99999671 -0.00209659 -0.01074516] [ 0.0065382 0.00210622 0.99997641 -0.03847484] [ 0. 0. 0. 1. ]] SLAMing on 0.405898227 meters Centerline goodness : 0.274795 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.04 [[ 0.99997244 0.00211333 -0.00711713 0.09410087] [-0.0021262 0.99999612 -0.00180089 -0.01155094] [ 0.0071133 0.00181598 0.99997305 -0.04185148] [ 0. 0. 0. 1. ]] SLAMing on 0.43589822699999997 meters Centerline goodness : 0.288477 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.04 [[ 0.9999202 0.0067637 -0.01066959 0.12484736] [-0.00679826 0.99997175 -0.00320606 -0.00784113] [ 0.0106476 0.00327834 0.99993794 -0.03769216] [ 0. 0. 0. 1. ]] SLAMing on 0.46589822699999994 meters Centerline goodness : 0.310049 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.04 [[ 0.9999029 0.00776024 -0.01157486 0.13427204] [-0.0077925 0.99996587 -0.0027449 -0.00763409] [ 0.01155316 0.00283484 0.99992924 -0.04221164] [ 0. 0. 0. 1. ]] SLAMing on 0.49589822699999997 meters Centerline goodness : 0.304594 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:-0.05 [[ 0.99988693 0.00848377 -0.0124157 0.14252534] [-0.00851565 0.99996057 -0.00251676 -0.00716223] [ 0.01239386 0.0026222 0.99991975 -0.04574059] [ 0. 0. 0. 1. ]] SLAMing on 0.525898227 meters Centerline goodness : 0.161236 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.05 [[ 0.99987076 0.00915075 -0.0132183 0.15025038] [-0.00918158 0.99995526 -0.00227348 -0.00670502] [ 0.01319691 0.00239455 0.99991005 -0.04896002] [ 0. 0. 0. 1. ]] SLAMing on 0.555898227 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.5858982269999999 meters Centerline goodness : 0.117495 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.05 [[ 0.99984299 0.01417718 -0.01063035 0.22074629] [-0.01414679 0.99989564 0.00292884 -0.00539779] [ 0.01067076 -0.00277799 0.99993921 -0.05254255] [ 0. 0. 0. 1. ]] SLAMing on 0.615898227 meters Centerline goodness : 0.311105 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.06 [[ 0.99982884 0.01471641 -0.01121219 0.22770518] [-0.01468149 0.99988713 0.00318991 -0.00585282] [ 0.01125787 -0.00302475 0.99993205 -0.05574241] [ 0. 0. 0. 1. ]] SLAMing on 0.645898227 meters Centerline goodness : 0.293815 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.06 [[ 0.99981413 0.01523668 -0.01181293 0.23487086] [-0.01519641 0.99987843 0.00349116 -0.00729981] [ 0.01186469 -0.003311 0.99992413 -0.0592437 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6758982269999999 meters Centerline goodness : 0.299305 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.00, Z:-0.06 [[ 0.99970362 0.01866473 -0.01563007 0.26712155] [-0.01863783 0.99982456 0.00186483 -0.00492991] [ 0.01566214 -0.00157297 0.9998761 -0.05714671] [ 0. 0. 0. 1. ]] SLAMing on 0.7058982269999999 meters Centerline goodness : 0.359962 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.00, Z:-0.06 [[ 0.99967721 0.01942368 -0.01637659 0.27524917] [-0.01938959 0.9998095 0.00223807 -0.00374577] [ 0.01641695 -0.00191981 0.99986339 -0.06104343] [ 0. 0. 0. 1. ]] SLAMing on 0.735898227 meters Centerline goodness : 0.095012 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.00, Z:-0.06 [[ 0.99965422 0.01999488 -0.01707778 0.28250548] [-0.01995584 0.99979785 0.00245312 -0.00242862] [ 0.01712338 -0.00211147 0.99985115 -0.06412409] [ 0. 0. 0. 1. ]] SLAMing on 0.765898227 meters Centerline goodness : 0.267475 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.00, Z:-0.07 [[ 0.99963438 0.02045766 -0.01768003 0.28927149] [-0.02041369 0.99978807 0.00266396 -0.00258689] [ 0.01773078 -0.00230207 0.99984015 -0.06712825] [ 0. 0. 0. 1. ]] SLAMing on 0.795898227 meters Centerline goodness : 0.105195 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.00, Z:-0.07 [[ 0.99961422 0.0208995 -0.0182927 0.29628923] [-0.02084961 0.99977838 0.00291369 -0.00374842] [ 0.01834954 -0.00253117 0.99982843 -0.07042037] [ 0. 0. 0. 1. ]] SLAMing on 0.8258982269999999 meters Centerline goodness : 0.152618 Centerline is valid? [False, False] Translation: X:0.34, Y:0.00, Z:-0.06 [[ 9.99482129e-01 2.09769058e-02 -2.44017138e-02 3.35183817e-01] [-2.09513870e-02 9.99779649e-01 1.30100234e-03 2.95138627e-03] [ 2.44236279e-02 -7.89078842e-04 9.99701387e-01 -5.93773666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.855898227 meters Centerline goodness : 0.314793 Centerline is valid? [False, False] Translation: X:0.34, Y:0.00, Z:-0.06 [[ 9.99452695e-01 2.14841747e-02 -2.51543537e-02 3.43025408e-01] [-2.14555086e-02 9.99768811e-01 1.40897578e-03 4.47727372e-03] [ 2.51788089e-02 -8.68505191e-04 9.99682586e-01 -6.23893954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.885898227 meters Centerline goodness : 0.152423 Centerline is valid? [False, False] Translation: X:0.35, Y:0.01, Z:-0.07 [[ 9.99421769e-01 2.19906603e-02 -2.59333465e-02 3.51187572e-01] [-2.19583209e-02 9.99757714e-01 1.53117154e-03 5.86641453e-03] [ 2.59607347e-02 -9.60833425e-04 9.99662502e-01 -6.56740178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9158982269999999 meters Centerline goodness : 0.154320 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:-0.07 [[ 0.99938982 0.02250417 -0.02671244 0.35938036] [-0.02246624 0.99974612 0.00171912 0.00620213] [ 0.02674434 -0.00111794 0.99964168 -0.06896204] [ 0. 0. 0. 1. ]] SLAMing on 0.9458982269999999 meters Centerline goodness : 0.151171 Centerline is valid? [False, False] Translation: X:0.37, Y:0.01, Z:-0.07 [[ 0.99935903 0.02300036 -0.02743208 0.36735365] [-0.0229559 0.99973461 0.00193468 0.00551101] [ 0.0274693 -0.00130371 0.9996218 -0.0722508 ] [ 0. 0. 0. 1. ]] SLAMing on 0.975898227 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.005898227 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.0358982270000001 meters Centerline goodness : 0.150342 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:-0.07 [[ 9.99276465e-01 2.62054203e-02 -2.75648631e-02 4.54438716e-01] [-2.61847834e-02 9.99656504e-01 1.10942153e-03 1.24352849e-02] [ 2.75844675e-02 -3.86838859e-04 9.99619401e-01 -7.48654404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0658982270000001 meters Centerline goodness : 0.150342 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:-0.07 [[ 9.99276465e-01 2.62054203e-02 -2.75648631e-02 4.54438716e-01] [-2.61847834e-02 9.99656504e-01 1.10942153e-03 1.24352849e-02] [ 2.75844675e-02 -3.86838859e-04 9.99619401e-01 -7.48654404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0958982270000002 meters Centerline goodness : 0.156289 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:-0.07 [[ 0.99902309 0.02842962 -0.0338324 0.49475872] [-0.02832088 0.99959208 0.00368913 0.017049 ] [ 0.03392348 -0.00272736 0.99942071 -0.06696975] [ 0. 0. 0. 1. ]] SLAMing on 1.125898227 meters Centerline goodness : 0.154120 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:-0.07 [[ 0.99899044 0.02890785 -0.03438668 0.501133 ] [-0.02879746 0.99957841 0.00370144 0.01878865] [ 0.03447919 -0.00270745 0.99940175 -0.06933934] [ 0. 0. 0. 1. ]] SLAMing on 1.155898227 meters Centerline goodness : 0.149857 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.07 [[ 0.9989563 0.02941764 -0.0349417 0.5074641 ] [-0.02930201 0.99956332 0.00381681 0.01972102] [ 0.03503872 -0.00278897 0.99938206 -0.07176657] [ 0. 0. 0. 1. ]] SLAMing on 1.185898227 meters Centerline goodness : 0.149830 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.07 [[ 0.99892206 0.02990507 -0.03550207 0.51436517] [-0.02978177 0.99954843 0.00399684 0.02017685] [ 0.03560556 -0.00293522 0.99936161 -0.07473866] [ 0. 0. 0. 1. ]] SLAMing on 1.215898227 meters Centerline goodness : 0.148195 Centerline is valid? [False, False] Translation: X:0.54, Y:0.02, Z:-0.08 [[ 0.99910599 0.02176032 -0.03624501 0.54079257] [-0.02144049 0.99972789 0.00918937 0.02434452] [ 0.03643511 -0.00840404 0.99930068 -0.07910378] [ 0. 0. 0. 1. ]] SLAMing on 1.245898227 meters Centerline goodness : 0.152940 Centerline is valid? [False, False] Translation: X:0.55, Y:0.02, Z:-0.08 [[ 0.9990804 0.02201698 -0.0367915 0.54732411] [-0.02168354 0.99972034 0.00943757 0.02285784] [ 0.03698899 -0.00863112 0.9992784 -0.08203081] [ 0. 0. 0. 1. ]] SLAMing on 1.275898227 meters Centerline goodness : 0.150775 Centerline is valid? [False, False] Translation: X:0.58, Y:0.02, Z:-0.09 [[ 0.99938143 0.01819833 -0.03009277 0.58311118] [-0.01782982 0.99976328 0.0124691 0.02274905] [ 0.03031257 -0.01192484 0.99946933 -0.08844182] [ 0. 0. 0. 1. ]] SLAMing on 1.3058982270000001 meters Centerline goodness : 0.146651 Centerline is valid? [False, False] Translation: X:0.59, Y:0.03, Z:-0.09 [[ 0.99941719 0.01478214 -0.03076956 0.58973252] [-0.01452655 0.99985824 0.00851364 0.02614906] [ 0.03089104 -0.0080617 0.99949025 -0.09053121] [ 0. 0. 0. 1. ]] SLAMing on 1.335898227 meters Centerline goodness : 0.149643 Centerline is valid? [False, False] Translation: X:0.61, Y:0.02, Z:-0.11 [[ 0.99961238 0.01626271 -0.0225969 0.60548778] [-0.01610127 0.99984366 0.00730797 0.02485147] [ 0.02271222 -0.0069413 0.99971795 -0.11132102] [ 0. 0. 0. 1. ]] SLAMing on 1.365898227 meters Centerline goodness : 0.145181 Centerline is valid? [False, False] Translation: X:0.63, Y:0.03, Z:-0.12 [[ 0.99972921 0.00736427 -0.0220744 0.62969453] [-0.00708918 0.99989656 0.01251473 0.02896345] [ 0.02216428 -0.01235485 0.999678 -0.11585648] [ 0. 0. 0. 1. ]] SLAMing on 1.395898227 meters Centerline goodness : 0.146031 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.12 [[ 0.99972835 0.00397807 -0.02296543 0.63742896] [-0.00377938 0.99995511 0.0086886 0.032628 ] [ 0.02299897 -0.00859945 0.9996985 -0.11829641] [ 0. 0. 0. 1. ]] SLAMing on 1.425898227 meters Centerline goodness : 0.145555 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.12 [[ 9.99719053e-01 2.75079568e-04 -2.37010346e-02 6.43959911e-01] [-1.65464074e-04 9.99989283e-01 4.62676139e-03 3.57571930e-02] [ 2.37020534e-02 -4.62153985e-03 9.99708384e-01 -1.20246914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.455898227 meters Centerline goodness : 0.144330 Centerline is valid? [False, False] Translation: X:0.66, Y:0.03, Z:-0.14 [[ 9.99863802e-01 1.00167351e-03 -1.64734184e-02 6.60994568e-01] [-9.49831375e-04 9.99994573e-01 3.15454047e-03 3.38740558e-02] [ 1.64764888e-02 -3.13846385e-03 9.99859328e-01 -1.41764989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.485898227 meters Centerline goodness : 0.144612 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:-0.15 [[ 9.99837611e-01 -2.74293530e-03 -1.78108961e-02 6.73999719e-01] [ 2.72869951e-03 9.99995938e-01 -8.23527115e-04 3.56926348e-02] [ 1.78130826e-02 7.74792800e-04 9.99841034e-01 -1.46583789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.515898227 meters Centerline goodness : 0.145950 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.15 [[ 0.99981604 -0.0034574 -0.01886595 0.68553776] [ 0.00343316 0.99999324 -0.00131732 0.03720398] [ 0.01887037 0.00125231 0.99982115 -0.15330674] [ 0. 0. 0. 1. ]] SLAMing on 1.5458982270000001 meters Centerline goodness : 0.145043 Centerline is valid? [False, False] Translation: X:0.70, Y:0.04, Z:-0.16 [[ 0.99979129 -0.00430834 -0.01997034 0.69716492] [ 0.00427095 0.99998905 -0.00191444 0.03892868] [ 0.01997837 0.00182875 0.99979874 -0.15989338] [ 0. 0. 0. 1. ]] SLAMing on 1.5758982270000002 meters Centerline goodness : 0.144858 Centerline is valid? [False, False] Translation: X:0.70, Y:0.04, Z:-0.16 [[ 0.99977956 -0.00422874 -0.02056572 0.7034369 ] [ 0.0041938 0.99998969 -0.001742 0.03781243] [ 0.02057287 0.00165537 0.99978699 -0.16308167] [ 0. 0. 0. 1. ]] SLAMing on 1.605898227 meters Centerline goodness : 0.339864 Centerline is valid? [False, False] Translation: X:0.72, Y:0.04, Z:-0.18 [[ 0.9999124 -0.00419488 -0.0125538 0.72466569] [ 0.00414256 0.99998264 -0.00419072 0.03832515] [ 0.01257116 0.00413835 0.99991242 -0.183336 ] [ 0. 0. 0. 1. ]] SLAMing on 1.635898227 meters Centerline goodness : 0.338365 Centerline is valid? [False, False] Translation: X:0.73, Y:0.04, Z:-0.18 [[ 0.99990615 -0.00429115 -0.01301043 0.7282079 ] [ 0.00423681 0.9999822 -0.00420121 0.03797979] [ 0.01302823 0.00414569 0.99990653 -0.18408187] [ 0. 0. 0. 1. ]] SLAMing on 1.665898227 meters Centerline goodness : 0.142892 Centerline is valid? [False, False] Translation: X:0.73, Y:0.04, Z:-0.18 [[ 0.99990061 -0.00442951 -0.0133847 0.73117479] [ 0.00437308 0.99998144 -0.00424223 0.03768073] [ 0.01340325 0.00418328 0.99990142 -0.18467587] [ 0. 0. 0. 1. ]] SLAMing on 1.695898227 meters Centerline goodness : 0.143278 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.19 [[ 0.99992082 -0.01048859 -0.00695278 0.7681843 ] [ 0.01046921 0.99994123 -0.00281713 0.03820322] [ 0.00698192 0.00274412 0.99997186 -0.19277047] [ 0. 0. 0. 1. ]] SLAMing on 1.725898227 meters Centerline goodness : 0.141448 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.19 [[ 0.99991682 -0.01060987 -0.00733313 0.77156446] [ 0.01059011 0.9999402 -0.00272852 0.03647393] [ 0.00736164 0.00265064 0.99996939 -0.19398363] [ 0. 0. 0. 1. ]] SLAMing on 1.755898227 meters Centerline goodness : 0.140608 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.20 [[ 0.99991415 -0.0105326 -0.00779434 0.77575954] [ 0.0105128 0.99994142 -0.00257786 0.03529329] [ 0.00782104 0.00249569 0.9999663 -0.19538591] [ 0. 0. 0. 1. ]] SLAMing on 1.7858982270000001 meters Centerline goodness : 0.141441 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.20 [[ 0.99991056 -0.01056401 -0.00820178 0.77881967] [ 0.01054256 0.9999409 -0.00265453 0.03559906] [ 0.00822933 0.00256783 0.99996284 -0.19576035] [ 0. 0. 0. 1. ]] SLAMing on 1.815898227 meters Centerline goodness : 0.141376 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.20 [[ 0.99990865 -0.01035529 -0.00868643 0.7832822 ] [ 0.01033412 0.99994353 -0.00247848 0.03503982] [ 0.0087116 0.00238849 0.9999592 -0.19737422] [ 0. 0. 0. 1. ]] SLAMing on 1.845898227 meters Centerline goodness : 0.141090 Centerline is valid? [False, False] Translation: X:0.79, Y:0.03, Z:-0.20 [[ 0.99990761 -0.01013174 -0.00906177 0.78752927] [ 0.01011199 0.9999464 -0.00222278 0.03359072] [ 0.00908381 0.00213095 0.99995647 -0.19948626] [ 0. 0. 0. 1. ]] SLAMing on 1.875898227 meters Centerline goodness : 0.140753 Centerline is valid? [False, False] Translation: X:0.79, Y:0.03, Z:-0.20 [[ 0.99989327 -0.01131547 -0.00924186 0.79138479] [ 0.01129301 0.99993316 -0.00247909 0.03118634] [ 0.0092693 0.00237446 0.99995422 -0.1998256 ] [ 0. 0. 0. 1. ]] SLAMing on 1.905898227 meters Centerline goodness : 0.138946 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.20 [[ 0.99988901 -0.01127357 -0.00973993 0.79630069] [ 0.01125339 0.99993442 -0.00212388 0.02861439] [ 0.00976324 0.00201403 0.99995031 -0.20225946] [ 0. 0. 0. 1. ]] SLAMing on 1.935898227 meters Centerline goodness : 0.140372 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.20 [[ 0.99988459 -0.01119832 -0.0102668 0.80083026] [ 0.01117949 0.99993572 -0.00189032 0.02693921] [ 0.01028731 0.00177532 0.99994551 -0.20409954] [ 0. 0. 0. 1. ]] SLAMing on 1.965898227 meters Centerline goodness : 0.138200 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.21 [[ 0.99985272 -0.01235132 -0.01191586 0.81682694] [ 0.01232296 0.99992107 -0.00245008 0.02819824] [ 0.01194518 0.00230288 0.999926 -0.2125983 ] [ 0. 0. 0. 1. ]] SLAMing on 1.995898227 meters Centerline goodness : 0.136752 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.21 [[ 0.99984962 -0.01213474 -0.01238877 0.82138544] [ 0.01210703 0.99992404 -0.00230948 0.02798057] [ 0.01241585 0.00215914 0.99992059 -0.21470938] [ 0. 0. 0. 1. ]] SLAMing on 2.025898227 meters Centerline goodness : 0.137302 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.22 [[ 0.99984814 -0.01179811 -0.0128255 0.82615162] [ 0.01177153 0.99992841 -0.00214577 0.02858485] [ 0.0128499 0.00199447 0.99991545 -0.21713732] [ 0. 0. 0. 1. ]] SLAMing on 2.055898227 meters Centerline goodness : 0.136855 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.22 [[ 0.99984557 -0.01134657 -0.01341994 0.83173479] [ 0.01132116 0.99993398 -0.00196837 0.02992999] [ 0.01344138 0.00181614 0.99990801 -0.21947328] [ 0. 0. 0. 1. ]] SLAMing on 2.085898227 meters Centerline goodness : 0.136014 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.22 [[ 0.9998401 -0.01130598 -0.01385428 0.83477161] [ 0.01127591 0.9999339 -0.00224685 0.03250289] [ 0.01387877 0.00209027 0.9999015 -0.21979728] [ 0. 0. 0. 1. ]] SLAMing on 2.115898227 meters Centerline goodness : 0.134112 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.23 [[ 0.99992664 -0.00991437 -0.00695854 0.86052585] [ 0.00987162 0.99993235 -0.00615118 0.03424327] [ 0.00701906 0.00608204 0.99995687 -0.23233658] [ 0. 0. 0. 1. ]] SLAMing on 2.145898227 meters Centerline goodness : 0.133383 Centerline is valid? [False, False] Translation: X:0.87, Y:0.03, Z:-0.24 [[ 0.99992257 -0.00995955 -0.00746013 0.86539316] [ 0.00991723 0.99993464 -0.00568913 0.03086626] [ 0.00751631 0.0056147 0.99995599 -0.23546281] [ 0. 0. 0. 1. ]] SLAMing on 2.1758982270000002 meters Centerline goodness : 0.133417 Centerline is valid? [False, False] Translation: X:0.87, Y:0.03, Z:-0.24 [[ 0.99991936 -0.00992009 -0.00792856 0.87018731] [ 0.00987865 0.99993743 -0.00524923 0.02818118] [ 0.00798014 0.00517049 0.99995479 -0.2386131 ] [ 0. 0. 0. 1. ]] SLAMing on 2.205898227 meters Centerline goodness : 0.135191 Centerline is valid? [False, False] Translation: X:0.87, Y:0.03, Z:-0.24 [[ 0.9999166 -0.00983336 -0.00837279 0.8741583 ] [ 0.00979299 0.99994029 -0.00484873 0.02599024] [ 0.00841997 0.00476633 0.99995319 -0.24087196] [ 0. 0. 0. 1. ]] SLAMing on 2.235898227 meters Centerline goodness : 0.133565 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.24 [[ 0.99990351 -0.0107239 -0.00883001 0.87607815] [ 0.01068156 0.9999313 -0.00482762 0.02292571] [ 0.00888118 0.00473283 0.99994936 -0.24122315] [ 0. 0. 0. 1. ]] SLAMing on 2.265898227 meters Centerline goodness : 0.135995 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.24 [[ 0.99983904 -0.01508312 -0.00971558 0.88087166] [ 0.01499886 0.99984977 -0.00868769 0.02129325] [ 0.00984516 0.00854057 0.99991506 -0.24012463] [ 0. 0. 0. 1. ]] SLAMing on 2.295898227 meters Centerline goodness : 0.132437 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.24 [[ 0.99983595 -0.01498139 -0.01017945 0.88468969] [ 0.01489926 0.99985622 -0.0080963 0.01770953] [ 0.01029928 0.0079433 0.99991541 -0.24214473] [ 0. 0. 0. 1. ]] SLAMing on 2.325898227 meters Centerline goodness : 0.131789 Centerline is valid? [False, False] Translation: X:0.89, Y:0.01, Z:-0.24 [[ 0.99983444 -0.01476991 -0.01062697 0.88868071] [ 0.01469063 0.99986396 -0.00750034 0.01437233] [ 0.0107363 0.00734298 0.9999154 -0.2443899 ] [ 0. 0. 0. 1. ]] SLAMing on 2.355898227 meters Centerline goodness : 0.131210 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.25 [[ 0.99983177 -0.01440686 -0.01135227 0.89527999] [ 0.01433089 0.99987456 -0.00674494 0.01146834] [ 0.01144802 0.00658112 0.99991281 -0.24762203] [ 0. 0. 0. 1. ]] SLAMing on 2.385898227 meters Centerline goodness : 0.132581 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.25 [[ 0.99982929 -0.01426913 -0.01173776 0.89781441] [ 0.0141909 0.99987672 -0.00672102 0.01181474] [ 0.01183222 0.00655331 0.99990852 -0.24805874] [ 0. 0. 0. 1. ]] SLAMing on 2.415898227 meters Centerline goodness : 0.132093 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.25 [[ 0.99983005 -0.01381795 -0.01220359 0.90181575] [ 0.01374102 0.99988532 -0.00636584 0.01149402] [ 0.01229016 0.00619707 0.99990527 -0.24989741] [ 0. 0. 0. 1. ]] SLAMing on 2.445898227 meters Centerline goodness : 0.133309 Centerline is valid? [False, False] Translation: X:0.92, Y:0.01, Z:-0.25 [[ 0.99983428 -0.01125116 -0.01431152 0.9173518 ] [ 0.01115195 0.99991336 -0.006993 0.00938753] [ 0.01438896 0.00683224 0.99987313 -0.24689777] [ 0. 0. 0. 1. ]] SLAMing on 2.475898227 meters Centerline goodness : 0.131227 Centerline is valid? [False, False] Translation: X:0.92, Y:0.01, Z:-0.25 [[ 0.9998318 -0.01096844 -0.0146989 0.92005658] [ 0.01086652 0.99991649 -0.00699554 0.01020663] [ 0.0147744 0.00683464 0.99986749 -0.24765947] [ 0. 0. 0. 1. ]] SLAMing on 2.505898227 meters Centerline goodness : 0.133910 Centerline is valid? [False, False] Translation: X:0.93, Y:0.01, Z:-0.25 [[ 0.99986501 -0.00618829 -0.01522068 0.92589011] [ 0.0061562 0.99997873 -0.00215447 0.00838637] [ 0.01523369 0.00206047 0.99988184 -0.25199917] [ 0. 0. 0. 1. ]] SLAMing on 2.535898227 meters Centerline goodness : 0.133453 Centerline is valid? [False, False] Translation: X:0.93, Y:0.01, Z:-0.25 [[ 0.99986033 -0.00551433 -0.01577727 0.93034944] [ 0.0054843 0.99998307 -0.00194605 0.01040184] [ 0.01578773 0.00185926 0.99987364 -0.25393337] [ 0. 0. 0. 1. ]] SLAMing on 2.565898227 meters Centerline goodness : 0.131657 Centerline is valid? [False, False] Translation: X:0.95, Y:0.01, Z:-0.25 [[ 0.99983856 -0.00142498 -0.01791149 0.94934658] [ 0.00138303 0.99999627 -0.00235411 0.01015815] [ 0.01791478 0.00232896 0.99983681 -0.2522049 ] [ 0. 0. 0. 1. ]] SLAMing on 2.595898227 meters Centerline goodness : 0.130679 Centerline is valid? [False, False] Translation: X:0.95, Y:0.01, Z:-0.26 [[ 9.99829550e-01 -5.60877540e-04 -1.84541452e-02 9.54630825e-01] [ 5.26239677e-04 9.99998091e-01 -1.88177182e-03 1.18692244e-02] [ 1.84551654e-02 1.87173977e-03 9.99827937e-01 -2.55164822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.625898227 meters Centerline goodness : 0.130195 Centerline is valid? [False, False] Translation: X:0.96, Y:0.01, Z:-0.26 [[ 9.99820827e-01 -2.40049169e-05 -1.89291554e-02 9.58229669e-01] [-9.22082940e-06 9.99998460e-01 -1.75517906e-03 1.35304362e-02] [ 1.89291684e-02 1.75503912e-03 9.99819287e-01 -2.56545470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.655898227 meters Centerline goodness : 0.133006 Centerline is valid? [False, False] Translation: X:0.96, Y:0.02, Z:-0.26 [[ 0.99980598 0.00115741 -0.01966381 0.96464666] [-0.0011832 0.99999846 -0.00129963 0.01627229] [ 0.01966228 0.00132264 0.9998058 -0.25905058] [ 0. 0. 0. 1. ]] SLAMing on 2.685898227 meters Centerline goodness : 0.135842 Centerline is valid? [False, False] Translation: X:0.97, Y:0.02, Z:-0.26 [[ 0.9997974 0.00139288 -0.02008037 0.96701209] [-0.00142174 0.99999798 -0.00142334 0.01827854] [ 0.02007834 0.0014516 0.99979736 -0.2594152 ] [ 0. 0. 0. 1. ]] SLAMing on 2.715898227 meters Centerline goodness : 0.132759 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.26 [[ 0.99974019 0.00506418 -0.02222416 0.98507997] [-0.00511343 0.99998459 -0.00215951 0.01794238] [ 0.02221288 0.00227259 0.99975068 -0.25675737] [ 0. 0. 0. 1. ]] SLAMing on 2.745898227 meters Centerline goodness : 0.134615 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.26 [[ 0.99969895 0.00964869 -0.02255926 0.98943994] [-0.00959754 0.99995112 0.00237472 0.01805282] [ 0.02258107 -0.0021575 0.99974269 -0.26022482] [ 0. 0. 0. 1. ]] SLAMing on 2.775898227 meters Centerline goodness : 0.134579 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.26 [[ 0.99960377 0.01368016 -0.02459974 1.00825377] [-0.013644 0.99990558 0.00163722 0.01849899] [ 0.02461981 -0.00130093 0.99969604 -0.25804895] [ 0. 0. 0. 1. ]] SLAMing on 2.805898227 meters Centerline goodness : 0.134055 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.26 [[ 0.9995896 0.01391987 -0.02503737 1.01053453] [-0.01388898 0.99990255 0.00140718 0.02144335] [ 0.02505451 -0.00105886 0.99968553 -0.25814091] [ 0. 0. 0. 1. ]] SLAMing on 2.835898227 meters Centerline goodness : 0.132937 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.26 [[ 9.99579347e-01 1.40019450e-02 -2.53983328e-02 1.01218060e+00] [-1.39771527e-02 9.99901650e-01 1.15340951e-03 2.37350416e-02] [ 2.54119848e-02 -7.97927953e-04 9.99676745e-01 -2.57873846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.865898227 meters Centerline goodness : 0.134331 Centerline is valid? [False, False] Translation: X:1.03, Y:0.02, Z:-0.27 [[ 0.99977459 0.00912519 -0.01917017 1.03113593] [-0.00896904 0.99992603 0.00821585 0.0210241 ] [ 0.01924373 -0.00804206 0.99978248 -0.2658525 ] [ 0. 0. 0. 1. ]] SLAMing on 2.895898227 meters Centerline goodness : 0.132506 Centerline is valid? [False, False] Translation: X:1.03, Y:0.02, Z:-0.26 [[ 0.99979581 0.00470411 -0.01965201 1.03209448] [-0.00462661 0.99998135 0.00398679 0.02029085] [ 0.01967039 -0.00389506 0.99979893 -0.26427193] [ 0. 0. 0. 1. ]] SLAMing on 2.925898227 meters Centerline goodness : 0.130775 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.26 [[ 9.99793401e-01 4.97935228e-04 -2.03201018e-02 1.03537153e+00] [-5.01664262e-04 9.99999858e-01 -1.78417472e-04 2.06809311e-02] [ 2.03200100e-02 1.88574480e-04 9.99793509e-01 -2.64798272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.955898227 meters Centerline goodness : 0.130775 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.26 [[ 9.99793401e-01 4.97935228e-04 -2.03201018e-02 1.03537153e+00] [-5.01664262e-04 9.99999858e-01 -1.78417472e-04 2.06809311e-02] [ 2.03200100e-02 1.88574480e-04 9.99793509e-01 -2.64798272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.985898227 meters Centerline goodness : 0.130714 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.27 [[ 9.99787725e-01 6.03882170e-04 -2.05946822e-02 1.03703348e+00] [-6.06714653e-04 9.99999807e-01 -1.31286743e-04 2.10641970e-02] [ 2.05945990e-02 1.43753970e-04 9.99787898e-01 -2.65597139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.015898227 meters Centerline goodness : 0.130180 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.27 [[ 9.99781040e-01 8.11814419e-04 -2.09096256e-02 1.03855194e+00] [-8.14296516e-04 9.99999662e-01 -1.10191980e-04 2.18278765e-02] [ 2.09095291e-02 1.27194488e-04 9.99781364e-01 -2.65867660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.045898227 meters Centerline goodness : 0.122952 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.26 [[ 9.99774798e-01 1.18162384e-03 -2.11886123e-02 1.03966919e+00] [-1.18395486e-03 9.99999294e-01 -9.74683240e-05 2.27995067e-02] [ 2.11884822e-02 1.22532734e-04 9.99775491e-01 -2.64466862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.075898227 meters Centerline goodness : 0.123000 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.27 [[ 9.99971121e-01 1.35406637e-03 -7.47816141e-03 1.04254388e+00] [-1.34726290e-03 9.99998674e-01 9.14740376e-04 2.01708873e-02] [ 7.47939011e-03 -9.04638910e-04 9.99971620e-01 -2.69409356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.105898227 meters Centerline goodness : 0.121035 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.27 [[ 0.99996991 0.00148691 -0.0076133 1.0434137 ] [-0.00147803 0.99999822 0.00117222 0.01864703] [ 0.00761503 -0.00116093 0.99997033 -0.26984811] [ 0. 0. 0. 1. ]] SLAMing on 3.135898227 meters Centerline goodness : 0.121422 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.27 [[ 0.9999683 0.00170731 -0.00777776 1.04483491] [-0.00169532 0.99999737 0.00154777 0.01693331] [ 0.00778038 -0.00153454 0.99996855 -0.27115615] [ 0. 0. 0. 1. ]] SLAMing on 3.165898227 meters Centerline goodness : 0.094855 Centerline is valid? [False, False] Translation: X:1.05, Y:0.02, Z:-0.27 [[ 0.99995908 0.00280944 -0.00859945 1.04993555] [-0.00278771 0.99999289 0.00253796 0.01594932] [ 0.00860652 -0.00251388 0.9999598 -0.27402459] [ 0. 0. 0. 1. ]] SLAMing on 3.195898227 meters Centerline goodness : 0.094575 Centerline is valid? [False, False] Translation: X:1.05, Y:0.02, Z:-0.27 [[ 0.99995392 0.00312543 -0.0090771 1.05149144] [-0.0031028 0.99999205 0.00250576 0.01741965] [ 0.00908486 -0.00247748 0.99995566 -0.27349043] [ 0. 0. 0. 1. ]] SLAMing on 3.225898227 meters Centerline goodness : 0.096508 Centerline is valid? [False, False] Translation: X:1.05, Y:0.01, Z:-0.27 [[ 0.99993208 0.00735084 -0.00904383 1.05198866] [-0.00728675 0.99994825 0.00709965 0.01473798] [ 0.00909555 -0.00703327 0.9999339 -0.27460182] [ 0. 0. 0. 1. ]] SLAMing on 3.255898227 meters Centerline goodness : 0.089894 Centerline is valid? [False, False] Translation: X:1.07, Y:0.02, Z:-0.27 [[ 0.9999025 0.01023261 -0.00950192 1.07105807] [-0.01020021 0.99994202 0.00345255 0.01547432] [ 0.0095367 -0.00335529 0.9999489 -0.27159827] [ 0. 0. 0. 1. ]] SLAMing on 3.285898227 meters Centerline goodness : 0.089743 Centerline is valid? [False, False] Translation: X:1.07, Y:0.02, Z:-0.27 [[ 0.99989449 0.01076103 -0.00975799 1.07288204] [-0.01072555 0.9999357 0.00368177 0.01589519] [ 0.00979698 -0.00357672 0.99994561 -0.27280787] [ 0. 0. 0. 1. ]] SLAMing on 3.315898227 meters Centerline goodness : 0.090358 Centerline is valid? [False, False] Translation: X:1.08, Y:0.02, Z:-0.28 [[ 0.99987823 0.01176094 -0.01025709 1.07668906] [-0.01171618 0.99992163 0.00441303 0.01600986] [ 0.01030819 -0.00429232 0.99993766 -0.27562631] [ 0. 0. 0. 1. ]] SLAMing on 3.345898227 meters Centerline goodness : 0.104474 Centerline is valid? [False, False] Translation: X:1.08, Y:0.01, Z:-0.28 [[ 0.99979765 0.01709207 -0.01060793 1.08066745] [-0.0169885 0.99980787 0.00977783 0.01364484] [ 0.01077302 -0.00959564 0.99989593 -0.27968925] [ 0. 0. 0. 1. ]] SLAMing on 3.375898227 meters Centerline goodness : 0.089757 Centerline is valid? [False, False] Translation: X:1.10, Y:0.02, Z:-0.27 [[ 0.99976007 0.01883921 -0.01117569 1.09728877] [-0.01878844 0.99981276 0.00463087 0.01543238] [ 0.01126084 -0.00441978 0.99992683 -0.27405193] [ 0. 0. 0. 1. ]] SLAMing on 3.405898227 meters Centerline goodness : 0.102261 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.28 [[ 0.99983521 0.01659086 -0.00736843 1.11801576] [-0.01647825 0.99975035 0.01509017 0.01141715] [ 0.00761695 -0.01496626 0.99985899 -0.28228789] [ 0. 0. 0. 1. ]] SLAMing on 3.435898227 meters Centerline goodness : 0.147583 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.28 [[ 0.99988273 0.01349413 -0.00724116 1.11805935] [-0.01341016 0.99984369 0.01152217 0.01122032] [ 0.00739551 -0.01142372 0.9999074 -0.28116235] [ 0. 0. 0. 1. ]] SLAMing on 3.465898227 meters Centerline goodness : 0.158656 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.28 [[ 0.99988406 0.01329696 -0.00741964 1.11898118] [-0.01320382 0.99983514 0.01246398 0.00874872] [ 0.00758415 -0.01236456 0.99989479 -0.28081167] [ 0. 0. 0. 1. ]] SLAMing on 3.495898227 meters Centerline goodness : 0.155321 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.28 [[ 0.9998871 0.01285982 -0.00777212 1.12096656] [-0.01275236 0.99982453 0.01372158 0.0057955 ] [ 0.00794722 -0.01362092 0.99987565 -0.28074116] [ 0. 0. 0. 1. ]] SLAMing on 3.525898227 meters Centerline goodness : 0.209842 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.28 [[ 0.99992734 0.0089941 -0.00802682 1.12104506] [-0.00891719 0.99991448 0.00956652 0.00622301] [ 0.00811218 -0.00949425 0.99992202 -0.27916256] [ 0. 0. 0. 1. ]] SLAMing on 3.555898227 meters Centerline goodness : 0.158706 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.28 [[ 0.99995223 0.00511042 -0.0083325 1.12152208] [-0.00506487 0.99997217 0.00547867 0.00624547] [ 0.00836027 -0.0054362 0.99995028 -0.27796322] [ 0. 0. 0. 1. ]] SLAMing on 3.585898227 meters Centerline goodness : 0.440912 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.00, Z:-0.28 [[ 0.99995682 0.00374903 -0.00850276 1.12475051] [-0.00368418 0.99996411 0.00762926 -0.00137409] [ 0.00853106 -0.0075976 0.99993475 -0.27881641] [ 0. 0. 0. 1. ]] SLAMing on 3.6158982269999997 meters Centerline goodness : 0.451651 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.00, Z:-0.28 [[ 0.99995597 0.00354159 -0.00869045 1.12606066] [-0.00346697 0.99995713 0.0085861 -0.0045383 ] [ 0.00872049 -0.00855559 0.99992537 -0.27901708] [ 0. 0. 0. 1. ]] SLAMing on 3.645898227 meters Centerline goodness : 0.473091 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.01, Z:-0.28 [[ 0.99995501 0.00344409 -0.00883822 1.12701637] [-0.00336025 0.99994938 0.00948442 -0.00724204] [ 0.00887044 -0.00945429 0.99991596 -0.2790238 ] [ 0. 0. 0. 1. ]] SLAMing on 3.675898227 meters Centerline goodness : 0.483275 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.01, Z:-0.28 [[ 0.99995417 0.00399405 -0.0087014 1.12688333] [-0.00390801 0.99994353 0.00988292 -0.0092654 ] [ 0.00874038 -0.00984847 0.9999133 -0.27969958] [ 0. 0. 0. 1. ]] SLAMing on 3.705898227 meters Centerline goodness : 0.251420 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 0.99995416 0.00523661 -0.00801648 1.14121033] [-0.0052045 0.99997838 0.00402023 -0.00842118] [ 0.00803736 -0.00397833 0.99995979 -0.27360467] [ 0. 0. 0. 1. ]] SLAMing on 3.735898227 meters Centerline goodness : 0.516739 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 0.99993717 0.00908274 -0.00656979 1.1356002 ] [-0.00904859 0.99994549 0.00520909 -0.011079 ] [ 0.00661674 -0.00514932 0.99996485 -0.27354 ] [ 0. 0. 0. 1. ]] SLAMing on 3.765898227 meters Centerline goodness : 0.512217 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 0.9999595 0.00619533 -0.00652787 1.13573121] [-0.00618594 0.99997981 0.00145676 -0.00764271] [ 0.00653676 -0.00141632 0.99997763 -0.27260388] [ 0. 0. 0. 1. ]] SLAMing on 3.795898227 meters Centerline goodness : 0.106183 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 0.99995839 0.00632714 -0.00657163 1.13610309] [-0.00631682 0.99997878 0.0015898 -0.00806579] [ 0.00658155 -0.00154822 0.99997714 -0.27305515] [ 0. 0. 0. 1. ]] SLAMing on 3.825898227 meters Centerline goodness : 0.554533 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.28 [[ 0.99996792 0.00377151 -0.00706687 1.13949846] [-0.00378083 0.999992 -0.00130498 -0.00701564] [ 0.00706189 0.00133166 0.99997418 -0.2750571 ] [ 0. 0. 0. 1. ]] SLAMing on 3.855898227 meters Centerline goodness : 0.537411 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 0.99996773 0.00368449 -0.00713909 1.13927434] [-0.00369371 0.99999236 -0.00127848 -0.0075816 ] [ 0.00713432 0.00130481 0.9999737 -0.27433607] [ 0. 0. 0. 1. ]] SLAMing on 3.8858982269999998 meters Centerline goodness : 0.109149 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 0.9999686 0.00350402 -0.00710837 1.13859697] [-0.00351295 0.99999305 -0.00124481 -0.00867775] [ 0.00710396 0.00126974 0.99997396 -0.27336099] [ 0. 0. 0. 1. ]] SLAMing on 3.915898227 meters Centerline goodness : 0.109977 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 9.99968904e-01 3.43472880e-03 -7.09881498e-03 1.13861552e+00] [-3.44141685e-03 9.99993646e-01 -9.30134778e-04 -1.09577670e-02] [ 7.09557511e-03 9.54535836e-04 9.99974371e-01 -2.73480691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.945898227 meters Centerline goodness : 0.107391 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 9.99969673e-01 3.40764856e-03 -7.00294474e-03 1.13901961e+00] [-3.41039839e-03 9.99994112e-01 -3.80764057e-04 -1.44942859e-02] [ 7.00160599e-03 4.04635341e-04 9.99975407e-01 -2.74783495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.975898227 meters Centerline goodness : 0.109603 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.02, Z:-0.28 [[ 9.99969957e-01 3.35614108e-03 -6.98726370e-03 1.13985689e+00] [-3.35469938e-03 9.99994349e-01 2.18043538e-04 -1.84719436e-02] [ 6.98795600e-03 -1.94596818e-04 9.99975565e-01 -2.76631703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.005898226999999 meters Centerline goodness : 0.104824 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.02, Z:-0.28 [[ 9.99971983e-01 -7.72798070e-04 -7.44554931e-03 1.14097035e+00] [ 7.46581436e-04 9.99993515e-01 -3.52325104e-03 -2.09927076e-02] [ 7.44822379e-03 3.51759362e-03 9.99966075e-01 -2.76325309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.035898227 meters Centerline goodness : 0.107804 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.02, Z:-0.28 [[ 9.99970137e-01 -6.72591087e-04 -7.69885926e-03 1.14201419e+00] [ 6.49248576e-04 9.99995187e-01 -3.03404194e-03 -2.32739523e-02] [ 7.70086287e-03 3.02895286e-03 9.99965760e-01 -2.76809368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.065898227 meters Centerline goodness : 0.106934 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.03, Z:-0.28 [[ 9.99969366e-01 -5.22148921e-04 -7.80989877e-03 1.14263651e+00] [ 5.02915935e-04 9.99996837e-01 -2.46440330e-03 -2.60449554e-02] [ 7.81116085e-03 2.46040008e-03 9.99966466e-01 -2.77278841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.095898227 meters Centerline goodness : 0.990614 Centerline is valid? [False, True] Translation: X:1.14, Y:-0.03, Z:-0.28 [[ 9.99970809e-01 -4.11966823e-05 -7.64067595e-03 1.14329370e+00] [ 3.26649912e-05 9.99999376e-01 -1.11673614e-03 -3.26321903e-02] [ 7.64071719e-03 1.11645396e-03 9.99970186e-01 -2.79049705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1258982269999995 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.04, Z:-0.28 [[ 9.99963178e-01 3.84085401e-03 -7.67400568e-03 1.17261202e+00] [-3.84390563e-03 9.99992539e-01 -3.82945818e-04 -3.65623466e-02] [ 7.67247758e-03 4.12429871e-04 9.99970481e-01 -2.80853815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.155898227 meters Centerline goodness : 0.992163 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.04, Z:-0.28 [[ 9.99969005e-01 1.75328077e-03 -7.67557041e-03 1.19987516e+00] [-1.75600719e-03 9.99998397e-01 -3.48481548e-04 -3.50104546e-02] [ 7.67494712e-03 3.61949104e-04 9.99970482e-01 -2.77134212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.185898227 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.04, Z:-0.28 [[ 9.99954812e-01 5.61034010e-03 -7.67446738e-03 1.22893318e+00] [-5.61336536e-03 9.99984175e-01 -3.72715108e-04 -3.71379976e-02] [ 7.67225488e-03 4.15777855e-04 9.99970481e-01 -2.76065305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.215898227 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.04, Z:-0.28 [[ 9.99924927e-01 9.55123987e-03 -7.67551869e-03 1.25658467e+00] [-9.55420424e-03 9.99954296e-01 -3.49635929e-04 -3.92447784e-02] [ 7.67182843e-03 4.22943154e-04 9.99970482e-01 -2.75153323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.245898227 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.04, Z:-0.27 [[ 9.99898624e-01 1.19928489e-02 -7.67545734e-03 1.28501243e+00] [-1.19958952e-02 9.99927985e-01 -3.50977593e-04 -3.92096036e-02] [ 7.67069537e-03 4.43015994e-04 9.99970482e-01 -2.74361283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.275898227 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.04, Z:-0.27 [[ 9.99868084e-01 1.43144342e-02 -7.67543440e-03 1.31321601e+00] [-1.43175525e-02 9.99897437e-01 -3.51478506e-04 -3.83072197e-02] [ 7.66961596e-03 4.61325575e-04 9.99970482e-01 -2.72927560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.305898227 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.04, Z:-0.27 [[ 9.99823947e-01 1.71220164e-02 -7.67537190e-03 1.34007494e+00] [-1.71252275e-02 9.99853290e-01 -3.52838104e-04 -3.72624311e-02] [ 7.66820454e-03 4.84218476e-04 9.99970482e-01 -2.70789290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.335898227 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.04, Z:-0.27 [[ 9.99782719e-01 1.93805343e-02 -7.67530544e-03 1.36698412e+00] [-1.93838227e-02 9.99812053e-01 -3.54277837e-04 -3.65540529e-02] [ 7.66699680e-03 5.02977619e-04 9.99970482e-01 -2.70612667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.365898227 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.04, Z:-0.27 [[ 9.99696495e-01 2.34095638e-02 -7.67526061e-03 1.39482401e+00] [-2.34129778e-02 9.99725816e-01 -3.55246333e-04 -3.69489224e-02] [ 7.66484002e-03 5.34839221e-04 9.99970482e-01 -2.70574643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.395898227 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.04, Z:-0.27 [[ 9.99660304e-01 2.49071930e-02 -7.67519276e-03 1.42264332e+00] [-2.49106621e-02 9.99689618e-01 -3.56706381e-04 -3.54583374e-02] [ 7.66392596e-03 5.47779342e-04 9.99970482e-01 -2.67474963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.425898227 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.03, Z:-0.26 [[ 9.99645632e-01 2.54892588e-02 -7.67512360e-03 1.45042756e+00] [-2.54927563e-02 9.99674943e-01 -3.58188197e-04 -3.32018844e-02] [ 7.66349880e-03 5.53721322e-04 9.99970482e-01 -2.64212860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.455898227 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.03, Z:-0.26 [[ 9.99629052e-01 2.61314130e-02 -7.67510207e-03 1.47792140e+00] [-2.61349328e-02 9.99658360e-01 -3.58649035e-04 -3.15272742e-02] [ 7.66310794e-03 5.59104272e-04 9.99970482e-01 -2.62427917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.485898227 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.03, Z:-0.26 [[ 9.99629022e-01 2.61325684e-02 -7.67508152e-03 1.50606943e+00] [-2.61360916e-02 9.99658330e-01 -3.59088357e-04 -3.05354015e-02] [ 7.66307527e-03 5.59551776e-04 9.99970482e-01 -2.64548408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.515898227 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.03, Z:-0.27 [[ 9.99665188e-01 2.47104332e-02 -7.67501219e-03 1.53441053e+00] [-2.47139259e-02 9.99694499e-01 -3.60563961e-04 -3.13820970e-02] [ 7.66375778e-03 5.50122923e-04 9.99970482e-01 -2.69360497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.545898227 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.03, Z:-0.27 [[ 9.99695438e-01 2.34547822e-02 -7.67494987e-03 1.56243928e+00] [-2.34582483e-02 9.99724752e-01 -3.61885768e-04 -3.11893224e-02] [ 7.66434940e-03 5.41816431e-04 9.99970482e-01 -2.70740766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.575898227 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.03, Z:-0.27 [[ 9.99728151e-01 2.20163351e-02 -7.67492775e-03 1.59041524e+00] [-2.20197625e-02 9.99757470e-01 -3.62354302e-04 -3.11349784e-02] [ 7.66508863e-03 5.31255883e-04 9.99970482e-01 -2.71439561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.605898227 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.03, Z:-0.27 [[ 9.99798318e-01 1.85585299e-02 -7.67485663e-03 1.61869843e+00] [-1.85618674e-02 9.99827647e-01 -3.63854412e-04 -3.37365506e-02] [ 7.66678125e-03 5.06240700e-04 9.99970482e-01 -2.72846849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.635898227 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.03, Z:-0.27 [[ 9.99826948e-01 1.69461403e-02 -7.67478136e-03 1.64590403e+00] [-1.69494426e-02 9.99856281e-01 -3.65435261e-04 -3.42963261e-02] [ 7.66748563e-03 4.95455288e-04 9.99970482e-01 -2.72367635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.665898227 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.03, Z:-0.27 [[ 9.99844354e-01 1.58860422e-02 -7.67474842e-03 1.67311864e+00] [-1.58893186e-02 9.99873690e-01 -3.66125584e-04 -3.47690175e-02] [ 7.66796274e-03 4.88015121e-04 9.99970482e-01 -2.71098927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.695898227 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.04, Z:-0.27 [[ 9.99853705e-01 1.52861972e-02 -7.67471586e-03 1.70060678e+00] [-1.52894613e-02 9.99883042e-01 -3.66806953e-04 -3.60173192e-02] [ 7.66821116e-03 4.84095562e-04 9.99970482e-01 -2.68714557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.725898227 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.04, Z:-0.27 [[ 9.99869244e-01 1.42335926e-02 -7.67463992e-03 1.72802873e+00] [-1.42368379e-02 9.99898583e-01 -3.68389044e-04 -3.76827126e-02] [ 7.66861808e-03 4.77603479e-04 9.99970482e-01 -2.67196815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.755898227 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.04, Z:-0.27 [[ 9.99895483e-01 1.22525232e-02 -7.67458805e-03 1.75661541e+00] [-1.22557185e-02 9.99924828e-01 -3.69466473e-04 -4.35797128e-02] [ 7.66948423e-03 4.63485449e-04 9.99970482e-01 -2.66734802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.785898227 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.05, Z:-0.27 [[ 9.99907636e-01 1.12169561e-02 -7.67456086e-03 1.78567265e+00] [-1.12201254e-02 9.99936984e-01 -3.70030290e-04 -4.51839362e-02] [ 7.66992663e-03 4.56105648e-04 9.99970482e-01 -2.65856867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.815898227 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.05, Z:-0.26 [[ 9.99921530e-01 9.90124942e-03 -7.67454189e-03 1.81307936e+00] [-9.90438311e-03 9.99950882e-01 -3.70423412e-04 -4.64714398e-02] [ 7.67049727e-03 4.46405948e-04 9.99970482e-01 -2.64434483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.845898227 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.05, Z:-0.26 [[ 9.99929108e-01 9.10394242e-03 -7.67450890e-03 1.84138539e+00] [-9.10705793e-03 9.99958461e-01 -3.71105676e-04 -4.86139846e-02] [ 7.67081158e-03 4.40971565e-04 9.99970482e-01 -2.62197789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8758982269999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.05, Z:-0.26 [[ 9.99929794e-01 9.02821295e-03 -7.67448079e-03 1.86976876e+00] [-9.03133067e-03 9.99959148e-01 -3.71686111e-04 -4.71246992e-02] [ 7.67081160e-03 4.40970790e-04 9.99970482e-01 -2.61978857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.05, Z:-0.26 [[ 9.99940770e-01 7.71746897e-03 -7.67445259e-03 1.89824790e+00] [-7.72055266e-03 9.99970127e-01 -3.72267317e-04 -5.03708179e-02] [ 7.67135037e-03 4.31496283e-04 9.99970482e-01 -2.60337109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.935898227 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.06, Z:-0.26 [[ 9.99957167e-01 5.17372612e-03 -7.67442435e-03 1.92657769e+00] [-5.17673957e-03 9.99986531e-01 -3.72848694e-04 -6.02332877e-02] [ 7.67239197e-03 4.12561220e-04 9.99970482e-01 -2.60362238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.965898227 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.06, Z:-0.26 [[ 9.99962001e-01 4.13514261e-03 -7.67438996e-03 1.95360348e+00] [-4.13813096e-03 9.99991368e-01 -3.73555203e-04 -6.38664520e-02] [ 7.67277901e-03 4.05298639e-04 9.99970482e-01 -2.60862105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.995898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.07, Z:-0.26 [[ 9.99965347e-01 3.22641186e-03 -7.67435763e-03 1.98231553e+00] [-3.22937860e-03 9.99994716e-01 -3.74218157e-04 -6.68390899e-02] [ 7.67310969e-03 3.98988595e-04 9.99970482e-01 -2.60615389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.025898227 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.08, Z:-0.26 [[ 9.99970253e-01 7.73664156e-04 -7.67433905e-03 2.01064793e+00] [-7.76561768e-04 9.99999628e-01 -3.74598889e-04 -7.50493343e-02] [ 7.67404638e-03 3.80547344e-04 9.99970482e-01 -2.62827145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.055898227 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.08, Z:-0.26 [[ 9.99970414e-01 -5.25841358e-04 -7.67431594e-03 2.04011723e+00] [ 5.22978304e-04 9.99999793e-01 -3.75071658e-04 -7.91876020e-02] [ 7.67451158e-03 3.71047061e-04 9.99970482e-01 -2.64481256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0858982269999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.08, Z:-0.27 [[ 9.99969090e-01 -1.71014920e-03 -7.67429752e-03 2.06792028e+00] [ 1.70731806e-03 9.99998472e-01 -3.75448191e-04 -8.33702658e-02] [ 7.67492787e-03 3.62334119e-04 9.99970482e-01 -2.65779271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.115898227 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.09, Z:-0.27 [[ 9.99966901e-01 -2.70214702e-03 -7.67427257e-03 2.09732897e+00] [ 2.69934113e-03 9.99996286e-01 -3.75957477e-04 -9.15451369e-02] [ 7.67525996e-03 3.55229554e-04 9.99970482e-01 -2.66508694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.145898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.09, Z:-0.27 [[ 9.99964781e-01 -3.39740365e-03 -7.67425434e-03 2.12685902e+00] [ 3.39461534e-03 9.99994167e-01 -3.76329156e-04 -9.40985479e-02] [ 7.67548813e-03 3.50264761e-04 9.99970482e-01 -2.66189661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.175898227 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.10, Z:-0.27 [[ 9.99960403e-01 -4.50535103e-03 -7.67424526e-03 2.15761040e+00] [ 4.50259387e-03 9.99989792e-01 -3.76514358e-04 -9.73025927e-02] [ 7.67586325e-03 3.41945440e-04 9.99970482e-01 -2.67741238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.205898227 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.10, Z:-0.27 [[ 9.99952010e-01 -6.08958701e-03 -7.67424526e-03 2.18851925e+00] [ 6.08687641e-03 9.99981404e-01 -3.76514358e-04 -1.00217083e-01] [ 7.67639536e-03 3.29784107e-04 9.99970482e-01 -2.67706539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.235898227 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.10, Z:-0.27 [[ 9.99942376e-01 -7.50670425e-03 -7.67424526e-03 2.22040180e+00] [ 7.50403531e-03 9.99971773e-01 -3.76514358e-04 -1.03064299e-01] [ 7.67685502e-03 3.18904855e-04 9.99970482e-01 -2.66843846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.265898227 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.10, Z:-0.26 [[ 9.99937847e-01 -8.08753268e-03 -7.67426316e-03 2.25302995e+00] [ 8.08488362e-03 9.99967246e-01 -3.76149042e-04 -1.04617738e-01] [ 7.67705392e-03 3.14080138e-04 9.99970482e-01 -2.64586876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2958982269999995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.11, Z:-0.26 [[ 9.99938330e-01 -8.02758307e-03 -7.67428097e-03 2.28535809e+00] [ 8.02493503e-03 9.99967729e-01 -3.75785479e-04 -1.06838946e-01] [ 7.67704996e-03 3.14176698e-04 9.99970482e-01 -2.61259000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.325898227 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.11, Z:-0.26 [[ 9.99940172e-01 -7.79468902e-03 -7.67429868e-03 2.31666691e+00] [ 7.79203691e-03 9.99969571e-01 -3.75423352e-04 -1.06931422e-01] [ 7.67699147e-03 3.15602472e-04 9.99970482e-01 -2.61778916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.355898227 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.11, Z:-0.26 [[ 9.99939786e-01 -7.84405197e-03 -7.67431190e-03 2.34892282e+00] [ 7.84140338e-03 9.99969185e-01 -3.75153035e-04 -1.07411849e-01] [ 7.67701813e-03 3.14953070e-04 9.99970482e-01 -2.63624005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.385898227 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.11, Z:-0.26 [[ 9.99934861e-01 -8.44861350e-03 -7.67432948e-03 2.38160812e+00] [ 8.44598544e-03 9.99964262e-01 -3.74792953e-04 -1.07561770e-01] [ 7.67722170e-03 3.09951265e-04 9.99970482e-01 -2.64022174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.415898227 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.11, Z:-0.26 [[ 9.99921277e-01 -9.92693226e-03 -7.67434705e-03 2.41350993e+00] [ 9.92435043e-03 9.99950682e-01 -3.74432896e-04 -1.07663003e-01] [ 7.67768554e-03 2.98240510e-04 9.99970482e-01 -2.64285518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.445898227 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.11, Z:-0.27 [[ 9.99858586e-01 -1.49637263e-02 -7.67436455e-03 2.44576673e+00] [ 1.49612954e-02 9.99888004e-01 -3.74073778e-04 -1.10536590e-01] [ 7.67910259e-03 2.59202443e-04 9.99970482e-01 -2.65603447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.475898227 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.11, Z:-0.27 [[ 9.99786717e-01 -1.91734966e-02 -7.67442965e-03 2.47903283e+00] [ 1.91711999e-02 9.99816146e-01 -3.72733381e-04 -1.11080075e-01] [ 7.68016528e-03 2.25525859e-04 9.99970482e-01 -2.66938312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.505898227 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.12, Z:-0.27 [[ 9.99590924e-01 -2.75515465e-02 -7.67445550e-03 2.51191407e+00] [ 2.75495005e-02 9.99620371e-01 -3.72200385e-04 -1.15865547e-01] [ 7.68179676e-03 1.60620711e-04 9.99970482e-01 -2.70593297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.12, Z:-0.27 [[ 9.99513256e-01 -3.02382646e-02 -7.67451924e-03 2.54563120e+00] [ 3.02363080e-02 9.99542710e-01 -3.70881501e-04 -1.16863802e-01] [ 7.68222457e-03 1.38651850e-04 9.99970482e-01 -2.67000155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.565898227 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.12, Z:-0.26 [[ 9.99448724e-01 -3.23009070e-02 -7.67459338e-03 2.57879948e+00] [ 3.22990230e-02 9.99478182e-01 -3.69340859e-04 -1.17911276e-01] [ 7.68251869e-03 1.21255383e-04 9.99970482e-01 -2.63702655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.595898227 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.12, Z:-0.26 [[ 9.99406838e-01 -3.35718900e-02 -7.67466766e-03 2.61072626e+00] [ 3.35700554e-02 9.99436299e-01 -3.67790893e-04 -1.19440914e-01] [ 7.68268888e-03 1.09933715e-04 9.99970482e-01 -2.61220959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6258982269999995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.12, Z:-0.26 [[ 9.99360841e-01 -3.49142931e-02 -7.67473666e-03 2.64410811e+00] [ 3.49125091e-02 9.99390305e-01 -3.66345457e-04 -1.22715921e-01] [ 7.68284811e-03 9.81669907e-05 9.99970482e-01 -2.60746133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.655898227 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.12, Z:-0.26 [[ 9.99346574e-01 -3.53202719e-02 -7.67480904e-03 2.67762481e+00] [ 3.53185115e-02 9.99376040e-01 -3.64822821e-04 -1.23945555e-01] [ 7.68290591e-03 9.35216052e-05 9.99970482e-01 -2.62381709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.685898227 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.12, Z:-0.26 [[ 9.99317715e-01 -3.61275536e-02 -7.67488186e-03 2.71026640e+00] [ 3.61258289e-02 9.99347183e-01 -3.63284407e-04 -1.24883613e-01] [ 7.68299614e-03 8.57750751e-05 9.99970482e-01 -2.64309738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.715898227 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.12, Z:-0.26 [[ 9.99286393e-01 -3.69837769e-02 -7.67494975e-03 2.74352164e+00] [ 3.69820885e-02 9.99315863e-01 -3.61844457e-04 -1.24776477e-01] [ 7.68308140e-03 7.77505712e-05 9.99970482e-01 -2.62923621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.12, Z:-0.26 [[ 9.99263172e-01 -3.76059494e-02 -7.67498073e-03 2.77665809e+00] [ 3.76042843e-02 9.99292643e-01 -3.61186042e-04 -1.23834427e-01] [ 7.68313453e-03 7.23077527e-05 9.99970482e-01 -2.60963544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.775898227 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.12, Z:-0.26 [[ 9.99221196e-01 -3.87052415e-02 -7.67505396e-03 2.80896378e+00] [ 3.87036209e-02 9.99250669e-01 -3.59623111e-04 -1.23516778e-01] [ 7.68322211e-03 6.22906561e-05 9.99970482e-01 -2.59168607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.805898227 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.12, Z:-0.26 [[ 9.99211170e-01 -3.89632026e-02 -7.67509903e-03 2.84219237e+00] [ 3.89615970e-02 9.99240644e-01 -3.58658698e-04 -1.22899106e-01] [ 7.68324539e-03 5.93416617e-05 9.99970482e-01 -2.61594449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8358982269999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.12, Z:-0.26 [[ 9.99197694e-01 -3.93072556e-02 -7.67516975e-03 2.87486449e+00] [ 3.93056718e-02 9.99227170e-01 -3.57138870e-04 -1.22418524e-01] [ 7.68327630e-03 5.51746319e-05 9.99970482e-01 -2.64692734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.865898227 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.12, Z:-0.27 [[ 9.99154542e-01 -4.03892629e-02 -7.67523532e-03 2.90805370e+00] [ 4.03877219e-02 9.99184020e-01 -3.55724078e-04 -1.21117571e-01] [ 7.68333992e-03 4.54380589e-05 9.99970482e-01 -2.65651040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.895898227 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.12, Z:-0.27 [[ 9.99083819e-01 -4.21024045e-02 -7.67530339e-03 2.94128484e+00] [ 4.21009254e-02 9.99113300e-01 -3.54249355e-04 -1.20556446e-01] [ 7.68341245e-03 3.07874229e-05 9.99970482e-01 -2.67081347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.925898227 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.12, Z:-0.26 [[ 9.98864416e-01 -4.70209321e-02 -7.67537217e-03 2.97332936e+00] [ 4.70196097e-02 9.98893904e-01 -3.52752648e-04 -1.20329754e-01] [ 7.68346924e-03 -8.54093601e-06 9.99970482e-01 -2.63877386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.955898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.12, Z:-0.26 [[ 9.98771749e-01 -4.89497876e-02 -7.67543617e-03 3.00570118e+00] [ 4.89485329e-02 9.98801240e-01 -3.51354652e-04 -1.19492871e-01] [ 7.68343390e-03 -2.47782391e-05 9.99970482e-01 -2.59385487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.985898227 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.12, Z:-0.26 [[ 9.98667493e-01 -5.10325914e-02 -7.67549850e-03 3.03860472e+00] [ 5.10314087e-02 9.98696987e-01 -3.49987744e-04 -1.18478637e-01] [ 7.68335801e-03 -4.21701176e-05 9.99970482e-01 -2.57964470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.015898227 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.12, Z:-0.26 [[ 9.98500366e-01 -5.42042956e-02 -7.67555703e-03 3.07065053e+00] [ 5.42032165e-02 9.98529864e-01 -3.48699303e-04 -1.18215750e-01] [ 7.68317392e-03 -6.78634976e-05 9.99970482e-01 -2.61779650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0458982269999995 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.12, Z:-0.26 [[ 9.98453245e-01 -5.50654346e-02 -7.67559347e-03 3.10422589e+00] [ 5.50643871e-02 9.98482745e-01 -3.47895354e-04 -1.16957019e-01] [ 7.68310465e-03 -7.52946044e-05 9.99970482e-01 -2.64038640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.075898227 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.12, Z:-0.27 [[ 9.98457760e-01 -5.49835054e-02 -7.67566170e-03 3.13616634e+00] [ 5.49824671e-02 9.98487260e-01 -3.46383481e-04 -1.15412502e-01] [ 7.68309579e-03 -7.61775416e-05 9.99970482e-01 -2.65233670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.105898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.11, Z:-0.26 [[ 9.98484405e-01 -5.44974816e-02 -7.67572487e-03 3.16851215e+00] [ 5.44964397e-02 9.98513905e-01 -3.44977837e-04 -1.13641333e-01] [ 7.68311844e-03 -7.38446868e-05 9.99970482e-01 -2.64017187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.11, Z:-0.26 [[ 9.98535235e-01 -5.35580646e-02 -7.67577764e-03 3.20146382e+00] [ 5.35570041e-02 9.98564735e-01 -3.43799655e-04 -1.11545100e-01] [ 7.68317411e-03 -6.77955855e-05 9.99970482e-01 -2.62610642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.165898227 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.11, Z:-0.26 [[ 9.98576115e-01 -5.27903795e-02 -7.67583369e-03 3.23453796e+00] [ 5.27893059e-02 9.98605614e-01 -3.42543749e-04 -1.09653478e-01] [ 7.68321363e-03 -6.31459267e-05 9.99970482e-01 -2.62771263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.195898227 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.11, Z:-0.27 [[ 9.98532958e-01 -5.36004799e-02 -7.67590181e-03 3.26669534e+00] [ 5.35994420e-02 9.98562459e-01 -3.41010462e-04 -1.07703694e-01] [ 7.68314571e-03 -7.09138681e-05 9.99970482e-01 -2.66462513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.225898227 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.11, Z:-0.27 [[ 9.98441840e-01 -5.52718001e-02 -7.67596095e-03 3.29928710e+00] [ 5.52708219e-02 9.98471342e-01 -3.39673919e-04 -1.06470151e-01] [ 7.68300142e-03 -8.51120185e-05 9.99970482e-01 -2.69708282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.255898227 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.10, Z:-0.27 [[ 9.98334783e-01 -5.71728880e-02 -7.67602376e-03 3.33185978e+00] [ 5.71719769e-02 9.98364288e-01 -3.38248511e-04 -1.04017267e-01] [ 7.68280664e-03 -1.01168200e-04 9.99970482e-01 -2.67527580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.285898227 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.10, Z:-0.26 [[ 9.98096100e-01 -6.11984782e-02 -7.67608583e-03 3.36451871e+00] [ 6.11976970e-02 9.98125608e-01 -3.36834028e-04 -9.99433772e-02] [ 7.68231157e-03 -1.33566046e-04 9.99970482e-01 -2.62704056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.10, Z:-0.26 [[ 9.98002734e-01 -6.27026312e-02 -7.67615201e-03 3.39742402e+00] [ 6.27019061e-02 9.98032243e-01 -3.35319209e-04 -9.85563521e-02] [ 7.68207260e-03 -1.46659875e-04 9.99970482e-01 -2.61108874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.345898227 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.10, Z:-0.26 [[ 9.97913682e-01 -6.41042847e-02 -7.67621749e-03 3.43008179e+00] [ 6.41036126e-02 9.97943192e-01 -3.33813411e-04 -9.81570756e-02] [ 7.68182786e-03 -1.58956303e-04 9.99970482e-01 -2.61778874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3758982269999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.10, Z:-0.26 [[ 9.97845502e-01 -6.51569613e-02 -7.67627812e-03 3.46311672e+00] [ 6.51563312e-02 9.97875013e-01 -3.32413346e-04 -9.65759166e-02] [ 7.68162517e-03 -1.68460957e-04 9.99970482e-01 -2.61208350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.405898227 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.09, Z:-0.26 [[ 9.97802197e-01 -6.58167838e-02 -7.67630611e-03 3.49476317e+00] [ 6.58161781e-02 9.97831710e-01 -3.31765732e-04 -9.41286330e-02] [ 7.68149740e-03 -1.74188553e-04 9.99970482e-01 -2.62023094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.435898227 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.09, Z:-0.26 [[ 9.97843127e-01 -6.51933128e-02 -7.67636572e-03 3.52748603e+00] [ 6.51926993e-02 9.97872639e-01 -3.30380641e-04 -9.16589062e-02] [ 7.68157392e-03 -1.70774951e-04 9.99970482e-01 -2.61038233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.09, Z:-0.26 [[ 9.97899737e-01 -6.43209688e-02 -7.67642774e-03 3.56045549e+00] [ 6.43203407e-02 9.97929249e-01 -3.28933103e-04 -9.04087774e-02] [ 7.68168907e-03 -1.65508191e-04 9.99970482e-01 -2.60827752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.495898227 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.09, Z:-0.26 [[ 9.97934409e-01 -6.37807772e-02 -7.67648943e-03 3.59362870e+00] [ 6.37801442e-02 9.97963920e-01 -3.27487093e-04 -8.87160475e-02] [ 7.68174687e-03 -1.62796964e-04 9.99970482e-01 -2.60145209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.525898227 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.09, Z:-0.26 [[ 9.97952352e-01 -6.34994041e-02 -7.67655076e-03 3.62533076e+00] [ 6.34987739e-02 9.97981863e-01 -3.26043194e-04 -8.64004801e-02] [ 7.68176198e-03 -1.62075989e-04 9.99970482e-01 -2.58985750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.555898227 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.08, Z:-0.26 [[ 9.97938283e-01 -6.37201137e-02 -7.67658887e-03 3.65859031e+00] [ 6.37194969e-02 9.97967795e-01 -3.25143378e-04 -8.47223963e-02] [ 7.68170664e-03 -1.64675357e-04 9.99970482e-01 -2.59012870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5858982269999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.08, Z:-0.26 [[ 9.97875042e-01 -6.47029284e-02 -7.67664909e-03 3.69210955e+00] [ 6.47023517e-02 9.97904555e-01 -3.23715320e-04 -8.26929509e-02] [ 7.68150842e-03 -1.73669810e-04 9.99970482e-01 -2.60171344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.08, Z:-0.26 [[ 9.97812918e-01 -6.56540105e-02 -7.67670888e-03 3.72573071e+00] [ 6.56534729e-02 9.97842431e-01 -3.22291279e-04 -8.14541148e-02] [ 7.68130556e-03 -1.82416197e-04 9.99970482e-01 -2.62352926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.645898227 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.08, Z:-0.26 [[ 9.97655635e-01 -6.80022109e-02 -7.67676820e-03 3.75778195e+00] [ 6.80017537e-02 9.97685150e-01 -3.20872024e-04 -7.78295262e-02] [ 7.68081764e-03 -2.01913917e-04 9.99970482e-01 -2.63266504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.675898227 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.08, Z:-0.26 [[ 9.97622312e-01 -6.84893292e-02 -7.67682327e-03 3.79120322e+00] [ 6.84888965e-02 9.97651828e-01 -3.19548865e-04 -7.52214142e-02] [ 7.68068246e-03 -2.06988078e-04 9.99970482e-01 -2.64101297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.705898227 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.07, Z:-0.26 [[ 9.97620463e-01 -6.85162576e-02 -7.67688179e-03 3.82464779e+00] [ 6.85158366e-02 9.97649978e-01 -3.18136839e-04 -7.27344327e-02] [ 7.68063850e-03 -2.08608158e-04 9.99970482e-01 -2.64379037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.735898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.07, Z:-0.26 [[ 9.97642078e-01 -6.82007984e-02 -7.67693981e-03 3.85788139e+00] [ 6.82003788e-02 9.97671593e-01 -3.16730525e-04 -7.03095558e-02] [ 7.68066605e-03 -2.07586504e-04 9.99970482e-01 -2.63489334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.765898227 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.07, Z:-0.26 [[ 9.97654092e-01 -6.80248273e-02 -7.67699742e-03 3.89049045e+00] [ 6.80244134e-02 9.97683607e-01 -3.15327881e-04 -6.85495601e-02] [ 7.68066461e-03 -2.07635095e-04 9.99970482e-01 -2.61800709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7958982269999995 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.07, Z:-0.26 [[ 9.97667041e-01 -6.78346394e-02 -7.67705354e-03 3.92414116e+00] [ 6.78342304e-02 9.97696556e-01 -3.13955717e-04 -6.72740274e-02] [ 7.68066695e-03 -2.07543747e-04 9.99970482e-01 -2.61543099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.825898227 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.07, Z:-0.26 [[ 9.97705078e-01 -6.72728644e-02 -7.67711311e-03 3.95645018e+00] [ 6.72724500e-02 9.97734594e-01 -3.12492238e-04 -6.61491843e-02] [ 7.68074358e-03 -2.04683115e-04 9.99970482e-01 -2.60081031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.07, Z:-0.26 [[ 9.97743719e-01 -6.66973153e-02 -7.67716842e-03 3.98891879e+00] [ 6.66968943e-02 9.97773234e-01 -3.11127291e-04 -6.50550710e-02] [ 7.68082453e-03 -2.01617991e-04 9.99970482e-01 -2.59451183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.885898227 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.07, Z:-0.26 [[ 9.97772509e-01 -6.62652361e-02 -7.67720344e-03 4.02150001e+00] [ 6.62648091e-02 9.97802024e-01 -3.10260769e-04 -6.50284343e-02] [ 7.68088864e-03 -1.99158755e-04 9.99970482e-01 -2.60481668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.06, Z:-0.26 [[ 9.97780377e-01 -6.61466503e-02 -7.67725534e-03 4.05426995e+00] [ 6.61462296e-02 9.97809892e-01 -3.08971296e-04 -6.39882027e-02] [ 7.68087874e-03 -1.99535999e-04 9.99970482e-01 -2.58150270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.945898227 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.06, Z:-0.26 [[ 9.97709662e-01 -6.72048289e-02 -7.67731032e-03 4.08630189e+00] [ 6.72044501e-02 9.97739178e-01 -3.07598964e-04 -6.43807208e-02] [ 7.68062543e-03 -2.09054960e-04 9.99970482e-01 -2.56712959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.975898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.06, Z:-0.26 [[ 9.97690455e-01 -6.74893601e-02 -7.67736140e-03 4.11992919e+00] [ 6.74889996e-02 9.97719971e-01 -3.06318809e-04 -6.48756452e-02] [ 7.68053006e-03 -2.12526088e-04 9.99970482e-01 -2.55278080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.005898226999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.07, Z:-0.25 [[ 9.97690068e-01 -6.74950782e-02 -7.67741822e-03 4.15187450e+00] [ 6.74947289e-02 9.97719584e-01 -3.04888067e-04 -6.60006526e-02] [ 7.68048896e-03 -2.14001464e-04 9.99970482e-01 -2.54599234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.035898227 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.07, Z:-0.25 [[ 9.97765114e-01 -6.63764555e-02 -7.67747095e-03 4.18531197e+00] [ 6.63760833e-02 9.97794630e-01 -3.03554258e-04 -6.85042729e-02] [ 7.68068814e-03 -2.06724602e-04 9.99970482e-01 -2.53337906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.065898227 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.07, Z:-0.25 [[ 9.97831703e-01 -6.53677904e-02 -7.67752648e-03 4.21724772e+00] [ 6.53673992e-02 9.97861219e-01 -3.02143353e-04 -6.86085312e-02] [ 7.68085637e-03 -2.00371721e-04 9.99970482e-01 -2.51719158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.095898227 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.07, Z:-0.25 [[ 9.97918611e-01 -6.40273484e-02 -7.67757804e-03 4.25055114e+00] [ 6.40269277e-02 9.97948126e-01 -3.00827399e-04 -6.87868379e-02] [ 7.68108580e-03 -1.91370474e-04 9.99970482e-01 -2.51085715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1258982269999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.07, Z:-0.25 [[ 9.98036228e-01 -6.21670505e-02 -7.67762951e-03 4.28375591e+00] [ 6.21665849e-02 9.98065742e-01 -2.99508139e-04 -6.90341998e-02] [ 7.68139853e-03 -1.78372033e-04 9.99970482e-01 -2.50567158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.155898227 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.07, Z:-0.25 [[ 9.98193368e-01 -5.95907093e-02 -7.67766506e-03 4.31634661e+00] [ 5.95901746e-02 9.98222882e-01 -2.98594024e-04 -7.00603907e-02] [ 7.68181437e-03 -1.59458827e-04 9.99970482e-01 -2.51565895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.185898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.07, Z:-0.25 [[ 9.98601197e-01 -5.23135023e-02 -7.67769728e-03 4.34936947e+00] [ 5.23127588e-02 9.98630706e-01 -2.97763264e-04 -7.05696459e-02] [ 7.68276129e-03 -1.04294774e-04 9.99970482e-01 -2.50509031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.215898226999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.07, Z:-0.25 [[ 9.98829318e-01 -4.77602941e-02 -7.67775061e-03 4.38235486e+00] [ 4.77594268e-02 9.98858824e-01 -2.96381637e-04 -6.85602319e-02] [ 7.68314422e-03 -7.06503000e-05 9.99970482e-01 -2.49914996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.07, Z:-0.25 [[ 9.99065682e-01 -4.25301562e-02 -7.67780359e-03 4.41562505e+00] [ 4.25291449e-02 9.99095183e-01 -2.95002902e-04 -6.65166833e-02] [ 7.68340310e-03 -3.18031464e-05 9.99970482e-01 -2.49828291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.275898227 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.06, Z:-0.25 [[ 9.99261140e-01 -3.76593163e-02 -7.67785662e-03 4.44871296e+00] [ 3.76581719e-02 9.99290636e-01 -2.93616051e-04 -6.44112177e-02] [ 7.68346761e-03 4.26506584e-06 9.99970482e-01 -2.51636628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.305898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.06, Z:-0.25 [[ 9.99561517e-01 -2.85975951e-02 -7.67790930e-03 4.48176843e+00] [ 2.85961939e-02 9.99591003e-01 -2.92232017e-04 -6.07874537e-02] [ 7.68312619e-03 7.25448947e-05 9.99970482e-01 -2.53709411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3358982269999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.06, Z:-0.25 [[ 9.99678026e-01 -2.41845660e-02 -7.67794596e-03 4.51468179e+00] [ 2.41830421e-02 9.99707505e-01 -2.91265556e-04 -5.81770324e-02] [ 7.68274433e-03 1.05495685e-04 9.99970482e-01 -2.54654042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.365898227 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.05, Z:-0.26 [[ 9.99764021e-01 -2.03211895e-02 -7.67800180e-03 4.54746060e+00] [ 2.03195631e-02 9.99793494e-01 -2.89786242e-04 -5.49648430e-02] [ 7.68230505e-03 1.33704217e-04 9.99970482e-01 -2.55086277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.395898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.05, Z:-0.25 [[ 9.99828871e-01 -1.68308491e-02 -7.67802312e-03 4.57932435e+00] [ 1.68291241e-02 9.99858338e-01 -2.89220273e-04 -5.12345535e-02] [ 7.68180326e-03 1.59956375e-04 9.99970482e-01 -2.54429031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.425898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.04, Z:-0.25 [[ 9.99891354e-01 -1.25828014e-02 -7.67804082e-03 4.61236952e+00] [ 1.25809549e-02 9.99920815e-01 -2.88749588e-04 -4.25427079e-02] [ 7.68106611e-03 1.92121132e-04 9.99970482e-01 -2.52759569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.455898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.04, Z:-0.25 [[ 9.99912587e-01 -1.07640702e-02 -7.67805991e-03 4.64394966e+00] [ 1.07621740e-02 9.99942045e-01 -2.88240908e-04 -3.81375683e-02] [ 7.68071757e-03 2.05583095e-04 9.99970482e-01 -2.53890390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.485898227 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.03, Z:-0.26 [[ 9.99916846e-01 -1.03613449e-02 -7.67753397e-03 4.67636844e+00] [ 1.03593294e-02 9.99946295e-01 -3.02242377e-04 -3.35422384e-02] [ 7.68025329e-03 2.22683141e-04 9.99970482e-01 -2.55211589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.03, Z:-0.25 [[ 9.99926307e-01 -9.40357137e-03 -7.67809389e-03 4.70824465e+00] [ 9.40164247e-03 9.99955762e-01 -2.87277323e-04 -2.81306770e-02] [ 7.68045567e-03 2.15069460e-04 9.99970482e-01 -2.52740287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5458982269999995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.02, Z:-0.25 [[ 9.99932754e-01 -8.69100547e-03 -7.67810812e-03 4.73927817e+00] [ 8.68905850e-03 9.99962208e-01 -2.86896482e-04 -2.34544096e-02] [ 7.68031137e-03 2.20161659e-04 9.99970482e-01 -2.50946055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.575898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.02, Z:-0.25 [[ 9.99939131e-01 -7.92345449e-03 -7.67811876e-03 4.77145555e+00] [ 7.92148710e-03 9.99968583e-01 -2.86611480e-04 -1.87089468e-02] [ 7.68014850e-03 2.25771915e-04 9.99970482e-01 -2.49977209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.605898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.01, Z:-0.25 [[ 9.99949107e-01 -6.54449925e-03 -7.67813247e-03 4.80310587e+00] [ 6.54249407e-03 9.99978557e-01 -2.86243871e-04 -9.23022929e-03] [ 7.67984115e-03 2.35995167e-04 9.99970482e-01 -2.50420507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.635898227 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.00, Z:-0.25 [[ 9.99951167e-01 -6.22177902e-03 -7.67814625e-03 4.83472844e+00] [ 6.21976717e-03 9.99980616e-01 -2.85873762e-04 -3.65734965e-03] [ 7.67977606e-03 2.38103520e-04 9.99970482e-01 -2.50507395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.87, Y:0.00, Z:-0.25 [[ 9.99952269e-01 -6.04206721e-03 -7.67816026e-03 4.86644265e+00] [ 6.04005296e-03 9.99981718e-01 -2.85496846e-04 2.23063556e-03] [ 7.67974488e-03 2.39106724e-04 9.99970482e-01 -2.48086032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.695898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:4.90, Y:0.01, Z:-0.25 [[ 9.99948703e-01 -6.60582320e-03 -7.67817418e-03 4.89708019e+00] [ 6.60382843e-03 9.99978154e-01 -2.85122038e-04 1.03409143e-02] [ 7.67988991e-03 2.34402067e-04 9.99970482e-01 -2.47438366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.725898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:4.93, Y:0.01, Z:-0.25 [[ 9.99948943e-01 -6.56940589e-03 -7.67818456e-03 4.92837027e+00] [ 6.56741220e-03 9.99978394e-01 -2.84842141e-04 1.46568503e-02] [ 7.67988991e-03 2.34401795e-04 9.99970482e-01 -2.46976142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.755898226999999 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:4.96, Y:0.02, Z:-0.25 [[ 9.99951005e-01 -6.24759248e-03 -7.67819456e-03 4.96056543e+00] [ 6.24559137e-03 9.99980456e-01 -2.84572581e-04 1.82255390e-02] [ 7.67982238e-03 2.36603773e-04 9.99970482e-01 -2.48835746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.785898227 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:4.99, Y:0.02, Z:-0.25 [[ 9.99958344e-01 -4.93510133e-03 -7.67820781e-03 4.99263513e+00] [ 4.93306431e-03 9.99987792e-01 -2.84214563e-04 2.23066280e-02] [ 7.67951670e-03 2.46325631e-04 9.99970482e-01 -2.51587993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.815898227 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:5.02, Y:0.02, Z:-0.25 [[ 9.99959436e-01 -4.70873395e-03 -7.67822104e-03 5.02426277e+00] [ 4.70669302e-03 9.99988883e-01 -2.83856569e-04 2.45778809e-02] [ 7.67947229e-03 2.47706026e-04 9.99970482e-01 -2.51565564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.845898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:5.05, Y:0.03, Z:-0.25 [[ 9.99961964e-01 -4.13713317e-03 -7.67822776e-03 5.05484892e+00] [ 4.13507680e-03 9.99991410e-01 -2.83674771e-04 2.66470278e-02] [ 7.67933541e-03 2.51913919e-04 9.99970482e-01 -2.51249415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8758982269999995 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:5.08, Y:0.03, Z:-0.25 [[ 9.99964787e-01 -3.38676753e-03 -7.67823886e-03 5.08481229e+00] [ 3.38469137e-03 9.99994232e-01 -2.83373878e-04 2.86500240e-02] [ 7.67915430e-03 2.57375431e-04 9.99970482e-01 -2.50257806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.905898227 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:5.12, Y:0.03, Z:-0.25 [[ 9.99970522e-01 1.54309710e-05 -7.67824218e-03 5.11511591e+00] [-1.76066131e-05 9.99999960e-01 -2.83284075e-04 3.26100595e-02] [ 7.67823750e-03 2.83410912e-04 9.99970482e-01 -2.48629921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.935898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:5.14, Y:0.04, Z:-0.25 [[ 9.99967523e-01 2.44880386e-03 -7.67824218e-03 5.14144904e+00] [-2.45105113e-03 9.99996956e-01 -2.83284075e-04 3.56546920e-02] [ 7.67752510e-03 3.02094639e-04 9.99970482e-01 -2.46665794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.965898226999999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:5.17, Y:0.04, Z:-0.25 [[ 9.99960515e-01 4.47361740e-03 -7.67821806e-03 5.16822506e+00] [-4.47592926e-03 9.99989943e-01 -2.83936294e-04 3.85249101e-02] [ 7.67687061e-03 3.18292244e-04 9.99970482e-01 -2.45192481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.995898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:5.20, Y:0.04, Z:-0.24 [[ 9.99950146e-01 6.38361233e-03 -7.67819422e-03 5.19725520e+00] [-6.38598533e-03 9.99979569e-01 -2.84579384e-04 4.10720331e-02] [ 7.67622070e-03 3.33598032e-04 9.99970482e-01 -2.43673371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.025898226999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.22, Y:0.04, Z:-0.24 [[ 9.99936952e-01 8.19380813e-03 -7.67818026e-03 5.22430233e+00] [-8.19623727e-03 9.99966370e-01 -2.84955645e-04 4.22553906e-02] [ 7.67558717e-03 3.47869866e-04 9.99970482e-01 -2.43567870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.055898226999998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:5.25, Y:0.04, Z:-0.25 [[ 9.99947014e-01 6.85677237e-03 -7.67814207e-03 5.25281718e+00] [-6.85917003e-03 9.99976435e-01 -2.85980867e-04 4.30379388e-02] [ 7.67600023e-03 3.38631396e-04 9.99970482e-01 -2.46359985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.085898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:5.28, Y:0.04, Z:-0.25 [[ 9.99961945e-01 4.14177687e-03 -7.67812801e-03 5.28020271e+00] [-4.14409753e-03 9.99991372e-01 -2.86358076e-04 4.40770524e-02] [ 7.67687573e-03 3.18166090e-04 9.99970482e-01 -2.47577292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.115898226999999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:5.31, Y:0.04, Z:-0.25 [[ 9.99970454e-01 3.71145666e-04 -7.67810377e-03 5.30757037e+00] [-3.73360321e-04 9.99999889e-01 -2.87006405e-04 4.43929916e-02] [ 7.67799640e-03 2.89864624e-04 9.99970482e-01 -2.49925456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.145898226999998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:5.34, Y:0.04, Z:-0.25 [[ 9.99952061e-01 -6.07638804e-03 -7.67808228e-03 5.33602391e+00] [ 6.07435881e-03 9.99981510e-01 -2.87580299e-04 4.43212226e-02] [ 7.67968775e-03 2.40927086e-04 9.99970482e-01 -2.48086568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.175898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:5.37, Y:0.04, Z:-0.25 [[ 9.99940126e-01 -7.79688501e-03 -7.67806855e-03 5.36793729e+00] [ 7.79490365e-03 9.99969578e-01 -2.87946176e-04 4.42330901e-02] [ 7.68008005e-03 2.28079131e-04 9.99970482e-01 -2.48604711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.205898226999999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:5.40, Y:0.05, Z:-0.25 [[ 9.99936348e-01 -8.26721500e-03 -7.67808233e-03 5.39917150e+00] [ 8.26525032e-03 9.99965801e-01 -2.87578440e-04 4.58311128e-02] [ 7.68019722e-03 2.24098863e-04 9.99970482e-01 -2.45427645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.235898226999998 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:5.43, Y:0.05, Z:-0.24 [[ 9.99940699e-01 -7.72306515e-03 -7.67809263e-03 5.43167836e+00] [ 7.72108655e-03 9.99970151e-01 -2.87303147e-04 4.75353090e-02] [ 7.68008230e-03 2.28002892e-04 9.99970482e-01 -2.44225750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.265898227 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:5.46, Y:0.05, Z:-0.24 [[ 9.99946080e-01 -6.99162856e-03 -7.67810657e-03 5.46289961e+00] [ 6.98963128e-03 9.99975531e-01 -2.86930081e-04 4.86651623e-02] [ 7.67992480e-03 2.33247476e-04 9.99970482e-01 -2.43904728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.295898226999999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:5.50, Y:0.05, Z:-0.25 [[ 9.99945280e-01 -7.10523985e-03 -7.67811694e-03 5.49526272e+00] [ 7.10324805e-03 9.99974731e-01 -2.86652428e-04 4.81178346e-02] [ 7.67995965e-03 2.32097173e-04 9.99970482e-01 -2.45384518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.325898227 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:5.53, Y:0.05, Z:-0.25 [[ 9.99936175e-01 -8.28809959e-03 -7.67813055e-03 5.52703438e+00] [ 8.28614543e-03 9.99965628e-01 -2.86287259e-04 4.85243472e-02] [ 7.68023942e-03 2.22646880e-04 9.99970482e-01 -2.46450201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.355898226999999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:5.56, Y:0.05, Z:-0.24 [[ 9.99926379e-01 -9.39583604e-03 -7.67814424e-03 5.55810836e+00] [ 9.39391733e-03 9.99955835e-01 -2.85919650e-04 4.97083248e-02] [ 7.68049159e-03 2.13770748e-04 9.99970482e-01 -2.44934121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.385898226999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:5.59, Y:0.05, Z:-0.24 [[ 9.99915690e-01 -1.04717788e-02 -7.67815438e-03 5.58892299e+00] [ 1.04698939e-02 9.99945148e-01 -2.85647016e-04 5.15895289e-02] [ 7.68072446e-03 2.05233471e-04 9.99970482e-01 -2.42011452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.415898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:5.62, Y:0.05, Z:-0.24 [[ 9.99905705e-01 -1.13853839e-02 -7.67816445e-03 5.62156854e+00] [ 1.13835280e-02 9.99935165e-01 -2.85376097e-04 5.24544084e-02] [ 7.68091575e-03 1.97944587e-04 9.99970482e-01 -2.43818321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.445898226999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:5.65, Y:0.05, Z:-0.24 [[ 9.99912529e-01 -1.07694065e-02 -7.67818457e-03 5.65442810e+00] [ 1.07675366e-02 9.99941988e-01 -2.84833689e-04 5.32394043e-02] [ 7.68080664e-03 2.02133641e-04 9.99970482e-01 -2.41614545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.475898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.69, Y:0.05, Z:-0.24 [[ 9.99919507e-01 -1.01007677e-02 -7.67820455e-03 5.68711369e+00] [ 1.00988822e-02 9.99948965e-01 -2.84294083e-04 5.42370688e-02] [ 7.68068428e-03 2.06729916e-04 9.99970482e-01 -2.39735121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.505898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:5.72, Y:0.05, Z:-0.24 [[ 9.99929384e-01 -9.07037983e-03 -7.67822107e-03 5.71890380e+00] [ 9.06846743e-03 9.99958840e-01 -2.83847242e-04 5.49473247e-02] [ 7.68047964e-03 2.14197500e-04 9.99970482e-01 -2.38491497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.535898226999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:5.75, Y:0.06, Z:-0.24 [[ 9.99937711e-01 -8.10060186e-03 -7.67823422e-03 5.75085638e+00] [ 8.09866363e-03 9.99967165e-01 -2.83491247e-04 5.56430029e-02] [ 7.68027855e-03 2.21290153e-04 9.99970482e-01 -2.38910210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.565898226999998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:5.78, Y:0.06, Z:-0.24 [[ 9.99955678e-01 -5.44861340e-03 -7.67824781e-03 5.78183003e+00] [ 5.44659988e-03 9.99985127e-01 -2.83122622e-04 5.54263878e-02] [ 7.67967624e-03 2.41289729e-04 9.99970482e-01 -2.39658093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.595898227 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:5.81, Y:0.06, Z:-0.24 [[ 9.99959755e-01 -4.64041770e-03 -7.67826131e-03 5.81282103e+00] [ 4.63838320e-03 9.99989203e-01 -2.82756115e-04 5.62248458e-02] [ 7.67949051e-03 2.47130017e-04 9.99970482e-01 -2.38862831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.625898226999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:5.84, Y:0.06, Z:-0.24 [[ 9.99963053e-01 -3.86484571e-03 -7.67827127e-03 5.84464515e+00] [ 3.86279044e-03 9.99992499e-01 -2.82485173e-04 5.62241332e-02] [ 7.67930544e-03 2.52815183e-04 9.99970482e-01 -2.37997490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.655898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:5.88, Y:0.06, Z:-0.24 [[ 9.99963053e-01 -3.86484433e-03 -7.67827787e-03 5.87562295e+00] [ 3.86279044e-03 9.99992500e-01 -2.82305868e-04 5.73630095e-02] [ 7.67931134e-03 2.52635859e-04 9.99970482e-01 -2.37759463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.685898227 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:5.91, Y:0.06, Z:-0.24 [[ 9.99964872e-01 -3.36130522e-03 -7.67827787e-03 5.90653274e+00] [ 3.35923650e-03 9.99994318e-01 -2.82305868e-04 5.72076811e-02] [ 7.67918315e-03 2.56502800e-04 9.99970482e-01 -2.38164260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.715898226999998 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:5.94, Y:0.06, Z:-0.24 [[ 9.99965541e-01 -3.15620138e-03 -7.67827787e-03 5.93570412e+00] [ 3.15412662e-03 9.99994986e-01 -2.82305868e-04 5.69482002e-02] [ 7.67913038e-03 2.58077879e-04 9.99970482e-01 -2.39774555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.745898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:5.96, Y:0.06, Z:-0.24 [[ 9.99962979e-01 -3.88383112e-03 -7.67827787e-03 5.96475628e+00] [ 3.88177779e-03 9.99992426e-01 -2.82305868e-04 5.87199558e-02] [ 7.67931614e-03 2.52490048e-04 9.99970482e-01 -2.40384240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.775898226999999 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:5.99, Y:0.06, Z:-0.24 [[ 9.99957606e-01 -5.08230294e-03 -7.67827449e-03 5.99489057e+00] [ 5.08028419e-03 9.99987055e-01 -2.82397567e-04 6.02063807e-02] [ 7.67961033e-03 2.43377778e-04 9.99970482e-01 -2.44921730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.805898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:6.02, Y:0.06, Z:-0.25 [[ 9.99949409e-01 -6.49803479e-03 -7.67827449e-03 6.02493532e+00] [ 6.49605774e-03 9.99978861e-01 -2.82397567e-04 6.21569966e-02] [ 7.67994721e-03 2.32504765e-04 9.99970482e-01 -2.45088328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:0.06, Z:-0.24 [[ 9.99906545e-01 -1.13112539e-02 -7.67827789e-03 6.05700647e+00] [ 1.13094193e-02 9.99936007e-01 -2.82305237e-04 6.31839390e-02] [ 7.68097976e-03 1.95441990e-04 9.99970482e-01 -2.42206291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.865898226999999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:6.09, Y:0.06, Z:-0.24 [[ 9.99865032e-01 -1.45244702e-02 -7.67832454e-03 6.09019331e+00] [ 1.45227401e-02 9.99894500e-01 -2.81030649e-04 6.41416644e-02] [ 7.68159630e-03 1.69482407e-04 9.99970482e-01 -2.40464173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.895898226999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:6.12, Y:0.07, Z:-0.24 [[ 9.99818083e-01 -1.74597561e-02 -7.67834448e-03 6.12344643e+00] [ 1.74581167e-02 9.99847556e-01 -2.80484642e-04 6.59876193e-02] [ 7.68207116e-03 1.46384184e-04 9.99970482e-01 -2.37987354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.925898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:6.16, Y:0.07, Z:-0.24 [[ 9.99761626e-01 -2.04385613e-02 -7.67836433e-03 6.15612433e+00] [ 2.04370139e-02 9.99791103e-01 -2.79940264e-04 6.73326575e-02] [ 7.68248192e-03 1.22950695e-04 9.99970482e-01 -2.39639214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.955898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.19, Y:0.07, Z:-0.24 [[ 9.99716252e-01 -2.25490281e-02 -7.67838457e-03 6.18791768e+00] [ 2.25475472e-02 9.99745733e-01 -2.79384027e-04 6.93193796e-02] [ 7.68273205e-03 1.06176014e-04 9.99970482e-01 -2.39119401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.985898226999998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:6.22, Y:0.07, Z:-0.24 [[ 9.99672111e-01 -2.44276781e-02 -7.67843453e-03 6.22049155e+00] [ 2.44262633e-02 9.99701596e-01 -2.78004080e-04 7.15833147e-02] [ 7.68293425e-03 9.03574618e-05 9.99970482e-01 -2.39958077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.015898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:6.25, Y:0.08, Z:-0.24 [[ 9.99632325e-01 -2.60049385e-02 -7.67845442e-03 6.25259597e+00] [ 2.60035743e-02 9.99661811e-01 -2.77453774e-04 7.63283288e-02] [ 7.68307282e-03 7.76845004e-05 9.99970482e-01 -2.40036193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.045898226999999 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:6.28, Y:0.08, Z:-0.24 [[ 9.99609812e-01 -2.68563758e-02 -7.67850338e-03 6.28456270e+00] [ 2.68550473e-02 9.99639300e-01 -2.76092073e-04 7.97169731e-02] [ 7.68314858e-03 6.97777737e-05 9.99970482e-01 -2.40757084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.075898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:6.32, Y:0.08, Z:-0.24 [[ 9.99571502e-01 -2.82462812e-02 -7.67853455e-03 6.31738619e+00] [ 2.82450003e-02 9.99600993e-01 -2.75222401e-04 8.24367322e-02] [ 7.68324477e-03 5.82242584e-05 9.99970482e-01 -2.42022913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.105898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.35, Y:0.09, Z:-0.24 [[ 9.99499890e-01 -3.06758882e-02 -7.67858503e-03 6.34995886e+00] [ 3.06746899e-02 9.99529383e-01 -2.73806789e-04 8.51480783e-02] [ 7.68337063e-03 3.81316407e-05 9.99970482e-01 -2.41878866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.135898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:6.38, Y:0.09, Z:-0.24 [[ 9.99256517e-01 -3.77816212e-02 -7.67863198e-03 6.38309215e+00] [ 3.77806428e-02 9.99286020e-01 -2.72483724e-04 9.05607582e-02] [ 7.68344446e-03 -1.78225144e-05 9.99970482e-01 -2.36664719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.165898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:6.41, Y:0.09, Z:-0.23 [[ 9.99131914e-01 -4.09445408e-02 -7.67868126e-03 6.41467562e+00] [ 4.09436665e-02 9.99161420e-01 -2.71087756e-04 9.39493117e-02] [ 7.68334164e-03 -4.35409367e-05 9.99970482e-01 -2.34374378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.195898226999999 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:6.45, Y:0.10, Z:-0.24 [[ 9.99023123e-01 -4.35182366e-02 -7.67871192e-03 6.44819014e+00] [ 4.35174451e-02 9.99052631e-01 -2.70216556e-04 9.70014639e-02] [ 7.68319669e-03 -6.42053364e-05 9.99970482e-01 -2.35163240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.225898226999998 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:6.48, Y:0.10, Z:-0.24 [[ 9.98942171e-01 -4.53384546e-02 -7.67876223e-03 6.47997015e+00] [ 4.53377279e-02 9.98971680e-01 -2.68779169e-04 1.00426271e-01] [ 7.68305204e-03 -7.96427864e-05 9.99970482e-01 -2.35216149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.255898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:6.51, Y:0.10, Z:-0.24 [[ 9.98871080e-01 -4.68785909e-02 -7.67880891e-03 6.51251860e+00] [ 4.68779200e-02 9.98900590e-01 -2.67438990e-04 1.04735601e-01] [ 7.68290392e-03 -9.28295166e-05 9.99970482e-01 -2.36165126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.285898226999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:6.55, Y:0.11, Z:-0.23 [[ 9.98900668e-01 -4.62438086e-02 -7.67885406e-03 6.54544908e+00] [ 4.62431289e-02 9.98930179e-01 -2.66136266e-04 1.06972336e-01] [ 7.68294621e-03 -8.92505442e-05 9.99970482e-01 -2.34791815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.315898226999998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:6.58, Y:0.11, Z:-0.23 [[ 9.98962789e-01 -4.48818489e-02 -7.67890372e-03 6.57717089e+00] [ 4.48811400e-02 9.98992299e-01 -2.64695568e-04 1.09477352e-01] [ 7.68304571e-03 -8.02169305e-05 9.99970482e-01 -2.33099214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.345898227 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:6.61, Y:0.11, Z:-0.23 [[ 9.99084056e-01 -4.20961076e-02 -7.67894975e-03 6.60894925e+00] [ 4.20953268e-02 9.99113564e-01 -2.63353396e-04 1.11390486e-01] [ 7.68322901e-03 -6.01357197e-05 9.99970482e-01 -2.31508496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.375898226999999 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:6.64, Y:0.11, Z:-0.23 [[ 9.99209103e-01 -3.90154135e-02 -7.67899443e-03 6.64166589e+00] [ 3.90145518e-02 9.99238608e-01 -2.62044058e-04 1.13941672e-01] [ 7.68337147e-03 -3.77557178e-05 9.99970482e-01 -2.31993823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.405898226999998 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:6.67, Y:0.12, Z:-0.23 [[ 9.99416746e-01 -3.32746090e-02 -7.67904418e-03 6.67368386e+00] [ 3.32735890e-02 9.99446247e-01 -2.60578031e-04 1.17907857e-01] [ 7.68346252e-03 4.91668750e-06 9.99970482e-01 -2.29228005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.435898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:6.71, Y:0.12, Z:-0.23 [[ 9.99494685e-01 -3.08448865e-02 -7.67909030e-03 6.70668325e+00] [ 3.08438053e-02 9.99524183e-01 -2.59211722e-04 1.19844903e-01] [ 7.68343182e-03 2.22283718e-05 9.99970482e-01 -2.28282331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.465898226999998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:6.74, Y:0.12, Z:-0.23 [[ 9.99553292e-01 -2.88833544e-02 -7.67913804e-03 6.73982828e+00] [ 2.88822263e-02 9.99582788e-01 -2.57789749e-04 1.21336921e-01] [ 7.68338004e-03 3.58839894e-05 9.99970482e-01 -2.28055430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.495898227 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:6.77, Y:0.12, Z:-0.23 [[ 9.99607422e-01 -2.69449894e-02 -7.67918660e-03 6.77178655e+00] [ 2.69438152e-02 9.99636917e-01 -2.56334900e-04 1.22373636e-01] [ 7.68330536e-03 4.93276836e-05 9.99970482e-01 -2.26192560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.525898226999999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:6.80, Y:0.12, Z:-0.22 [[ 9.99648455e-01 -2.53770882e-02 -7.67923158e-03 6.80403079e+00] [ 2.53758782e-02 9.99677948e-01 -2.54980198e-04 1.23076854e-01] [ 7.68322913e-03 6.00233155e-05 9.99970482e-01 -2.24991346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.555898226999998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:6.84, Y:0.12, Z:-0.22 [[ 9.99719935e-01 -2.23848383e-02 -7.67927296e-03 6.83680132e+00] [ 2.23835496e-02 9.99749425e-01 -2.53727766e-04 1.22841932e-01] [ 7.68302838e-03 8.17673187e-05 9.99970482e-01 -2.24648550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.585898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.87, Y:0.12, Z:-0.22 [[ 9.99750428e-01 -2.09788175e-02 -7.67929577e-03 6.86859189e+00] [ 2.09774927e-02 9.99779916e-01 -2.53035620e-04 1.23268427e-01] [ 7.68291407e-03 9.18800981e-05 9.99970482e-01 -2.23636287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.615898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.90, Y:0.12, Z:-0.22 [[ 9.99770527e-01 -1.99980368e-02 -7.67934036e-03 6.90175003e+00] [ 1.99966935e-02 9.99800014e-01 -2.51674999e-04 1.24009804e-01] [ 7.68283761e-03 9.80558311e-05 9.99970482e-01 -2.22361925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.645898226999998 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:6.93, Y:0.12, Z:-0.22 [[ 9.99786330e-01 -1.91917329e-02 -7.67935747e-03 6.93370089e+00] [ 1.91903698e-02 9.99815816e-01 -2.51151979e-04 1.23735415e-01] [ 7.68276310e-03 1.03728606e-04 9.99970482e-01 -2.22784794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.675898227 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:6.97, Y:0.12, Z:-0.22 [[ 9.99786208e-01 -1.91980751e-02 -7.67936920e-03 6.96659208e+00] [ 1.91967150e-02 9.99815695e-01 -2.50792627e-04 1.23738211e-01] [ 7.68276859e-03 1.03320348e-04 9.99970482e-01 -2.23577853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.705898226999999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.00, Y:0.12, Z:-0.22 [[ 9.99793142e-01 -1.88334649e-02 -7.67938683e-03 6.99825904e+00] [ 1.88320981e-02 9.99822629e-01 -2.50251595e-04 1.23184796e-01] [ 7.68273784e-03 1.05580862e-04 9.99970482e-01 -2.23986418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.735898226999998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:7.03, Y:0.12, Z:-0.23 [[ 9.99789286e-01 -1.90370691e-02 -7.67940930e-03 7.03033922e+00] [ 1.90357137e-02 9.99818773e-01 -2.49560403e-04 1.23443730e-01] [ 7.68276848e-03 1.03324780e-04 9.99970482e-01 -2.25371817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.765898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.06, Y:0.12, Z:-0.23 [[ 9.99784476e-01 -1.92880494e-02 -7.67942077e-03 7.06140696e+00] [ 1.92867041e-02 9.99813963e-01 -2.49206738e-04 1.23536868e-01] [ 7.68279883e-03 1.01042311e-04 9.99970482e-01 -2.27476622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.795898226999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:7.09, Y:0.12, Z:-0.23 [[ 9.99781814e-01 -1.94255251e-02 -7.67945766e-03 7.09339504e+00] [ 1.94241926e-02 9.99811302e-01 -2.48064863e-04 1.23759302e-01] [ 7.68282735e-03 9.88434733e-05 9.99970482e-01 -2.28509069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.825898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.13, Y:0.12, Z:-0.23 [[ 9.99780486e-01 -1.94937491e-02 -7.67947177e-03 7.12617331e+00] [ 1.94924220e-02 9.99809974e-01 -2.47627140e-04 1.23762147e-01] [ 7.68283965e-03 9.78812773e-05 9.99970482e-01 -2.28951719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.855898226999999 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:7.16, Y:0.12, Z:-0.23 [[ 9.99777669e-01 -1.96376749e-02 -7.67948860e-03 7.15904314e+00] [ 1.96363561e-02 9.99807158e-01 -2.47104111e-04 1.23861263e-01] [ 7.68286022e-03 9.62519994e-05 9.99970482e-01 -2.29375501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.885898226999998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.19, Y:0.12, Z:-0.23 [[ 9.99796480e-01 -1.86553874e-02 -7.67950600e-03 7.19156606e+00] [ 1.86540438e-02 9.99825968e-01 -2.46562098e-04 1.24662891e-01] [ 7.68276923e-03 1.03258076e-04 9.99970482e-01 -2.27349969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.915898227 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:7.22, Y:0.13, Z:-0.23 [[ 9.99831502e-01 -1.66731033e-02 -7.67954894e-03 7.22438684e+00] [ 1.66717115e-02 9.99860987e-01 -2.45217428e-04 1.26102234e-01] [ 7.68256992e-03 1.17144885e-04 9.99970482e-01 -2.28695597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.945898226999999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.26, Y:0.13, Z:-0.23 [[ 9.99851367e-01 -1.54359477e-02 -7.67956638e-03 7.25644301e+00] [ 1.54345237e-02 9.99880851e-01 -2.44670039e-04 1.26752825e-01] [ 7.68242808e-03 1.26103224e-04 9.99970482e-01 -2.29579250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.975898226999998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:7.29, Y:0.13, Z:-0.23 [[ 9.99863025e-01 -1.46613344e-02 -7.67958080e-03 7.28979976e+00] [ 1.46598910e-02 9.99892508e-01 -2.44216545e-04 1.27139703e-01] [ 7.68233585e-03 1.31601276e-04 9.99970482e-01 -2.30089051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.005898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:7.32, Y:0.13, Z:-0.23 [[ 9.99880556e-01 -1.34126236e-02 -7.67959794e-03 7.32290619e+00] [ 1.34111475e-02 9.99910037e-01 -2.43676506e-04 1.27225009e-01] [ 7.68217540e-03 1.40655179e-04 9.99970482e-01 -2.28063165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.035898226999999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:7.36, Y:0.13, Z:-0.23 [[ 9.99892230e-01 -1.25121011e-02 -7.67961503e-03 7.35604267e+00] [ 1.25106026e-02 9.99921710e-01 -2.43136465e-04 1.27595674e-01] [ 7.68205594e-03 1.47033651e-04 9.99970482e-01 -2.27066418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.065898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:0.13, Z:-0.22 [[ 9.99925518e-01 -9.48589969e-03 -7.67963212e-03 7.38776918e+00] [ 9.48431613e-03 9.99954993e-01 -2.42595752e-04 1.27948574e-01] [ 7.68158772e-03 1.69741624e-04 9.99970482e-01 -2.22879440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.095898227 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:7.42, Y:0.13, Z:-0.22 [[ 9.99930538e-01 -8.94105131e-03 -7.67964683e-03 7.41989229e+00] [ 8.93945527e-03 9.99960013e-01 -2.42129202e-04 1.28619447e-01] [ 7.68150463e-03 1.73460524e-04 9.99970482e-01 -2.23131744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.125898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.45, Y:0.13, Z:-0.22 [[ 9.99941650e-01 -7.59732664e-03 -7.67966157e-03 7.45231944e+00] [ 7.59569459e-03 9.99971123e-01 -2.41660612e-04 1.28734182e-01] [ 7.68127578e-03 1.83314147e-04 9.99970482e-01 -2.22974688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.155898226999998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:7.48, Y:0.13, Z:-0.22 [[ 9.99949085e-01 -6.54592245e-03 -7.67967350e-03 7.48318980e+00] [ 6.54426233e-03 9.99978557e-01 -2.41281021e-04 1.29034169e-01] [ 7.68108823e-03 1.91010938e-04 9.99970482e-01 -2.23253638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.185898227 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:7.52, Y:0.13, Z:-0.22 [[ 9.99958211e-01 -4.95970237e-03 -7.67969342e-03 7.51575435e+00] [ 4.95800037e-03 9.99987680e-01 -2.40645223e-04 1.30016894e-01] [ 7.68079234e-03 2.02559244e-04 9.99970482e-01 -2.22068211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.215898226999998 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:7.55, Y:0.13, Z:-0.22 [[ 9.99969002e-01 -1.73674302e-03 -7.67970492e-03 7.54603858e+00] [ 1.73494887e-03 9.99998466e-01 -2.40277746e-04 1.31781604e-01] [ 7.68011044e-03 2.26946402e-04 9.99970482e-01 -2.20298464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.245898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:7.57, Y:0.13, Z:-0.22 [[ 9.99970495e-01 -1.78741749e-04 -7.67970778e-03 7.57462296e+00] [ 1.76902400e-04 9.99999956e-01 -2.40186348e-04 1.32778228e-01] [ 7.67975037e-03 2.38820703e-04 9.99970482e-01 -2.19200730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.275898226999999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:7.60, Y:0.13, Z:-0.22 [[ 9.99970410e-01 4.48478872e-04 -7.67969932e-03 7.60248991e+00] [-4.50338771e-04 9.99999870e-01 -2.40456323e-04 1.33817290e-01] [ 7.67959048e-03 2.43907675e-04 9.99970482e-01 -2.18680915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.305898226999998 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:7.63, Y:0.13, Z:-0.22 [[ 9.99970497e-01 1.67873321e-04 -7.67965263e-03 7.62997119e+00] [-1.69736325e-04 9.99999956e-01 -2.41938513e-04 1.34427980e-01] [ 7.67961168e-03 2.43234891e-04 9.99970482e-01 -2.18237659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.335898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:7.66, Y:0.13, Z:-0.22 [[ 9.99968890e-01 -1.80068314e-03 -7.67963483e-03 7.65781877e+00] [ 1.79887381e-03 9.99998353e-01 -2.42502175e-04 1.33445344e-01] [ 7.68005885e-03 2.28679936e-04 9.99970482e-01 -2.19028034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.365898226999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:7.69, Y:0.13, Z:-0.22 [[ 9.99968111e-01 -2.19110329e-03 -7.67962006e-03 7.68694902e+00] [ 2.18930188e-03 9.99997574e-01 -2.42968984e-04 1.33342432e-01] [ 7.68013380e-03 2.26148229e-04 9.99970482e-01 -2.18064777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.395898226999998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:7.72, Y:0.13, Z:-0.22 [[ 9.99968450e-01 -2.03075378e-03 -7.67958008e-03 7.71646470e+00] [ 2.02893800e-03 9.99997912e-01 -2.44226018e-04 1.32644170e-01] [ 7.68006001e-03 2.28636921e-04 9.99970482e-01 -2.17466004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.425898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:7.74, Y:0.13, Z:-0.21 [[ 9.99969918e-01 1.08926441e-03 -7.67957427e-03 7.74478125e+00] [-1.09117350e-03 9.99999375e-01 -2.44408591e-04 1.30806577e-01] [ 7.67930325e-03 2.52780987e-04 9.99970482e-01 -2.14409168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.455898226999999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:7.77, Y:0.13, Z:-0.22 [[ 9.99963645e-01 3.70582873e-03 -7.67953354e-03 7.77240594e+00] [-3.70782466e-03 9.99993096e-01 -2.45681727e-04 1.30639471e-01] [ 7.67857007e-03 2.74147159e-04 9.99970482e-01 -2.16484169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.485898226999998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:7.80, Y:0.13, Z:-0.22 [[ 9.99945540e-01 7.06690277e-03 -7.67951899e-03 7.80143450e+00] [-7.06900116e-03 9.99974984e-01 -2.46135876e-04 1.30461799e-01] [ 7.67758746e-03 3.00409001e-04 9.99970482e-01 -2.19668392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.515898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.83, Y:0.13, Z:-0.22 [[ 9.99913077e-01 1.07174506e-02 -7.67947997e-03 7.82880036e+00] [-1.07196658e-02 9.99942512e-01 -2.47347191e-04 1.31045042e-01] [ 7.67638756e-03 3.29647149e-04 9.99970482e-01 -2.20227561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.545898226999999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:7.86, Y:0.13, Z:-0.22 [[ 9.99871552e-01 1.40678713e-02 -7.67943146e-03 7.85655954e+00] [-1.40701965e-02 9.99900979e-01 -2.48844260e-04 1.31776463e-01] [ 7.67517033e-03 3.56863406e-04 9.99970482e-01 -2.20496054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.575898226999998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:7.88, Y:0.13, Z:-0.22 [[ 9.99872602e-01 1.39931255e-02 -7.67938167e-03 7.88496730e+00] [-1.39954603e-02 9.99902027e-01 -2.50371433e-04 1.32816782e-01] [ 7.67512582e-03 3.57816017e-04 9.99970482e-01 -2.20276268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.605898226999999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:7.91, Y:0.13, Z:-0.22 [[ 9.99762679e-01 2.03865713e-02 -7.67936291e-03 7.91210813e+00] [-2.03890985e-02 9.99792089e-01 -2.50945433e-04 1.34459225e-01] [ 7.67265037e-03 4.07461166e-04 9.99970482e-01 -2.17595493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.635898226999998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:7.94, Y:0.14, Z:-0.22 [[ 9.99724321e-01 2.21880679e-02 -7.67934110e-03 7.94021000e+00] [-2.21906532e-02 9.99753725e-01 -2.51611329e-04 1.35878767e-01] [ 7.67186710e-03 4.21951560e-04 9.99970482e-01 -2.18186155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.665898227 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:7.97, Y:0.14, Z:-0.22 [[ 9.99699292e-01 2.32884918e-02 -7.67929188e-03 7.96700165e+00] [-2.32911209e-02 9.99728693e-01 -2.53104457e-04 1.36346621e-01] [ 7.67131402e-03 4.31887662e-04 9.99970482e-01 -2.19734738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.695898226999999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:7.99, Y:0.14, Z:-0.22 [[ 9.99689052e-01 2.37240071e-02 -7.67927034e-03 7.99436793e+00] [-2.37266541e-02 9.99718451e-01 -2.53756534e-04 1.36974781e-01] [ 7.67108812e-03 4.35881020e-04 9.99970482e-01 -2.19437385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.725898226999998 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:8.02, Y:0.14, Z:-0.22 [[ 9.99690834e-01 2.36488059e-02 -7.67922095e-03 8.02132374e+00] [-2.36514620e-02 9.99720232e-01 -2.55242497e-04 1.37353355e-01] [ 7.67103637e-03 4.36788388e-04 9.99970482e-01 -2.18691953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.755898227 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:8.05, Y:0.14, Z:-0.22 [[ 9.99727131e-01 2.20611201e-02 -7.67919936e-03 8.04890196e+00] [-2.20637345e-02 9.99756533e-01 -2.55890181e-04 1.36121918e-01] [ 7.67168451e-03 4.25252173e-04 9.99970482e-01 -2.16945168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.785898226999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.08, Y:0.14, Z:-0.22 [[ 9.99747754e-01 2.11059048e-02 -7.67915002e-03 8.07692835e+00] [-2.11085024e-02 9.99777158e-01 -2.57362527e-04 1.35239482e-01] [ 7.67200691e-03 4.19392965e-04 9.99970482e-01 -2.16006180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.815898226999998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:8.10, Y:0.13, Z:-0.22 [[ 9.99766769e-01 2.01851362e-02 -7.67909812e-03 8.10343191e+00] [-2.01877184e-02 9.99796174e-01 -2.58901874e-04 1.33940815e-01] [ 7.67230695e-03 4.13864960e-04 9.99970482e-01 -2.15885165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.845898227 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:8.13, Y:0.13, Z:-0.22 [[ 9.99787636e-01 1.91236890e-02 -7.67907545e-03 8.13116005e+00] [-1.91262452e-02 9.99817043e-01 -2.59572384e-04 1.32026646e-01] [ 7.67270653e-03 4.06389140e-04 9.99970482e-01 -2.17667839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.875898226999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.16, Y:0.13, Z:-0.22 [[ 9.99818741e-01 1.74217601e-02 -7.67902299e-03 8.16029103e+00] [-1.74242781e-02 9.99848152e-01 -2.61115334e-04 1.26337901e-01] [ 7.67330785e-03 3.94869436e-04 9.99970482e-01 -2.20306843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.905898226999998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:8.19, Y:0.12, Z:-0.22 [[ 9.99838318e-01 1.62594820e-02 -7.67900990e-03 8.18692921e+00] [-1.62619687e-02 9.99867731e-01 -2.61499687e-04 1.23857534e-01] [ 7.67374236e-03 3.86333226e-04 9.99970482e-01 -2.19927029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.935898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.22, Y:0.12, Z:-0.22 [[ 9.99848198e-01 1.56401222e-02 -7.67898717e-03 8.21558242e+00] [-1.56425958e-02 9.99877613e-01 -2.62165312e-04 1.22158646e-01] [ 7.67394707e-03 3.82244807e-04 9.99970482e-01 -2.17865010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.965898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:8.24, Y:0.12, Z:-0.22 [[ 9.99857321e-01 1.50456001e-02 -7.67897452e-03 8.24341490e+00] [-1.50480590e-02 9.99886737e-01 -2.62535402e-04 1.21430459e-01] [ 7.67415478e-03 3.78051606e-04 9.99970482e-01 -2.16260473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.995898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:8.27, Y:0.12, Z:-0.22 [[ 9.99853018e-01 1.53289574e-02 -7.67892352e-03 8.27163084e+00] [-1.53314360e-02 9.99882432e-01 -2.64018818e-04 1.20496444e-01] [ 7.67397359e-03 3.81708936e-04 9.99970482e-01 -2.15583445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.025898226999999 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:8.30, Y:0.12, Z:-0.22 [[ 9.99835023e-01 1.64609340e-02 -7.67887161e-03 8.30012338e+00] [-1.64634575e-02 9.99864433e-01 -2.65519970e-04 1.15541073e-01] [ 7.67345990e-03 3.91896942e-04 9.99970482e-01 -2.18236286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.055898226999998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:8.33, Y:0.11, Z:-0.22 [[ 9.99826853e-01 1.69499107e-02 -7.67881856e-03 8.32758417e+00] [-1.69524602e-02 9.99856261e-01 -2.67045583e-04 1.12968420e-01] [ 7.67318841e-03 3.97174211e-04 9.99970482e-01 -2.18572443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.085898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:8.36, Y:0.11, Z:-0.22 [[ 9.99821727e-01 1.72496612e-02 -7.67879542e-03 8.35559455e+00] [-1.72522246e-02 9.99851133e-01 -2.67709307e-04 1.11109137e-01] [ 7.67303441e-03 4.00137885e-04 9.99970482e-01 -2.18600686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.115898226999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.38, Y:0.11, Z:-0.22 [[ 9.99815489e-01 1.76075287e-02 -7.67874080e-03 8.38305622e+00] [-1.76101145e-02 9.99844894e-01 -2.69266869e-04 1.07641964e-01] [ 7.67280865e-03 4.04440691e-04 9.99970482e-01 -2.16542319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.145898226999998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:8.41, Y:0.11, Z:-0.22 [[ 9.99820914e-01 1.72967384e-02 -7.67870351e-03 8.40980409e+00] [-1.72993233e-02 9.99850319e-01 -2.70326097e-04 1.06244285e-01] [ 7.67287839e-03 4.03114060e-04 9.99970482e-01 -2.16274460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.175898227 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:8.44, Y:0.10, Z:-0.22 [[ 9.99826153e-01 1.69912383e-02 -7.67866761e-03 8.43803050e+00] [-1.69938219e-02 9.99855558e-01 -2.71341969e-04 1.04082518e-01] [ 7.67294805e-03 4.01784707e-04 9.99970482e-01 -2.16755747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.205898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.47, Y:0.10, Z:-0.22 [[ 9.99830282e-01 1.67465380e-02 -7.67864792e-03 8.46609123e+00] [-1.67491187e-02 9.99859687e-01 -2.71897925e-04 1.02269376e-01] [ 7.67301716e-03 4.00462364e-04 9.99970482e-01 -2.15044586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.235898226999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.49, Y:0.10, Z:-0.21 [[ 9.99835141e-01 1.64538449e-02 -7.67862811e-03 8.49449903e+00] [-1.64564212e-02 9.99864547e-01 -2.72456454e-04 1.00637514e-01] [ 7.67310505e-03 3.98774276e-04 9.99970482e-01 -2.14147726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.265898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:8.52, Y:0.10, Z:-0.22 [[ 9.99833290e-01 1.65659537e-02 -7.67860817e-03 8.52226721e+00] [-1.65685377e-02 9.99862695e-01 -2.73017059e-04 9.55990301e-02] [ 7.67303107e-03 4.00194853e-04 9.99970482e-01 -2.15275539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.295898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.55, Y:0.09, Z:-0.22 [[ 9.99829802e-01 1.67751942e-02 -7.67855426e-03 8.54911411e+00] [-1.67777959e-02 9.99859205e-01 -2.74524929e-04 9.31256671e-02] [ 7.67286795e-03 4.03307421e-04 9.99970482e-01 -2.15057855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.325898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.58, Y:0.09, Z:-0.21 [[ 9.99830678e-01 1.67228947e-02 -7.67853078e-03 8.57736641e+00] [-1.67254998e-02 9.99860081e-01 -2.75180212e-04 9.12662337e-02] [ 7.67285460e-03 4.03560883e-04 9.99970482e-01 -2.13911917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.355898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.61, Y:0.09, Z:-0.21 [[ 9.99835278e-01 1.64455736e-02 -7.67847647e-03 8.60611388e+00] [-1.64481821e-02 9.99864681e-01 -2.76687431e-04 9.02860514e-02] [ 7.67288714e-03 4.02938834e-04 9.99970482e-01 -2.11992852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.385898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.63, Y:0.09, Z:-0.21 [[ 9.99834653e-01 1.64835855e-02 -7.67846285e-03 8.63308063e+00] [-1.64861981e-02 9.99864055e-01 -2.77064766e-04 8.97304405e-02] [ 7.67285198e-03 4.03607613e-04 9.99970482e-01 -2.09876164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.415898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.66, Y:0.09, Z:-0.21 [[ 9.99829638e-01 1.67850070e-02 -7.67843907e-03 8.65992888e+00] [-1.67876334e-02 9.99859039e-01 -2.77722302e-04 8.91557203e-02] [ 7.67269514e-03 4.06577809e-04 9.99970482e-01 -2.08569417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.445898226999999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:8.69, Y:0.09, Z:-0.21 [[ 9.99807334e-01 1.80648099e-02 -7.67841560e-03 8.68776348e+00] [-1.80674790e-02 9.99836731e-01 -2.78369736e-04 8.76134383e-02] [ 7.67213325e-03 4.17045716e-04 9.99970482e-01 -2.10068859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.475898226999998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.72, Y:0.09, Z:-0.21 [[ 9.99796543e-01 1.86525033e-02 -7.67836182e-03 8.71583715e+00] [-1.86552009e-02 9.99825937e-01 -2.79845376e-04 8.73527010e-02] [ 7.67180549e-03 4.23029822e-04 9.99970482e-01 -2.11454351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.505898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:8.74, Y:0.09, Z:-0.22 [[ 9.99820032e-01 1.73478145e-02 -7.67834506e-03 8.74380777e+00] [-1.73504773e-02 9.99849430e-01 -2.80304273e-04 8.62515218e-02] [ 7.67232627e-03 4.13476778e-04 9.99970482e-01 -2.16944593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.535898226999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:8.77, Y:0.09, Z:-0.22 [[ 9.99841503e-01 1.60627273e-02 -7.67832839e-03 8.77066768e+00] [-1.60653558e-02 9.99870904e-01 -2.80760254e-04 8.74555412e-02] [ 7.67282738e-03 4.04070832e-04 9.99970482e-01 -2.17555242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.565898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.80, Y:0.09, Z:-0.22 [[ 9.99865391e-01 1.44998082e-02 -7.67830524e-03 8.79849807e+00] [-1.45023955e-02 9.99894795e-01 -2.81391982e-04 8.92273218e-02] [ 7.67341732e-03 3.92707923e-04 9.99970482e-01 -2.16037353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.595898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:8.83, Y:0.09, Z:-0.21 [[ 9.99897392e-01 1.20933845e-02 -7.67828472e-03 8.82508247e+00] [-1.20959053e-02 9.99926802e-01 -2.81950845e-04 9.05842671e-02] [ 7.67431294e-03 3.74797719e-04 9.99970482e-01 -2.14933498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.625898226999999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:8.85, Y:0.09, Z:-0.21 [[ 9.99926853e-01 9.34524465e-03 -7.67826091e-03 8.85341158e+00] [-9.34768960e-03 9.99956269e-01 -2.82597854e-04 9.11547001e-02] [ 7.67528418e-03 3.54351182e-04 9.99970482e-01 -2.13316249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.655898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.88, Y:0.09, Z:-0.21 [[ 9.99954283e-01 5.69873834e-03 -7.67824091e-03 8.88199263e+00] [-5.70108015e-03 9.99983709e-01 -2.83139978e-04 9.11816442e-02] [ 7.67650228e-03 3.26901301e-04 9.99970482e-01 -2.12300272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.685898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:8.91, Y:0.09, Z:-0.21 [[ 9.99965879e-01 -3.04740194e-03 -7.67822686e-03 8.90935209e+00] [ 3.04531466e-03 9.99995323e-01 -2.83520516e-04 9.23516282e-02] [ 7.67905495e-03 2.60128225e-04 9.99970482e-01 -2.07669312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.715898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.94, Y:0.09, Z:-0.21 [[ 9.99946752e-01 -6.89473228e-03 -7.67820952e-03 8.93942624e+00] [ 6.89275471e-03 9.99976204e-01 -2.83989282e-04 9.38375067e-02] [ 7.67998485e-03 2.31050145e-04 9.99970482e-01 -2.05927330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.745898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:8.97, Y:0.09, Z:-0.21 [[ 9.99917059e-01 -1.03402329e-02 -7.67820265e-03 8.97137042e+00] [ 1.03383554e-02 9.99946517e-01 -2.84174921e-04 9.48046106e-02] [ 7.68073044e-03 2.04771364e-04 9.99970482e-01 -2.06325576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.775898226999999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.00, Y:0.09, Z:-0.21 [[ 9.99886893e-01 -1.29323441e-02 -7.67825359e-03 9.00347468e+00] [ 1.29305536e-02 9.99916357e-01 -2.82791809e-04 9.48968622e-02] [ 7.68126852e-03 1.83475753e-04 9.99970482e-01 -2.08808106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.805898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.04, Y:0.10, Z:-0.21 [[ 9.99815614e-01 -1.76006267e-02 -7.67826717e-03 9.03597985e+00] [ 1.75989766e-02 9.99845086e-01 -2.82422636e-04 9.71495511e-02] [ 7.68204852e-03 1.47240917e-04 9.99970482e-01 -2.09920550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.835898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:9.07, Y:0.10, Z:-0.21 [[ 9.99780858e-01 -1.94751344e-02 -7.67828075e-03 9.06904189e+00] [ 1.94735424e-02 9.99810333e-01 -2.82052992e-04 1.00455577e-01] [ 7.68231745e-03 1.32467856e-04 9.99970482e-01 -2.08939786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.865898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.10, Y:0.10, Z:-0.21 [[ 9.99754001e-01 -2.08081981e-02 -7.67830104e-03 9.10106724e+00] [ 2.08066497e-02 9.99783479e-01 -2.81499511e-04 1.02652637e-01] [ 7.68249602e-03 1.21670543e-04 9.99970482e-01 -2.08075665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.895898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.13, Y:0.10, Z:-0.21 [[ 9.99712125e-01 -2.27312672e-02 -7.67835108e-03 9.13443666e+00] [ 2.27297860e-02 9.99741606e-01 -2.80127927e-04 1.04825918e-01] [ 7.68273470e-03 1.05520008e-04 9.99970482e-01 -2.08325582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.925898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.17, Y:0.11, Z:-0.21 [[ 9.99607113e-01 -2.69566873e-02 -7.67837127e-03 9.16704689e+00] [ 2.69553350e-02 9.99636600e-01 -2.79573539e-04 1.07095383e-01] [ 7.68311732e-03 7.24906286e-05 9.99970482e-01 -2.08287645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.955898226999999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:9.20, Y:0.11, Z:-0.21 [[ 9.99543997e-01 -2.92034258e-02 -7.67838485e-03 9.19918830e+00] [ 2.92021426e-02 9.99573488e-01 -2.79200006e-04 1.09703905e-01] [ 7.68326352e-03 5.48474008e-05 9.99970482e-01 -2.07563573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.985898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.23, Y:0.11, Z:-0.21 [[ 9.99488864e-01 -3.10330901e-02 -7.67843487e-03 9.23242313e+00] [ 3.10318716e-02 9.99518357e-01 -2.77817528e-04 1.12094382e-01] [ 7.68335814e-03 3.93993203e-05 9.99970482e-01 -2.07176391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.015898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:9.27, Y:0.11, Z:-0.21 [[ 9.99423201e-01 -3.30802860e-02 -7.67848798e-03 9.26553170e+00] [ 3.30791392e-02 9.99452697e-01 -2.76341696e-04 1.14603722e-01] [ 7.68342699e-03 2.21845294e-05 9.99970482e-01 -2.08060067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.045898226999999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:9.30, Y:0.12, Z:-0.21 [[ 9.99257065e-01 -3.77671682e-02 -7.67854040e-03 9.29854319e+00] [ 3.77661710e-02 9.99286566e-01 -2.74877455e-04 1.16581776e-01] [ 7.68344361e-03 -1.53158316e-05 9.99970482e-01 -2.11105622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.075898226999998 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:9.33, Y:0.12, Z:-0.21 [[ 9.99165836e-01 -4.01082492e-02 -7.67859207e-03 9.33069077e+00] [ 4.01073323e-02 9.99195340e-01 -2.73426416e-04 1.18514212e-01] [ 7.68338007e-03 -3.47695101e-05 9.99970482e-01 -2.10864804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.105898226999999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:9.36, Y:0.12, Z:-0.21 [[ 9.99116806e-01 -4.13115848e-02 -7.67863998e-03 9.36377623e+00] [ 4.13107138e-02 9.99146311e-01 -2.72074460e-04 1.20716828e-01] [ 7.68332463e-03 -4.53759328e-05 9.99970482e-01 -2.10681545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.135898226999998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:9.40, Y:0.12, Z:-0.21 [[ 9.99077485e-01 -4.22518128e-02 -7.67869151e-03 9.39576240e+00] [ 4.22509808e-02 9.99106992e-01 -2.70612254e-04 1.23217997e-01] [ 7.68326823e-03 -5.40696368e-05 9.99970482e-01 -2.10662937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.165898227 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:9.43, Y:0.13, Z:-0.21 [[ 9.99055534e-01 -4.27677033e-02 -7.67872352e-03 9.42936060e+00] [ 4.27668935e-02 9.99085041e-01 -2.69700761e-04 1.25470390e-01] [ 7.68323229e-03 -5.89491135e-05 9.99970482e-01 -2.10414489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.195898226999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:9.46, Y:0.13, Z:-0.21 [[ 9.98939087e-01 -4.54063576e-02 -7.67877408e-03 9.46213904e+00] [ 4.54056369e-02 9.98968596e-01 -2.68253605e-04 1.27637409e-01] [ 7.68303458e-03 -8.06906164e-05 9.99970482e-01 -2.06172065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.225898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.49, Y:0.13, Z:-0.20 [[ 9.98842462e-01 -4.74844453e-02 -7.67882433e-03 9.49382580e+00] [ 4.74837971e-02 9.98871973e-01 -2.66807156e-04 1.28643647e-01] [ 7.68283160e-03 -9.81214205e-05 9.99970482e-01 -2.03546383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.255898227 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:9.53, Y:0.13, Z:-0.20 [[ 9.98694224e-01 -5.05062630e-02 -7.67887078e-03 9.52561479e+00] [ 5.05057144e-02 9.98723737e-01 -2.65463593e-04 1.29308126e-01] [ 7.68247810e-03 -1.22709898e-04 9.99970482e-01 -2.03617267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.285898226999999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:9.56, Y:0.13, Z:-0.21 [[ 9.98332451e-01 -5.72132197e-02 -7.67891603e-03 9.55925539e+00] [ 5.72128794e-02 9.98361967e-01 -2.64148357e-04 1.25703320e-01] [ 7.68145048e-03 -1.75625021e-04 9.99970482e-01 -2.06099760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.315898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.59, Y:0.12, Z:-0.21 [[ 9.98119622e-01 -6.08132647e-02 -7.67896588e-03 9.59102421e+00] [ 6.08130422e-02 9.98149140e-01 -2.62690913e-04 1.23829807e-01] [ 7.68072828e-03 -2.04784321e-04 9.99970482e-01 -2.06926368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.345898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:9.62, Y:0.12, Z:-0.21 [[ 9.97915945e-01 -6.40687128e-02 -7.67899665e-03 9.62293415e+00] [ 6.40685935e-02 9.97945463e-01 -2.61788390e-04 1.22591063e-01] [ 7.67999231e-03 -2.30739706e-04 9.99970482e-01 -2.07508718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.375898226999999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:9.66, Y:0.12, Z:-0.21 [[ 9.97767877e-01 -6.63347264e-02 -7.67904040e-03 9.65572842e+00] [ 6.63346840e-02 9.97797395e-01 -2.60498810e-04 1.20915910e-01] [ 7.67940662e-03 -2.49469373e-04 9.99970482e-01 -2.06921729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.405898226999998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:9.69, Y:0.12, Z:-0.21 [[ 9.97612428e-01 -6.86329020e-02 -7.67908702e-03 9.68758070e+00] [ 6.86329382e-02 9.97641946e-01 -2.59117160e-04 1.15897698e-01] [ 7.67876328e-03 -2.68539806e-04 9.99970482e-01 -2.06716965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.435898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.72, Y:0.11, Z:-0.21 [[ 9.97657478e-01 -6.79749106e-02 -7.67913032e-03 9.72068921e+00] [ 6.79749372e-02 9.97686996e-01 -2.57827371e-04 1.14016773e-01] [ 7.67889426e-03 -2.64764997e-04 9.99970482e-01 -2.06557289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.465898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.75, Y:0.12, Z:-0.21 [[ 9.97670054e-01 -6.77900743e-02 -7.67917780e-03 9.75434085e+00] [ 6.77901064e-02 9.97699572e-01 -2.56405391e-04 1.15028357e-01] [ 7.67889415e-03 -2.64764300e-04 9.99970482e-01 -2.06299755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.79, Y:0.11, Z:-0.20 [[ 9.97779774e-01 -6.61555190e-02 -7.67922504e-03 9.78626924e+00] [ 6.61555138e-02 9.97809292e-01 -2.54982709e-04 1.13613887e-01] [ 7.67927062e-03 -2.53606488e-04 9.99970482e-01 -2.04974500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.525898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.82, Y:0.11, Z:-0.20 [[ 9.97908572e-01 -6.41834183e-02 -7.67927185e-03 9.81949256e+00] [ 6.41833655e-02 9.97938090e-01 -2.53565036e-04 1.12912103e-01] [ 7.67971256e-03 -2.39846790e-04 9.99970482e-01 -2.03243759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.555898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:0.11, Z:-0.20 [[ 9.98040147e-01 -6.21038956e-02 -7.67931867e-03 9.85277472e+00] [ 6.21037923e-02 9.98069665e-01 -2.52139247e-04 1.12625995e-01] [ 7.68015384e-03 -2.25269720e-04 9.99970482e-01 -2.01374247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.585898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:9.88, Y:0.11, Z:-0.20 [[ 9.98154603e-01 -6.02363356e-02 -7.67936551e-03 9.88482293e+00] [ 6.02361881e-02 9.98184121e-01 -2.50704312e-04 1.12027453e-01] [ 7.68052222e-03 -2.12334043e-04 9.99970482e-01 -2.00926134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.615898226999999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:9.92, Y:0.11, Z:-0.20 [[ 9.98299691e-01 -5.77819414e-02 -7.67940901e-03 9.91790958e+00] [ 5.77817316e-02 9.98329209e-01 -2.49364654e-04 1.10702306e-01] [ 7.68098710e-03 -1.94788893e-04 9.99970482e-01 -2.03200865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.645898226999998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:9.95, Y:0.11, Z:-0.20 [[ 9.98338503e-01 -5.71074324e-02 -7.67945551e-03 9.94991154e+00] [ 5.71072138e-02 9.98368021e-01 -2.47924326e-04 1.12352995e-01] [ 7.68108112e-03 -1.91039907e-04 9.99970482e-01 -2.02750432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.675898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:9.98, Y:0.11, Z:-0.20 [[ 9.98383985e-01 -5.63066899e-02 -7.67949847e-03 9.98230273e+00] [ 5.63064579e-02 9.98413503e-01 -2.46586406e-04 1.14898786e-01] [ 7.68119943e-03 -1.86217439e-04 9.99970482e-01 -2.01055445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.705898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.02, Y:0.12, Z:-0.20 [[ 9.98408938e-01 -5.58624794e-02 -7.67954009e-03 1.00150946e+01] [ 5.58622442e-02 9.98438456e-01 -2.45283565e-04 1.17987611e-01] [ 7.68125029e-03 -1.84103040e-04 9.99970482e-01 -2.00615798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.735898226999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:10.05, Y:0.12, Z:-0.20 [[ 9.98396888e-01 -5.60774315e-02 -7.67958395e-03 1.00485460e+01] [ 5.60772133e-02 9.98426405e-01 -2.43902576e-04 1.22245144e-01] [ 7.68117682e-03 -1.87138094e-04 9.99970482e-01 -2.02879266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.765898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.08, Y:0.12, Z:-0.20 [[ 9.98335743e-01 -5.71556395e-02 -7.67962781e-03 1.00816182e+01] [ 5.71554639e-02 9.98365261e-01 -2.42513669e-04 1.24411618e-01] [ 7.68093464e-03 -1.96822626e-04 9.99970482e-01 -2.03797455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.795898226999999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:10.11, Y:0.13, Z:-0.20 [[ 9.97975642e-01 -6.31319354e-02 -7.67967153e-03 1.01133980e+01] [ 6.31319473e-02 9.98005160e-01 -2.41121147e-04 1.28112721e-01] [ 7.67957426e-03 -2.44199587e-04 9.99970482e-01 -2.04430401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.825898226999998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:10.15, Y:0.13, Z:-0.20 [[ 9.97748653e-01 -6.66231681e-02 -7.67971202e-03 1.01460476e+01] [ 6.66232932e-02 9.97778171e-01 -2.39824606e-04 1.29511754e-01] [ 7.67862689e-03 -2.72363027e-04 9.99970482e-01 -2.04914712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.855898226999999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:10.18, Y:0.13, Z:-0.20 [[ 9.97499352e-01 -7.02571300e-02 -7.67975521e-03 1.01792165e+01] [ 7.02573733e-02 9.97528869e-01 -2.38433273e-04 1.31034797e-01] [ 7.67752917e-03 -3.01722394e-04 9.99970482e-01 -2.04756442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.885898226999998 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:10.21, Y:0.13, Z:-0.20 [[ 9.97273104e-01 -7.33987533e-02 -7.67979805e-03 1.02127075e+01] [ 7.33991002e-02 9.97302620e-01 -2.37045534e-04 1.32286308e-01] [ 7.67648156e-03 -3.27291131e-04 9.99970482e-01 -2.04210655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.915898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:10.24, Y:0.13, Z:-0.20 [[ 9.97102838e-01 -7.56766115e-02 -7.67984055e-03 1.02443184e+01] [ 7.56770365e-02 9.97132354e-01 -2.35660495e-04 1.34124006e-01] [ 7.67565147e-03 -3.46209825e-04 9.99970482e-01 -2.02536771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.945898226999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.28, Y:0.14, Z:-0.20 [[ 9.97005197e-01 -7.69523037e-02 -7.67988004e-03 1.02775638e+01] [ 7.69527764e-02 9.97034711e-01 -2.34366541e-04 1.36043098e-01] [ 7.67514202e-03 -3.57323432e-04 9.99970482e-01 -2.00804957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.975898226999998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:10.31, Y:0.14, Z:-0.20 [[ 9.96863236e-01 -7.87699667e-02 -7.67992283e-03 1.03105176e+01] [ 7.87705040e-02 9.96892749e-01 -2.32955650e-04 1.38801014e-01] [ 7.67440930e-03 -3.72726470e-04 9.99970482e-01 -2.01213551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.005898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:10.34, Y:0.14, Z:-0.20 [[ 9.96801742e-01 -7.95443639e-02 -7.67996558e-03 1.03427695e+01] [ 7.95449351e-02 9.96831254e-01 -2.31537848e-04 1.39914792e-01] [ 7.67404725e-03 -3.80105033e-04 9.99970482e-01 -2.03413853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.035898226999999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:10.38, Y:0.14, Z:-0.21 [[ 9.96730575e-01 -8.04312076e-02 -7.68000512e-03 1.03755912e+01] [ 8.04318152e-02 9.96760087e-01 -2.30218771e-04 1.40306624e-01] [ 7.67363934e-03 -3.88250664e-04 9.99970482e-01 -2.05374529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.065898226999998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:10.41, Y:0.14, Z:-0.21 [[ 9.96665097e-01 -8.12385473e-02 -7.68004709e-03 1.04074118e+01] [ 8.12391896e-02 9.96694608e-01 -2.28809876e-04 1.40640751e-01] [ 7.67324971e-03 -3.95873985e-04 9.99970482e-01 -2.06222909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.095898227 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:10.44, Y:0.14, Z:-0.21 [[ 9.96487749e-01 -8.33857498e-02 -7.68008607e-03 1.04399576e+01] [ 8.33864658e-02 9.96517258e-01 -2.27494037e-04 1.41030708e-01] [ 7.67230807e-03 -4.13720214e-04 9.99970482e-01 -2.05236626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.125898226999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:10.47, Y:0.14, Z:-0.20 [[ 9.96433985e-01 -8.40257668e-02 -7.68011137e-03 1.04727515e+01] [ 8.40265084e-02 9.96463494e-01 -2.26636797e-04 1.41409001e-01] [ 7.67199394e-03 -4.19504336e-04 9.99970482e-01 -2.04666472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.155898226999998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:10.50, Y:0.14, Z:-0.20 [[ 9.96389782e-01 -8.45483108e-02 -7.68015158e-03 1.05047136e+01] [ 8.45490784e-02 9.96419291e-01 -2.25265868e-04 1.41555882e-01] [ 7.67169704e-03 -4.24897128e-04 9.99970482e-01 -2.04829337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.185898227 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:10.54, Y:0.14, Z:-0.20 [[ 9.96375069e-01 -8.47215235e-02 -7.68018888e-03 1.05382854e+01] [ 8.47223060e-02 9.96404577e-01 -2.23986844e-04 1.41866643e-01] [ 7.67155186e-03 -4.27508406e-04 9.99970482e-01 -2.04811706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.215898226999998 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:10.57, Y:0.14, Z:-0.21 [[ 9.96451232e-01 -8.38209821e-02 -7.68020617e-03 1.05710541e+01] [ 8.38217426e-02 9.96480740e-01 -2.23392334e-04 1.40621671e-01] [ 7.67190250e-03 -4.21168699e-04 9.99970482e-01 -2.05681613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.245898226999998 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:10.60, Y:0.14, Z:-0.21 [[ 9.96533889e-01 -8.28324943e-02 -7.68021846e-03 1.06038633e+01] [ 8.28332287e-02 9.96563398e-01 -2.22968976e-04 1.40263027e-01] [ 7.67229369e-03 -4.13981151e-04 9.99970482e-01 -2.05903848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.275898226999999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:10.64, Y:0.14, Z:-0.20 [[ 9.96659634e-01 -8.13055257e-02 -7.68025767e-03 1.06372472e+01] [ 8.13062253e-02 9.96689143e-01 -2.21610037e-04 1.40067148e-01] [ 7.67284756e-03 -4.03582983e-04 9.99970482e-01 -2.04453750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.305898226999998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:10.67, Y:0.14, Z:-0.20 [[ 9.96795831e-01 -7.96183666e-02 -7.68029662e-03 1.06690093e+01] [ 7.96190267e-02 9.96825342e-01 -2.20252027e-04 1.40813839e-01] [ 7.67345041e-03 -3.91951439e-04 9.99970482e-01 -2.02093428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.335898227 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:10.70, Y:0.14, Z:-0.20 [[ 9.97104672e-01 -7.56523934e-02 -7.68033516e-03 1.07018059e+01] [ 7.56529465e-02 9.97134185e-01 -2.18899927e-04 1.43135800e-01] [ 7.67488504e-03 -3.62773844e-04 9.99970482e-01 -1.98708953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.365898226999999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:10.73, Y:0.14, Z:-0.20 [[ 9.97286769e-01 -7.32127811e-02 -7.68037542e-03 1.07343302e+01] [ 7.32132729e-02 9.97316284e-01 -2.17478060e-04 1.44946425e-01] [ 7.67568564e-03 -3.45417429e-04 9.99970482e-01 -1.99076507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.395898226999998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:10.77, Y:0.15, Z:-0.20 [[ 9.97396632e-01 -7.17005573e-02 -7.68041258e-03 1.07660034e+01] [ 7.17010145e-02 9.97426147e-01 -2.16157556e-04 1.47111747e-01] [ 7.67614294e-03 -3.35098556e-04 9.99970482e-01 -2.00472164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.425898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:10.80, Y:0.15, Z:-0.20 [[ 9.97424418e-01 -7.13129877e-02 -7.68043663e-03 1.07994896e+01] [ 7.13134401e-02 9.97453932e-01 -2.15299548e-04 1.48882103e-01] [ 7.67623537e-03 -3.32973331e-04 9.99970482e-01 -2.01322479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.455898226999999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:10.83, Y:0.15, Z:-0.20 [[ 9.97232833e-01 -7.39438128e-02 -7.68047577e-03 1.08311188e+01] [ 7.39443538e-02 9.97262346e-01 -2.13894266e-04 1.51379791e-01] [ 7.67526544e-03 -3.54625433e-04 9.99970482e-01 -1.99889773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.485898226999998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:10.86, Y:0.15, Z:-0.20 [[ 9.97111579e-01 -7.55612897e-02 -7.68051211e-03 1.08641329e+01] [ 7.55618887e-02 9.97141091e-01 -2.12581248e-04 1.52989345e-01] [ 7.67461714e-03 -3.68386777e-04 9.99970482e-01 -1.97412051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.515898227 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:10.90, Y:0.15, Z:-0.20 [[ 9.96980163e-01 -7.72758892e-02 -7.68055035e-03 1.08973598e+01] [ 7.72765496e-02 9.97009674e-01 -2.11190533e-04 1.54874562e-01] [ 7.67390294e-03 -3.82973658e-04 9.99970482e-01 -1.95378397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.545898226999999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:10.93, Y:0.16, Z:-0.19 [[ 9.96897921e-01 -7.83297119e-02 -7.68058900e-03 1.09293214e+01] [ 7.83304144e-02 9.96927431e-01 -2.09775340e-04 1.56690843e-01] [ 7.67342150e-03 -3.92499119e-04 9.99970482e-01 -1.94795324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.575898226999998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:10.96, Y:0.16, Z:-0.20 [[ 9.96895618e-01 -7.83590116e-02 -7.68062491e-03 1.09614509e+01] [ 7.83597251e-02 9.96925128e-01 -2.08452483e-04 1.59178366e-01] [ 7.67334209e-03 -3.94046289e-04 9.99970482e-01 -1.95627467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.605898226999999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:10.99, Y:0.17, Z:-0.20 [[ 9.97000542e-01 -7.70125130e-02 -7.68066005e-03 1.09944442e+01] [ 7.70131967e-02 9.97030052e-01 -2.07149255e-04 1.65780938e-01] [ 7.67380198e-03 -3.84984265e-04 9.99970482e-01 -1.97526982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.635898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:11.03, Y:0.17, Z:-0.20 [[ 9.97066876e-01 -7.61488750e-02 -7.68069656e-03 1.10275914e+01] [ 7.61495436e-02 9.97096387e-01 -2.05786572e-04 1.69899955e-01] [ 7.67406521e-03 -3.79698563e-04 9.99970482e-01 -1.96435878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.665898227 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:11.06, Y:0.17, Z:-0.20 [[ 9.97063835e-01 -7.61886880e-02 -7.68073332e-03 1.10611307e+01] [ 7.61893684e-02 9.97093345e-01 -2.04405377e-04 1.74088447e-01] [ 7.67398146e-03 -3.81385012e-04 9.99970482e-01 -1.95700418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.695898226999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.09, Y:0.18, Z:-0.20 [[ 9.96930696e-01 -7.79114502e-02 -7.68077072e-03 1.10933319e+01] [ 7.79121924e-02 9.96960204e-01 -2.02990150e-04 1.79618981e-01] [ 7.67323801e-03 -3.96058575e-04 9.99970482e-01 -1.98132901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.725898226999998 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:11.13, Y:0.18, Z:-0.20 [[ 9.96837459e-01 -7.90954218e-02 -7.68079392e-03 1.11252709e+01] [ 7.90962058e-02 9.96866967e-01 -2.02108783e-04 1.83402287e-01] [ 7.67271561e-03 -4.06052051e-04 9.99970482e-01 -2.01971703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.755898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:11.16, Y:0.19, Z:-0.21 [[ 9.96746153e-01 -8.02378405e-02 -7.68083019e-03 1.11566142e+01] [ 8.02386690e-02 9.96775660e-01 -2.00720638e-04 1.86779406e-01] [ 7.67216997e-03 -4.16232068e-04 9.99970482e-01 -2.05290491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.785898226999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:11.19, Y:0.19, Z:-0.20 [[ 9.96599280e-01 -8.20419439e-02 -7.68084746e-03 1.11892617e+01] [ 8.20428309e-02 9.96628784e-01 -2.00057820e-04 1.90254971e-01] [ 7.67136679e-03 -4.30780990e-04 9.99970482e-01 -2.04497163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.815898226999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:11.22, Y:0.20, Z:-0.20 [[ 9.96170949e-01 -8.70887148e-02 -7.68087951e-03 1.12204591e+01] [ 8.70897608e-02 9.96200449e-01 -1.98819274e-04 1.95335794e-01] [ 7.66901053e-03 -4.70867975e-04 9.99970482e-01 -2.02104151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.845898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:11.25, Y:0.20, Z:-0.20 [[ 9.95947790e-01 -8.96047031e-02 -7.68090901e-03 1.12538265e+01] [ 8.96058324e-02 9.95977287e-01 -1.97673332e-04 1.97269933e-01] [ 7.66772337e-03 -4.91381927e-04 9.99970482e-01 -1.99835005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.875898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.29, Y:0.20, Z:-0.20 [[ 9.95764972e-01 -9.16139888e-02 -7.68094443e-03 1.12862370e+01] [ 9.16151883e-02 9.95794466e-01 -1.96287339e-04 1.98453098e-01] [ 7.66662462e-03 -5.08235113e-04 9.99970482e-01 -2.00334009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.905898226999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:11.32, Y:0.20, Z:-0.20 [[ 9.95647272e-01 -9.28843988e-02 -7.68097726e-03 1.13190680e+01] [ 9.28856458e-02 9.95676764e-01 -1.94993921e-04 1.99863545e-01] [ 7.66588248e-03 -5.19307368e-04 9.99970482e-01 -2.00639185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.935898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:11.35, Y:0.20, Z:-0.20 [[ 9.95405540e-01 -9.54400971e-02 -7.68101281e-03 1.13525368e+01] [ 9.54414307e-02 9.95435028e-01 -1.93583386e-04 2.03298717e-01] [ 7.66442482e-03 -5.40392877e-04 9.99970482e-01 -1.97863595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.965898226999998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:11.38, Y:0.20, Z:-0.20 [[ 9.95201491e-01 -9.75448256e-02 -7.68104809e-03 1.13843622e+01] [ 9.75462323e-02 9.95230976e-01 -1.92173298e-04 2.04687487e-01] [ 7.66316250e-03 -5.58006148e-04 9.99970482e-01 -1.96100040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.995898226999998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:11.42, Y:0.21, Z:-0.19 [[ 9.94992245e-01 -9.96565746e-02 -7.68108070e-03 1.14165307e+01] [ 9.96580540e-02 9.95021726e-01 -1.90860925e-04 2.05554681e-01] [ 7.66186272e-03 -5.75576414e-04 9.99970482e-01 -1.94500138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.025898226999999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:11.45, Y:0.21, Z:-0.19 [[ 9.94871608e-01 -1.00853774e-01 -7.68111210e-03 1.14496549e+01] [ 1.00855299e-01 9.94901087e-01 -1.89588600e-04 2.05766950e-01] [ 7.66106751e-03 -5.86064541e-04 9.99970482e-01 -1.94013593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.055898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:11.48, Y:0.21, Z:-0.19 [[ 9.94888084e-01 -1.00691109e-01 -7.68114549e-03 1.14813668e+01] [ 1.00692639e-01 9.94917563e-01 -1.88226261e-04 2.05868840e-01] [ 7.66105926e-03 -5.86170747e-04 9.99970482e-01 -1.94439292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.085898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:11.51, Y:0.21, Z:-0.20 [[ 9.95205001e-01 -9.75089989e-02 -7.68117630e-03 1.15132568e+01] [ 9.75104446e-02 9.95234484e-01 -1.86960519e-04 2.07591218e-01] [ 7.66280186e-03 -5.62930872e-04 9.99970482e-01 -1.97011483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.115898226999999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:11.55, Y:0.21, Z:-0.20 [[ 9.95422846e-01 -9.52594193e-02 -7.68118698e-03 1.15453144e+01] [ 9.52608017e-02 9.95452332e-01 -1.86520547e-04 2.08584025e-01] [ 7.66402333e-03 -5.46049216e-04 9.99970482e-01 -1.98179613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.145898226999998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:11.58, Y:0.21, Z:-0.20 [[ 9.95616206e-01 -9.32167877e-02 -7.68121881e-03 1.15779002e+01] [ 9.32181197e-02 9.95645694e-01 -1.85200310e-04 2.09387284e-01] [ 7.66503621e-03 -5.31640345e-04 9.99970482e-01 -1.97327161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.175898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:11.61, Y:0.21, Z:-0.20 [[ 9.95758531e-01 -9.16839437e-02 -7.68123949e-03 1.16101033e+01] [ 9.16852370e-02 9.95788021e-01 -1.84338534e-04 2.10055419e-01] [ 7.66578716e-03 -5.20699596e-04 9.99970482e-01 -1.95155280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.205898226999999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:11.64, Y:0.21, Z:-0.19 [[ 9.95953953e-01 -8.95361422e-02 -7.68127007e-03 1.16434257e+01] [ 8.95373818e-02 9.95983446e-01 -1.83055357e-04 2.12318612e-01] [ 7.66680790e-03 -5.05446105e-04 9.99970482e-01 -1.92494927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.235898226999998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:11.68, Y:0.21, Z:-0.19 [[ 9.96045301e-01 -8.85141577e-02 -7.68130249e-03 1.16753395e+01] [ 8.85153775e-02 9.96074794e-01 -1.81684866e-04 2.13484288e-01] [ 7.66723348e-03 -4.98947032e-04 9.99970482e-01 -1.93399254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.265898227 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:11.71, Y:0.21, Z:-0.19 [[ 9.96100727e-01 -8.78882176e-02 -7.68132254e-03 1.17083594e+01] [ 8.78894254e-02 9.96130221e-01 -1.80833299e-04 2.14781966e-01] [ 7.66749063e-03 -4.94978843e-04 9.99970482e-01 -1.94478741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.295898226999999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:11.74, Y:0.22, Z:-0.19 [[ 9.96167619e-01 -8.71267620e-02 -7.68135435e-03 1.17409974e+01] [ 8.71279577e-02 9.96197112e-01 -1.79471865e-04 2.16772918e-01] [ 7.66777982e-03 -4.90476656e-04 9.99970482e-01 -1.92305052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.325898226999998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:11.77, Y:0.22, Z:-0.19 [[ 9.96224927e-01 -8.64690208e-02 -7.68138678e-03 1.17730045e+01] [ 8.64702078e-02 9.96254421e-01 -1.78072976e-04 2.18458848e-01] [ 7.66801333e-03 -4.86810373e-04 9.99970482e-01 -1.89409445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.355898226999999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:11.81, Y:0.22, Z:-0.19 [[ 9.96274943e-01 -8.58908251e-02 -7.68141669e-03 1.18060726e+01] [ 8.58920049e-02 9.96304438e-01 -1.76773186e-04 2.19913697e-01] [ 7.66821273e-03 -4.83657584e-04 9.99970482e-01 -1.89467013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.385898226999998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:11.84, Y:0.22, Z:-0.19 [[ 9.96290743e-01 -8.57073510e-02 -7.68144894e-03 1.18397418e+01] [ 8.57085362e-02 9.96320238e-01 -1.75360548e-04 2.20583824e-01] [ 7.66821272e-03 -4.83655654e-04 9.99970482e-01 -1.89209478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.415898226999998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:11.87, Y:0.22, Z:-0.19 [[ 9.96367490e-01 -8.48104878e-02 -7.68148097e-03 1.18719426e+01] [ 8.48116574e-02 9.96396985e-01 -1.73945978e-04 2.20485993e-01] [ 7.66855693e-03 -4.78165015e-04 9.99970482e-01 -1.91279866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.445898226999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.91, Y:0.22, Z:-0.19 [[ 9.96473717e-01 -8.35531371e-02 -7.68151062e-03 1.19054147e+01] [ 8.35542796e-02 9.96503213e-01 -1.72626441e-04 2.20077350e-01] [ 7.66907349e-03 -4.69805375e-04 9.99970482e-01 -1.93557595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.475898226999998 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:11.94, Y:0.22, Z:-0.19 [[ 9.96731444e-01 -8.04202864e-02 -7.68154070e-03 1.19382700e+01] [ 8.04213465e-02 9.96760943e-01 -1.71277531e-04 2.21222083e-01] [ 7.67043394e-03 -4.47042145e-04 9.99970482e-01 -1.93115731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.505898227 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:11.97, Y:0.22, Z:-0.19 [[ 9.96814708e-01 -7.93815523e-02 -7.68157119e-03 1.19717044e+01] [ 7.93825922e-02 9.96844208e-01 -1.69898987e-04 2.23649801e-01] [ 7.67081660e-03 -4.40425225e-04 9.99970482e-01 -1.89989177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.535898226999999 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:12.00, Y:0.23, Z:-0.19 [[ 9.96934948e-01 -7.78569370e-02 -7.68160214e-03 1.20047020e+01] [ 7.78579427e-02 9.96964449e-01 -1.68487787e-04 2.25088921e-01] [ 7.67140219e-03 -4.30102376e-04 9.99970482e-01 -1.86413179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.565898226999998 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:12.04, Y:0.23, Z:-0.19 [[ 9.97052989e-01 -7.63304038e-02 -7.68163274e-03 1.20372241e+01] [ 7.63313751e-02 9.97082491e-01 -1.67081291e-04 2.26322787e-01] [ 7.67197488e-03 -4.19760690e-04 9.99970482e-01 -1.85690901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.595898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:12.07, Y:0.23, Z:-0.19 [[ 9.97243482e-01 -7.37999266e-02 -7.68166292e-03 1.20707408e+01] [ 7.38008338e-02 9.97272986e-01 -1.65681681e-04 2.26316241e-01] [ 7.67294222e-03 -4.01688152e-04 9.99970482e-01 -1.86325740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.625898226999999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:12.10, Y:0.23, Z:-0.19 [[ 9.97599471e-01 -6.88206816e-02 -7.68169284e-03 1.21038163e+01] [ 6.88214522e-02 9.97628979e-01 -1.64283060e-04 2.28708654e-01] [ 7.67478546e-03 -3.64776563e-04 9.99970482e-01 -1.87144143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.655898226999998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:12.14, Y:0.23, Z:-0.19 [[ 9.97782631e-01 -6.61121188e-02 -7.68172259e-03 1.21361608e+01] [ 6.61128201e-02 9.97812141e-01 -1.62880002e-04 2.31293933e-01] [ 7.67568440e-03 -3.45341506e-04 9.99970482e-01 -1.86696482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.685898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:12.17, Y:0.23, Z:-0.19 [[ 9.97986954e-01 -6.29526089e-02 -7.68175012e-03 1.21684368e+01] [ 6.29532269e-02 9.98016465e-01 -1.61570932e-04 2.33867760e-01] [ 7.67668441e-03 -3.22345275e-04 9.99970482e-01 -1.85200169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.715898226999998 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:12.20, Y:0.24, Z:-0.18 [[ 9.98326939e-01 -5.73089254e-02 -7.68177709e-03 1.22014817e+01] [ 5.73093864e-02 9.98356454e-01 -1.60278488e-04 2.40853771e-01] [ 7.67833712e-03 -2.80227599e-04 9.99970482e-01 -1.82333416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.745898226999998 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:12.23, Y:0.24, Z:-0.18 [[ 9.98493390e-01 -5.43317590e-02 -7.68180580e-03 1.22347281e+01] [ 5.43321427e-02 9.98522906e-01 -1.58890166e-04 2.44805179e-01] [ 7.67909183e-03 -2.58718188e-04 9.99970482e-01 -1.80146128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.775898226999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.27, Y:0.25, Z:-0.18 [[ 9.98647194e-01 -5.14273462e-02 -7.68183429e-03 1.22679128e+01] [ 5.14276546e-02 9.98676710e-01 -1.57500640e-04 2.49334796e-01] [ 7.67976884e-03 -2.37771148e-04 9.99970482e-01 -1.78853076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.805898226999998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:12.30, Y:0.25, Z:-0.18 [[ 9.98744816e-01 -4.94952697e-02 -7.68186262e-03 1.22998652e+01] [ 4.94955317e-02 9.98774333e-01 -1.56106514e-04 2.54142550e-01] [ 7.68017375e-03 -2.24307304e-04 9.99970482e-01 -1.79216462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.835898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:12.33, Y:0.26, Z:-0.18 [[ 9.98827172e-01 -4.78044922e-02 -7.68188884e-03 1.23325079e+01] [ 4.78047143e-02 9.98856689e-01 -1.54805522e-04 2.60397889e-01] [ 7.68050645e-03 -2.12606539e-04 9.99970482e-01 -1.83304235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.865898226999999 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:12.36, Y:0.26, Z:-0.18 [[ 9.98820353e-01 -4.79467523e-02 -7.68191655e-03 1.23645119e+01] [ 4.79469893e-02 9.98849870e-01 -1.53417939e-04 2.64223031e-01] [ 7.68043724e-03 -2.15087811e-04 9.99970482e-01 -1.84783795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.895898226999998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:12.40, Y:0.27, Z:-0.18 [[ 9.98810817e-01 -4.81449948e-02 -7.68194213e-03 1.23976659e+01] [ 4.81452476e-02 9.98840334e-01 -1.52126048e-04 2.66961848e-01] [ 7.68035775e-03 -2.17903864e-04 9.99970482e-01 -1.84542959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.925898227 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:12.43, Y:0.27, Z:-0.18 [[ 9.98773336e-01 -4.89163673e-02 -7.68196906e-03 1.24309446e+01] [ 4.89166534e-02 9.98802853e-01 -1.50754055e-04 2.70414348e-01] [ 7.68014695e-03 -2.25207087e-04 9.99970482e-01 -1.82871847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.955898226999999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:12.46, Y:0.27, Z:-0.18 [[ 9.98754153e-01 -4.93064841e-02 -7.68199624e-03 1.24627086e+01] [ 4.93067925e-02 9.98783669e-01 -1.49355825e-04 2.73336007e-01] [ 7.68001661e-03 -2.29604845e-04 9.99970482e-01 -1.81119789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.985898226999998 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:12.50, Y:0.28, Z:-0.18 [[ 9.98786155e-01 -4.86539147e-02 -7.68202144e-03 1.24960752e+01] [ 4.86542139e-02 9.98815671e-01 -1.48048241e-04 2.78995897e-01] [ 7.68012653e-03 -2.25894181e-04 9.99970482e-01 -1.82502468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.015898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:12.53, Y:0.28, Z:-0.18 [[ 9.98837153e-01 -4.75954631e-02 -7.68204860e-03 1.25282931e+01] [ 4.75957419e-02 9.98866670e-01 -1.46625498e-04 2.82276017e-01] [ 7.68032101e-03 -2.19177807e-04 9.99970482e-01 -1.81867142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.045898226999999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:12.56, Y:0.29, Z:-0.18 [[ 9.98900116e-01 -4.62552102e-02 -7.68207364e-03 1.25612115e+01] [ 4.62554596e-02 9.98929633e-01 -1.45301434e-04 2.85371965e-01] [ 7.68057195e-03 -2.10196228e-04 9.99970482e-01 -1.80907028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.075898226999998 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:12.59, Y:0.29, Z:-0.18 [[ 9.98955835e-01 -4.50358088e-02 -7.68210005e-03 1.25943939e+01] [ 4.50360330e-02 9.98985353e-01 -1.43891379e-04 2.87907940e-01] [ 7.68078570e-03 -2.02230179e-04 9.99970482e-01 -1.81674061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.105898226999999 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:12.63, Y:0.29, Z:-0.18 [[ 9.98961541e-01 -4.49090629e-02 -7.68212662e-03 1.26269688e+01] [ 4.49092943e-02 9.98991059e-01 -1.42459059e-04 2.90025487e-01] [ 7.68077350e-03 -2.02687764e-04 9.99970482e-01 -1.83720901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.135898226999998 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:12.66, Y:0.29, Z:-0.18 [[ 9.98913681e-01 -4.59613042e-02 -7.68215104e-03 1.26591106e+01] [ 4.59615769e-02 9.98943198e-01 -1.41129349e-04 2.91496594e-01] [ 7.68051902e-03 -2.12107739e-04 9.99970482e-01 -1.83695010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.165898226999998 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:12.69, Y:0.29, Z:-0.18 [[ 9.98889085e-01 -4.64927924e-02 -7.68217455e-03 1.26917985e+01] [ 4.64930908e-02 9.98918602e-01 -1.39838138e-04 2.91962511e-01] [ 7.68036852e-03 -2.17485249e-04 9.99970482e-01 -1.83429923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.195898226999999 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:12.73, Y:0.29, Z:-0.18 [[ 9.98889966e-01 -4.64738574e-02 -7.68219970e-03 1.27251374e+01] [ 4.64741659e-02 9.98919483e-01 -1.38442297e-04 2.93109324e-01] [ 7.68033290e-03 -2.18735203e-04 9.99970482e-01 -1.83385966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.225898226999998 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:12.76, Y:0.29, Z:-0.18 [[ 9.99021750e-01 -4.35491260e-02 -7.68222473e-03 1.27571224e+01] [ 4.35493589e-02 9.99051267e-01 -1.37039596e-04 2.92412697e-01] [ 7.68090430e-03 -1.97650425e-04 9.99970482e-01 -1.83534365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.255898227 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:12.79, Y:0.29, Z:-0.18 [[ 9.99147768e-01 -4.05551515e-02 -7.68224786e-03 1.27902422e+01] [ 4.05553060e-02 9.99177286e-01 -1.35730441e-04 2.92042448e-01] [ 7.68143213e-03 -1.75941145e-04 9.99970482e-01 -1.82954960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.285898226999999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:12.82, Y:0.29, Z:-0.18 [[ 9.99286480e-01 -3.69798995e-02 -7.68227311e-03 1.28238236e+01] [ 3.69799595e-02 9.99315998e-01 -1.34285703e-04 2.92203454e-01] [ 7.68198429e-03 -1.49900261e-04 9.99970482e-01 -1.81735560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.315898226999998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:12.86, Y:0.29, Z:-0.18 [[ 9.99409794e-01 -3.34820372e-02 -7.68229801e-03 1.28555050e+01] [ 3.34820049e-02 9.99439312e-01 -1.32845895e-04 2.92613879e-01] [ 7.68243858e-03 -1.24451252e-04 9.99970482e-01 -1.79194896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.345898227 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:12.89, Y:0.29, Z:-0.18 [[ 9.99514635e-01 -3.01906761e-02 -7.68232100e-03 1.28888652e+01] [ 3.01905570e-02 9.99544153e-01 -1.31502925e-04 2.93395296e-01] [ 7.68278919e-03 -1.00494452e-04 9.99970482e-01 -1.77440679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.375898226999999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:12.92, Y:0.29, Z:-0.18 [[ 9.99608906e-01 -2.68889837e-02 -7.68234540e-03 1.29208175e+01] [ 2.68887781e-02 9.99638423e-01 -1.30061581e-04 2.93460480e-01] [ 7.68306486e-03 -7.65581660e-05 9.99970482e-01 -1.76566772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.405898226999998 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:12.95, Y:0.29, Z:-0.18 [[ 9.99737092e-01 -2.16038935e-02 -7.68236788e-03 1.29535857e+01] [ 2.16035422e-02 9.99766608e-01 -1.28719798e-04 2.91565317e-01] [ 7.68335572e-03 -3.72804024e-05 9.99970482e-01 -1.77304002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.435898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.98, Y:0.29, Z:-0.17 [[ 9.99787320e-01 -1.91388320e-02 -7.68239205e-03 1.29846892e+01] [ 1.91384191e-02 9.99816836e-01 -1.27260382e-04 2.89935250e-01] [ 7.68342053e-03 -1.97955233e-05 9.99970482e-01 -1.73904137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.465898226999998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:13.02, Y:0.29, Z:-0.17 [[ 9.99808656e-01 -1.79897590e-02 -7.68240391e-03 1.30165826e+01] [ 1.79893177e-02 9.99838171e-01 -1.26540479e-04 2.89427820e-01] [ 7.68343711e-03 -1.16849386e-05 9.99970482e-01 -1.70852992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.495898226999998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:13.05, Y:0.29, Z:-0.17 [[ 9.99808562e-01 -1.79950162e-02 -7.68240985e-03 1.30479501e+01] [ 1.79945779e-02 9.99838077e-01 -1.26179271e-04 2.85490940e-01] [ 7.68343648e-03 -1.20866062e-05 9.99970482e-01 -1.66468900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.525898226999999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:13.08, Y:0.28, Z:-0.17 [[ 9.99795743e-01 -1.86936372e-02 -7.68242159e-03 1.30803199e+01] [ 1.86932250e-02 9.99825259e-01 -1.25459970e-04 2.82478442e-01] [ 7.68342446e-03 -1.81748921e-05 9.99970482e-01 -1.69636639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.555898226999998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:13.11, Y:0.28, Z:-0.17 [[ 9.99790090e-01 -1.89935738e-02 -7.68242730e-03 1.31118094e+01] [ 1.89931732e-02 9.99819606e-01 -1.25109674e-04 2.78358857e-01] [ 7.68341771e-03 -2.08302599e-05 9.99970482e-01 -1.71667832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.585898227 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:13.14, Y:0.28, Z:-0.17 [[ 9.99787820e-01 -1.91127057e-02 -7.68243155e-03 1.31443696e+01] [ 1.91123106e-02 9.99817335e-01 -1.24848009e-04 2.75141625e-01] [ 7.68341442e-03 -2.20074992e-05 9.99970482e-01 -1.74429761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.615898226999999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:13.18, Y:0.27, Z:-0.17 [[ 9.99801803e-01 -1.83666544e-02 -7.68243726e-03 1.31753359e+01] [ 1.83662400e-02 9.99831319e-01 -1.24495564e-04 2.71292452e-01] [ 7.68342794e-03 -1.66265970e-05 9.99970482e-01 -1.74079771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.645898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:13.21, Y:0.27, Z:-0.17 [[ 9.99837865e-01 -1.62857139e-02 -7.68244151e-03 1.32088623e+01] [ 1.62852401e-02 9.99867379e-01 -1.24232530e-04 2.67365610e-01] [ 7.68344588e-03 -8.98016798e-07 9.99970482e-01 -1.74110751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:0.26, Z:-0.17 [[ 9.99917156e-01 -1.03276847e-02 -7.68245006e-03 1.32416986e+01] [ 1.03270391e-02 9.99946667e-01 -1.23701937e-04 2.60046512e-01] [ 7.68331788e-03 4.43547275e-05 9.99970482e-01 -1.72968040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.705898226999999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:13.27, Y:0.26, Z:-0.17 [[ 9.99949090e-01 -6.54190814e-03 -7.68245851e-03 1.32726475e+01] [ 6.54115486e-03 9.99978599e-01 -1.23174449e-04 2.57794745e-01] [ 7.68309990e-03 7.29160276e-05 9.99970482e-01 -1.71700082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.735898226999998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:13.30, Y:0.26, Z:-0.17 [[ 9.99968202e-01 -2.13878695e-03 -7.68246424e-03 1.33043414e+01] [ 2.13790650e-03 9.99997707e-01 -1.22816233e-04 2.56614826e-01] [ 7.68270930e-03 1.06387937e-04 9.99970482e-01 -1.69999073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.765898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:13.33, Y:0.25, Z:-0.17 [[ 9.99944287e-01 7.23895875e-03 -7.68246850e-03 1.33327375e+01] [-7.24011381e-03 9.99973783e-01 -1.22549149e-04 2.54625984e-01] [ 7.68137996e-03 1.78164268e-04 9.99970482e-01 -1.67670085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.795898226999999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:13.36, Y:0.25, Z:-0.17 [[ 9.99910385e-01 1.09636635e-02 -7.68244941e-03 1.33608504e+01] [-1.09649375e-02 9.99939876e-01 -1.23734726e-04 2.54755689e-01] [ 7.68063092e-03 2.07961216e-04 9.99970482e-01 -1.67131624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.825898226999998 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:13.39, Y:0.25, Z:-0.17 [[ 9.99873021e-01 1.39614265e-02 -7.68242553e-03 1.33891173e+01] [-1.39628002e-02 9.99902508e-01 -1.25199898e-04 2.54806177e-01] [ 7.67992858e-03 2.32452173e-04 9.99970482e-01 -1.68058901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.855898226999999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:13.42, Y:0.25, Z:-0.17 [[ 9.99839413e-01 1.61903895e-02 -7.68241651e-03 1.34180103e+01] [-1.61918332e-02 9.99868896e-01 -1.25750698e-04 2.54539504e-01] [ 7.67937336e-03 2.50122911e-04 9.99970482e-01 -1.69741019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.885898226999998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:13.45, Y:0.25, Z:-0.17 [[ 9.99819490e-01 1.73772365e-02 -7.68241048e-03 1.34453619e+01] [-1.73787180e-02 9.99848971e-01 -1.26118455e-04 2.54289470e-01] [ 7.67905862e-03 2.59606134e-04 9.99970482e-01 -1.72195978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.915898226999998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:13.47, Y:0.26, Z:-0.18 [[ 9.99820642e-01 1.73108302e-02 -7.68239910e-03 1.34736992e+01] [-1.73123150e-02 9.99850123e-01 -1.26807783e-04 2.56807714e-01] [ 7.67905253e-03 2.59785151e-04 9.99970482e-01 -1.75756053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.945898226999999 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:13.50, Y:0.26, Z:-0.17 [[ 9.99833593e-01 1.65459041e-02 -7.68239301e-03 1.35020307e+01] [-1.65473691e-02 9.99863075e-01 -1.27175307e-04 2.58780662e-01] [ 7.67923687e-03 2.54277537e-04 9.99970482e-01 -1.74819693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.975898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.53, Y:0.26, Z:-0.17 [[ 9.99839825e-01 1.61649693e-02 -7.68238375e-03 1.35284689e+01] [-1.61664274e-02 9.99869307e-01 -1.27732561e-04 2.60124796e-01] [ 7.67931492e-03 2.51908800e-04 9.99970482e-01 -1.72261564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.005898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:13.56, Y:0.26, Z:-0.17 [[ 9.99848287e-01 1.56328112e-02 -7.68237295e-03 1.35567361e+01] [-1.56342585e-02 9.99877769e-01 -1.28378729e-04 2.62882965e-01] [ 7.67942701e-03 2.48467457e-04 9.99970482e-01 -1.70673800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.035898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.58, Y:0.27, Z:-0.17 [[ 9.99854488e-01 1.52310293e-02 -7.68236398e-03 1.35847549e+01] [-1.52324689e-02 9.99883971e-01 -1.28913563e-04 2.65092407e-01] [ 7.67950911e-03 2.45916175e-04 9.99970482e-01 -1.70209261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:0.27, Z:-0.17 [[ 9.99853629e-01 1.52872992e-02 -7.68233903e-03 1.36116116e+01] [-1.52887517e-02 9.99883112e-01 -1.30383225e-04 2.69527879e-01] [ 7.67944785e-03 2.47817515e-04 9.99970482e-01 -1.71725248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.095898227 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:13.64, Y:0.27, Z:-0.17 [[ 9.99855043e-01 1.51945721e-02 -7.68232815e-03 1.36380072e+01] [-1.51960268e-02 9.99884525e-01 -1.31021190e-04 2.72799119e-01] [ 7.67945023e-03 2.47743062e-04 9.99970482e-01 -1.72308552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.125898227 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:13.67, Y:0.28, Z:-0.17 [[ 9.99852941e-01 1.53322608e-02 -7.68231116e-03 1.36657030e+01] [-1.53337272e-02 9.99882423e-01 -1.32010278e-04 2.75746216e-01] [ 7.67938388e-03 2.49789329e-04 9.99970482e-01 -1.71589415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.69, Y:0.28, Z:-0.17 [[ 9.99865595e-01 1.44835647e-02 -7.68228625e-03 1.36923012e+01] [-1.44850170e-02 9.99895078e-01 -1.33444321e-04 2.79027393e-01] [ 7.67954745e-03 2.44704433e-04 9.99970482e-01 -1.68290633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.185898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:13.72, Y:0.28, Z:-0.17 [[ 9.99891726e-01 1.25506759e-02 -7.68226909e-03 1.37202938e+01] [-1.25520788e-02 9.99921211e-01 -1.34424639e-04 2.79927165e-01] [ 7.67997669e-03 2.30838531e-04 9.99970482e-01 -1.66959727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.215898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:13.75, Y:0.28, Z:-0.17 [[ 9.99924949e-01 9.54351087e-03 -7.68225974e-03 1.37475489e+01] [-9.54482917e-03 9.99954438e-01 -1.34957141e-04 2.79890297e-01] [ 7.68062175e-03 2.08272870e-04 9.99970482e-01 -1.66878665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.245898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:13.78, Y:0.28, Z:-0.17 [[ 9.99946911e-01 6.86711492e-03 -7.68224888e-03 1.37759259e+01] [-6.86835901e-03 9.99976403e-01 -1.35572243e-04 2.77330981e-01] [ 7.68113662e-03 1.88329489e-04 9.99970482e-01 -1.67279986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.275898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:13.80, Y:0.28, Z:-0.17 [[ 9.99947379e-01 6.79876589e-03 -7.68223958e-03 1.38043520e+01] [-6.80001199e-03 9.99976870e-01 -1.36097611e-04 2.77952702e-01] [ 7.68113659e-03 1.88329771e-04 9.99970482e-01 -1.67061054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.305898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:13.83, Y:0.27, Z:-0.17 [[ 9.99960675e-01 4.43070164e-03 -7.68223024e-03 1.38326786e+01] [-4.43188193e-03 9.99990170e-01 -1.36622696e-04 2.74866182e-01] [ 7.68154939e-03 1.70664061e-04 9.99970482e-01 -1.69201353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.335898227 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:13.86, Y:0.27, Z:-0.17 [[ 9.99967238e-01 2.55093106e-03 -7.68222010e-03 1.38595995e+01] [-2.55206027e-03 9.99996734e-01 -1.37190426e-04 2.72339526e-01] [ 7.68184505e-03 1.56791420e-04 9.99970482e-01 -1.70576721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.365898227 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:13.89, Y:0.27, Z:-0.17 [[ 9.99962155e-01 4.08328286e-03 -7.68220831e-03 1.38874228e+01] [-4.08446232e-03 9.99991649e-01 -1.37847625e-04 2.69862903e-01] [ 7.68158128e-03 1.69220098e-04 9.99970482e-01 -1.67395983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.395898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:13.92, Y:0.27, Z:-0.17 [[ 9.99944891e-01 7.15533898e-03 -7.68218331e-03 1.39150490e+01] [-7.15661963e-03 9.99974381e-01 -1.39226881e-04 2.69293044e-01] [ 7.68099029e-03 1.94197672e-04 9.99970482e-01 -1.66257930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.425898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:13.94, Y:0.27, Z:-0.17 [[ 9.99910490e-01 1.09543209e-02 -7.68215688e-03 1.39429656e+01] [-1.09557247e-02 9.99939974e-01 -1.40670140e-04 2.67661151e-01] [ 7.68015481e-03 2.24821145e-04 9.99970482e-01 -1.66174155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.455898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:13.97, Y:0.26, Z:-0.17 [[ 9.99796596e-01 1.86481086e-02 -7.68212926e-03 1.39701075e+01] [-1.86497507e-02 9.99826068e-01 -1.42162688e-04 2.60996913e-01] [ 7.67814203e-03 2.85403567e-04 9.99970482e-01 -1.68191433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.485898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:14.00, Y:0.26, Z:-0.17 [[ 9.99729504e-01 2.19523009e-02 -7.68211022e-03 1.39978442e+01] [-2.19540481e-02 9.99758971e-01 -1.43184132e-04 2.57895523e-01] [ 7.67711539e-03 3.11798819e-04 9.99970482e-01 -1.66430266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.515898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:14.03, Y:0.26, Z:-0.16 [[ 9.99676862e-01 2.42313217e-02 -7.68208245e-03 1.40256065e+01] [-2.42331474e-02 9.99706324e-01 -1.44658886e-04 2.56637080e-01] [ 7.67632113e-03 3.30773177e-04 9.99970482e-01 -1.62719175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.545898227000002 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:14.05, Y:0.26, Z:-0.16 [[ 9.99647854e-01 2.53998692e-02 -7.68207379e-03 1.40536980e+01] [-2.54017330e-02 9.99677313e-01 -1.45117587e-04 2.55621598e-01] [ 7.67590892e-03 3.40204471e-04 9.99970482e-01 -1.61537342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.575898227 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:14.08, Y:0.25, Z:-0.16 [[ 9.99640498e-01 2.56877576e-02 -7.68204591e-03 1.40803643e+01] [-2.56896410e-02 9.99669956e-01 -1.46578451e-04 2.53850077e-01] [ 7.67574523e-03 3.43874757e-04 9.99970482e-01 -1.58894440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.605898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:14.11, Y:0.25, Z:-0.16 [[ 9.99662163e-01 2.48303708e-02 -7.68202680e-03 1.41091162e+01] [-2.48322366e-02 9.99691622e-01 -1.47573161e-04 2.52652263e-01] [ 7.67599354e-03 3.38285212e-04 9.99970482e-01 -1.61937981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.635898227000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:0.25, Z:-0.16 [[ 9.99739920e-01 2.14727517e-02 -7.68200207e-03 1.41369293e+01] [-2.14745283e-02 9.99769385e-01 -1.48849596e-04 2.47938598e-01] [ 7.67703427e-03 3.13778254e-04 9.99970482e-01 -1.64830173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.16, Y:0.25, Z:-0.17 [[ 9.99794293e-01 1.87711945e-02 -7.68199324e-03 1.41646068e+01] [-1.87728950e-02 9.99823763e-01 -1.49303891e-04 2.46505025e-01] [ 7.67783677e-03 2.93486431e-04 9.99970482e-01 -1.65862479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.695898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:14.19, Y:0.24, Z:-0.17 [[ 9.99849213e-01 1.55736461e-02 -7.68196419e-03 1.41917912e+01] [-1.55752636e-02 9.99878687e-01 -1.50784049e-04 2.44786654e-01] [ 7.67868401e-03 2.70409930e-04 9.99970482e-01 -1.65625321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.725898227000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:14.22, Y:0.24, Z:-0.17 [[ 9.99897688e-01 1.20665700e-02 -7.68195150e-03 1.42202241e+01] [-1.20680891e-02 9.99927166e-01 -1.51427636e-04 2.41932085e-01] [ 7.67956479e-03 2.44118618e-04 9.99970482e-01 -1.65719116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.755898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:14.25, Y:0.23, Z:-0.16 [[ 9.99967130e-01 2.59355782e-03 -7.68194085e-03 1.42483448e+01] [-2.59480174e-03 9.99996622e-01 -1.51966296e-04 2.33364103e-01] [ 7.68152076e-03 1.71894415e-04 9.99970482e-01 -1.63342463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.28, Y:0.23, Z:-0.16 [[ 9.99967154e-01 -2.58450365e-03 -7.68192789e-03 1.42773279e+01] [ 2.58340745e-03 9.99996651e-01 -1.52618543e-04 2.29167293e-01] [ 7.68229661e-03 1.32767980e-04 9.99970482e-01 -1.61638613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.815898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:14.31, Y:0.23, Z:-0.16 [[ 9.99940874e-01 -7.69652348e-03 -7.68192147e-03 1.43073193e+01] [ 7.69557561e-03 9.99970377e-01 -1.52941068e-04 2.26256213e-01] [ 7.68287102e-03 9.38152182e-05 9.99970482e-01 -1.61665758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.845898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:14.34, Y:0.22, Z:-0.16 [[ 9.99899645e-01 -1.19032630e-02 -7.68191827e-03 1.43403506e+01] [ 1.19024380e-02 9.99929152e-01 -1.53101339e-04 2.22717839e-01] [ 7.68319643e-03 6.16524181e-05 9.99970482e-01 -1.63110036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.875898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.37, Y:0.22, Z:-0.16 [[ 9.99860312e-01 -1.48439957e-02 -7.68194687e-03 1.43733792e+01] [ 1.48432686e-02 9.99889821e-01 -1.51652999e-04 2.18707840e-01] [ 7.68335161e-03 3.76066140e-05 9.99970482e-01 -1.63516235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.905898227 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:14.41, Y:0.22, Z:-0.16 [[ 9.99834162e-01 -1.65117136e-02 -7.68195768e-03 1.44057048e+01] [ 1.65110400e-02 9.99863672e-01 -1.51103251e-04 2.15896588e-01] [ 7.68340539e-03 2.42410817e-05 9.99970482e-01 -1.62685057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.935898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:14.44, Y:0.21, Z:-0.16 [[ 9.99849134e-01 -1.55786995e-02 -7.68196656e-03 1.44374238e+01] [ 1.55780018e-02 9.99878644e-01 -1.50650433e-04 2.10939581e-01] [ 7.68338125e-03 3.09580160e-05 9.99970482e-01 -1.59577695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.965898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:14.47, Y:0.21, Z:-0.16 [[ 9.99866560e-01 -1.44169614e-02 -7.68197519e-03 1.44704022e+01] [ 1.44162328e-02 9.99896069e-01 -1.50208990e-04 2.10573334e-01] [ 7.68334236e-03 3.94438030e-05 9.99970482e-01 -1.60163178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.50, Y:0.21, Z:-0.16 [[ 9.99873830e-01 -1.39036340e-02 -7.68198432e-03 1.45034748e+01] [ 1.39028939e-02 9.99903339e-01 -1.49740511e-04 2.09237676e-01] [ 7.68332371e-03 4.29198052e-05 9.99970482e-01 -1.59797364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.025898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:14.54, Y:0.21, Z:-0.16 [[ 9.99864939e-01 -1.45289506e-02 -7.68199342e-03 1.45369994e+01] [ 1.45282325e-02 9.99894449e-01 -1.49272284e-04 2.08035665e-01] [ 7.68335134e-03 3.76463365e-05 9.99970482e-01 -1.60820975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.055898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:14.57, Y:0.20, Z:-0.16 [[ 9.99825232e-01 -1.70438137e-02 -7.68200396e-03 1.45683106e+01] [ 1.70431740e-02 9.99854744e-01 -1.48727687e-04 2.04748712e-01] [ 7.68342299e-03 1.77759640e-05 9.99970482e-01 -1.59142019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:0.20, Z:-0.16 [[ 9.99792856e-01 -1.88476167e-02 -7.68200918e-03 1.46005408e+01] [ 1.88470324e-02 9.99822368e-01 -1.48457677e-04 2.03462509e-01] [ 7.68344268e-03 3.64384913e-06 9.99970482e-01 -1.56552646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.115898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:14.63, Y:0.20, Z:-0.16 [[ 9.99697392e-01 -2.33689982e-02 -7.68201765e-03 1.46330004e+01] [ 2.33685507e-02 9.99726907e-01 -1.48018043e-04 2.01528746e-01] [ 7.68337878e-03 -3.15443674e-05 9.99970482e-01 -1.60159897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:0.20, Z:-0.16 [[ 9.99652365e-01 -2.52217284e-02 -7.68202474e-03 1.46649760e+01] [ 2.52213384e-02 9.99681881e-01 -1.47649106e-04 1.99431257e-01] [ 7.68330491e-03 -4.61531677e-05 9.99970482e-01 -1.60041949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.70, Y:0.20, Z:-0.16 [[ 9.99617008e-01 -2.65861508e-02 -7.68204215e-03 1.46976116e+01] [ 2.65858082e-02 9.99646524e-01 -1.46738045e-04 1.98436913e-01] [ 7.68322793e-03 -5.75514535e-05 9.99970482e-01 -1.58421732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.205898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:14.73, Y:0.20, Z:-0.16 [[ 9.99594467e-01 -2.74205679e-02 -7.68206721e-03 1.47299791e+01] [ 2.74202601e-02 9.99623983e-01 -1.45413981e-04 1.98650062e-01] [ 7.68316596e-03 -6.52892698e-05 9.99970482e-01 -1.57113595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.235898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:14.76, Y:0.20, Z:-0.16 [[ 9.99604381e-01 -2.70567347e-02 -7.68207411e-03 1.47619733e+01] [ 2.70564190e-02 9.99633898e-01 -1.45048319e-04 1.98918307e-01] [ 7.68318622e-03 -6.28584809e-05 9.99970482e-01 -1.55656642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.265898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:14.79, Y:0.20, Z:-0.16 [[ 9.99646885e-01 -2.54379843e-02 -7.68209963e-03 1.47940989e+01] [ 2.54376313e-02 9.99676401e-01 -1.43683947e-04 1.98902797e-01] [ 7.68326874e-03 -5.17812075e-05 9.99970482e-01 -1.61640286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.295898227000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:14.83, Y:0.20, Z:-0.17 [[ 9.99651333e-01 -2.52625785e-02 -7.68210639e-03 1.48275204e+01] [ 2.52622230e-02 9.99680849e-01 -1.43321552e-04 1.99601768e-01] [ 7.68327531e-03 -5.07955040e-05 9.99970482e-01 -1.65052158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.325898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:14.86, Y:0.20, Z:-0.17 [[ 9.99643634e-01 -2.55654217e-02 -7.68211667e-03 1.48591628e+01] [ 2.55650794e-02 9.99673150e-01 -1.42768615e-04 2.01831686e-01] [ 7.68325571e-03 -5.36761853e-05 9.99970482e-01 -1.65613324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.89, Y:0.21, Z:-0.16 [[ 9.99627469e-01 -2.61898414e-02 -7.68214195e-03 1.48912719e+01] [ 2.61895281e-02 9.99656985e-01 -1.41395104e-04 2.05450952e-01] [ 7.68320998e-03 -5.98492420e-05 9.99970482e-01 -1.63848580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.385898227000002 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:14.92, Y:0.21, Z:-0.16 [[ 9.99607274e-01 -2.69496116e-02 -7.68215827e-03 1.49243881e+01] [ 2.69493276e-02 9.99636791e-01 -1.40502627e-04 2.09299094e-01] [ 7.68315454e-03 -6.65815517e-05 9.99970482e-01 -1.62025261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.415898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:14.96, Y:0.21, Z:-0.16 [[ 9.99562847e-01 -2.85499321e-02 -7.68216795e-03 1.49572932e+01] [ 2.85496994e-02 9.99592364e-01 -1.39971731e-04 2.11433627e-01] [ 7.68303261e-03 -7.94130442e-05 9.99970482e-01 -1.61912476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.445898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:14.99, Y:0.21, Z:-0.17 [[ 9.99380529e-01 -3.43444796e-02 -7.68217794e-03 1.49897367e+01] [ 3.43444222e-02 9.99410047e-01 -1.39420963e-04 2.13155679e-01] [ 7.68243416e-03 -1.24505367e-04 9.99970482e-01 -1.65497701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.475898227000002 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:15.02, Y:0.22, Z:-0.16 [[ 9.99267938e-01 -3.74776137e-02 -7.68219438e-03 1.50216515e+01] [ 3.74776560e-02 9.99297456e-01 -1.38509057e-04 2.15976846e-01] [ 7.68198830e-03 -1.49502978e-04 9.99970482e-01 -1.64522274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.505898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:15.05, Y:0.22, Z:-0.16 [[ 9.99182969e-01 -3.96784233e-02 -7.68221784e-03 1.50547386e+01] [ 3.96785406e-02 9.99212487e-01 -1.37195748e-04 2.20891010e-01] [ 7.68161170e-03 -1.67735538e-04 9.99970482e-01 -1.61983132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.09, Y:0.23, Z:-0.16 [[ 9.99063565e-01 -4.25790639e-02 -7.68224289e-03 1.50876960e+01] [ 4.25792778e-02 9.99093082e-01 -1.35778546e-04 2.29720947e-01] [ 7.68105705e-03 -1.91452957e-04 9.99970482e-01 -1.60762160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.12, Y:0.23, Z:-0.16 [[ 9.99027321e-01 -4.34211317e-02 -7.68226767e-03 1.51201872e+01] [ 4.34213814e-02 9.99056838e-01 -1.34361797e-04 2.32993026e-01] [ 7.68085618e-03 -1.99343569e-04 9.99970482e-01 -1.63009514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.595898227 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:15.15, Y:0.24, Z:-0.16 [[ 9.98994787e-01 -4.41632991e-02 -7.68229052e-03 1.51538013e+01] [ 4.41635809e-02 9.99024304e-01 -1.33042126e-04 2.35804489e-01] [ 7.68067052e-03 -2.06369069e-04 9.99970482e-01 -1.63901818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.625898227 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:15.19, Y:0.24, Z:-0.16 [[ 9.98945868e-01 -4.52563267e-02 -7.68231425e-03 1.51854515e+01] [ 4.52566514e-02 9.98975384e-01 -1.31657516e-04 2.38465238e-01] [ 7.68040116e-03 -2.16157087e-04 9.99970482e-01 -1.64088656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.655898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:15.22, Y:0.24, Z:-0.16 [[ 9.98868843e-01 -4.69256367e-02 -7.68233774e-03 1.52185981e+01] [ 4.69260213e-02 9.98898359e-01 -1.30272464e-04 2.40575666e-01] [ 7.67998768e-03 -2.30376439e-04 9.99970482e-01 -1.61098599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.685898227 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:15.25, Y:0.24, Z:-0.16 [[ 9.98660019e-01 -5.11776062e-02 -7.68236113e-03 1.52508003e+01] [ 5.11781272e-02 9.98689533e-01 -1.28878025e-04 2.43264817e-01] [ 7.67888931e-03 -2.64463524e-04 9.99970482e-01 -1.56903719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.715898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:15.28, Y:0.24, Z:-0.16 [[ 9.98524657e-01 -5.37539826e-02 -7.68238253e-03 1.52827817e+01] [ 5.37545896e-02 9.98554169e-01 -1.27589372e-04 2.43720714e-01] [ 7.67813354e-03 -2.85562186e-04 9.99970482e-01 -1.57703569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.745898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:15.31, Y:0.24, Z:-0.16 [[ 9.98382228e-01 -5.63374408e-02 -7.68240363e-03 1.53149295e+01] [ 5.63381341e-02 9.98411738e-01 -1.26305814e-04 2.44064392e-01] [ 7.67731771e-03 -3.06710806e-04 9.99970482e-01 -1.60538471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.775898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:15.35, Y:0.24, Z:-0.16 [[ 9.98268851e-01 -5.83119389e-02 -7.68242439e-03 1.53481938e+01] [ 5.83127004e-02 9.98298359e-01 -1.25030231e-04 2.43501718e-01] [ 7.67664242e-03 -3.23169126e-04 9.99970482e-01 -1.62809328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.805898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:15.38, Y:0.25, Z:-0.16 [[ 9.98247447e-01 -5.86772073e-02 -7.68244627e-03 1.53791975e+01] [ 5.86779900e-02 9.98276955e-01 -1.23671326e-04 2.45500177e-01] [ 7.67646575e-03 -3.27335920e-04 9.99970482e-01 -1.64423128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.835898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:15.41, Y:0.25, Z:-0.16 [[ 9.98335371e-01 -5.71617607e-02 -7.68246374e-03 1.54118413e+01] [ 5.71625070e-02 9.98364880e-01 -1.22576191e-04 2.46989875e-01] [ 7.67690866e-03 -3.16776741e-04 9.99970482e-01 -1.61920314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.865898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:15.44, Y:0.25, Z:-0.16 [[ 9.98454265e-01 -5.50459745e-02 -7.68248486e-03 1.54436358e+01] [ 5.50466685e-02 9.98483775e-01 -1.21238128e-04 2.48321086e-01] [ 7.67751016e-03 -3.01844471e-04 9.99970482e-01 -1.58809304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.48, Y:0.25, Z:-0.15 [[ 9.98592255e-01 -5.24832147e-02 -7.68250435e-03 1.54765611e+01] [ 5.24838427e-02 9.98621766e-01 -1.19989976e-04 2.49678182e-01] [ 7.67821352e-03 -2.83386289e-04 9.99970482e-01 -1.54716379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.925898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:15.51, Y:0.25, Z:-0.15 [[ 9.98677413e-01 -5.08370332e-02 -7.68252505e-03 1.55083660e+01] [ 5.08376228e-02 9.98706925e-01 -1.18649882e-04 2.52065054e-01] [ 7.67862278e-03 -2.72068353e-04 9.99970482e-01 -1.51795843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.955898227 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:15.54, Y:0.26, Z:-0.15 [[ 9.98678484e-01 -5.08159756e-02 -7.68253787e-03 1.55402243e+01] [ 5.08165710e-02 9.98707996e-01 -1.17813760e-04 2.55188134e-01] [ 7.67859883e-03 -2.72742164e-04 9.99970482e-01 -1.54006826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.985898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:15.57, Y:0.26, Z:-0.16 [[ 9.98588993e-01 -5.25452327e-02 -7.68255672e-03 1.55725256e+01] [ 5.25458887e-02 9.98618504e-01 -1.16571765e-04 2.56510006e-01] [ 7.67806858e-03 -2.87279489e-04 9.99970482e-01 -1.55676645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.61, Y:0.26, Z:-0.16 [[ 9.98473868e-01 -5.46892489e-02 -7.68257514e-03 1.56056270e+01] [ 5.46899776e-02 9.98503377e-01 -1.15344395e-04 2.58710836e-01] [ 7.67738532e-03 -3.04991499e-04 9.99970482e-01 -1.55472713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.64, Y:0.26, Z:-0.16 [[ 9.98315531e-01 -5.75072027e-02 -7.68259453e-03 1.56377045e+01] [ 5.75080248e-02 9.98345038e-01 -1.14038214e-04 2.61839659e-01] [ 7.67643815e-03 -3.27964717e-04 9.99970482e-01 -1.55033187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.075898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:15.67, Y:0.26, Z:-0.16 [[ 9.98126646e-01 -6.06974169e-02 -7.68261246e-03 1.56705753e+01] [ 6.06983427e-02 9.98156149e-01 -1.12817320e-04 2.64808154e-01] [ 7.67529459e-03 -3.53715871e-04 9.99970482e-01 -1.56616649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.105898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:15.70, Y:0.27, Z:-0.16 [[ 9.97822916e-01 -6.55011942e-02 -7.68263128e-03 1.57031516e+01] [ 6.55022719e-02 9.97852414e-01 -1.11521077e-04 2.68351046e-01] [ 7.67343693e-03 -3.91951517e-04 9.99970482e-01 -1.58762979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.135898227000002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:15.74, Y:0.27, Z:-0.16 [[ 9.97739747e-01 -6.67560771e-02 -7.68264859e-03 1.57366253e+01] [ 6.67572012e-02 9.97769244e-01 -1.10315449e-04 2.70328916e-01] [ 7.67287470e-03 -4.02806009e-04 9.99970482e-01 -1.55821000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.165898227 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:15.77, Y:0.27, Z:-0.15 [[ 9.97656552e-01 -6.79881003e-02 -7.68266675e-03 1.57690261e+01] [ 6.79892706e-02 9.97686046e-01 -1.09035696e-04 2.73354351e-01] [ 7.67230255e-03 -4.13558733e-04 9.99970482e-01 -1.52037016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.195898227 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:15.80, Y:0.27, Z:-0.15 [[ 9.97667813e-01 -6.78226391e-02 -7.68268353e-03 1.58026828e+01] [ 6.78238138e-02 9.97697308e-01 -1.07840570e-04 2.73684867e-01] [ 7.67230671e-03 -4.13479832e-04 9.99970482e-01 -1.51779415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.225898227000002 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:15.84, Y:0.28, Z:-0.15 [[ 9.97497339e-01 -7.02853784e-02 -7.68270120e-03 1.58356609e+01] [ 7.02866356e-02 9.97526830e-01 -1.06566435e-04 2.76729922e-01] [ 7.67119064e-03 -4.33691484e-04 9.99970482e-01 -1.48882508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.255898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:15.87, Y:0.28, Z:-0.15 [[ 9.97476028e-01 -7.05871822e-02 -7.68271984e-03 1.58675747e+01] [ 7.05884588e-02 9.97505518e-01 -1.05205488e-04 2.77774171e-01] [ 7.67098159e-03 -4.37371400e-04 9.99970482e-01 -1.49584474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.285898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:15.90, Y:0.28, Z:-0.15 [[ 9.97489334e-01 -7.03988990e-02 -7.68273689e-03 1.59011061e+01] [ 7.04001797e-02 9.97518824e-01 -1.03945279e-04 2.78962895e-01] [ 7.67099230e-03 -4.37181750e-04 9.99970482e-01 -1.50191135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.315898227 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:15.93, Y:0.28, Z:-0.15 [[ 9.97516827e-01 -7.00082451e-02 -7.68275354e-03 1.59336672e+01] [ 7.00095238e-02 9.97546318e-01 -1.02699386e-04 2.81733889e-01] [ 7.67109231e-03 -4.35421552e-04 9.99970482e-01 -1.48544674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.345898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:15.97, Y:0.28, Z:-0.15 [[ 9.97522591e-01 -6.99260714e-02 -7.68276893e-03 1.59665939e+01] [ 6.99273566e-02 9.97552081e-01 -1.01535439e-04 2.82876303e-01] [ 7.67106210e-03 -4.35951828e-04 9.99970482e-01 -1.49120320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.375898227 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:16.00, Y:0.28, Z:-0.15 [[ 9.97548238e-01 -6.95592394e-02 -7.68278508e-03 1.60000665e+01] [ 6.95605233e-02 9.97577728e-01 -1.00297735e-04 2.84219378e-01] [ 7.67115192e-03 -4.34366722e-04 9.99970482e-01 -1.52670256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.405898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:16.03, Y:0.28, Z:-0.16 [[ 9.97582657e-01 -6.90638625e-02 -7.68280105e-03 1.60322066e+01] [ 6.90651412e-02 9.97612147e-01 -9.90593296e-05 2.84523162e-01] [ 7.67129707e-03 -4.31793871e-04 9.99970482e-01 -1.55768064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.435898227 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:16.06, Y:0.29, Z:-0.16 [[ 9.97634288e-01 -6.83139976e-02 -7.68281581e-03 1.60646402e+01] [ 6.83152631e-02 9.97663779e-01 -9.79012075e-05 2.86312016e-01] [ 7.67155507e-03 -4.27183982e-04 9.99970482e-01 -1.55499961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.465898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:16.10, Y:0.29, Z:-0.15 [[ 9.97644670e-01 -6.81622088e-02 -7.68283024e-03 1.60980072e+01] [ 6.81634786e-02 9.97674161e-01 -9.67553989e-05 2.87697534e-01] [ 7.67155627e-03 -4.27160926e-04 9.99970482e-01 -1.49957833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.495898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:16.13, Y:0.29, Z:-0.15 [[ 9.97641606e-01 -6.82070315e-02 -7.68284741e-03 1.61314551e+01] [ 6.82083132e-02 9.97671097e-01 -9.53722001e-05 2.88992131e-01] [ 7.67145985e-03 -4.28886787e-04 9.99970482e-01 -1.47158214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.525898227 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:16.16, Y:0.29, Z:-0.15 [[ 9.97594783e-01 -6.88884821e-02 -7.68286423e-03 1.61645705e+01] [ 6.88897945e-02 9.97624272e-01 -9.39974875e-05 2.90167672e-01] [ 7.67108717e-03 -4.35499535e-04 9.99970482e-01 -1.47144052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.555898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:16.20, Y:0.29, Z:-0.15 [[ 9.97517903e-01 -6.99929013e-02 -7.68288079e-03 1.61980249e+01] [ 6.99942569e-02 9.97547390e-01 -9.26237302e-05 2.90488689e-01] [ 7.67052068e-03 -4.45363703e-04 9.99970482e-01 -1.48034018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.585898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:16.23, Y:0.29, Z:-0.15 [[ 9.97350417e-01 -7.23403047e-02 -7.68289700e-03 1.62306007e+01] [ 7.23417402e-02 9.97379900e-01 -9.12589814e-05 2.91651049e-01] [ 7.66936874e-03 -4.64776955e-04 9.99970482e-01 -1.52809361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.615898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:16.26, Y:0.29, Z:-0.15 [[ 9.97300902e-01 -7.30197459e-02 -7.68291191e-03 1.62633752e+01] [ 7.30212112e-02 9.97330384e-01 -8.99861696e-05 2.92064838e-01] [ 7.66897225e-03 -4.71272245e-04 9.99970482e-01 -1.53029110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.645898227 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:16.30, Y:0.29, Z:-0.15 [[ 9.97260463e-01 -7.35699732e-02 -7.68292747e-03 1.62959342e+01] [ 7.35714651e-02 9.97289944e-01 -8.86372236e-05 2.92687711e-01] [ 7.66862734e-03 -4.76849832e-04 9.99970482e-01 -1.52160934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.675898227 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:16.33, Y:0.29, Z:-0.15 [[ 9.97236572e-01 -7.38931088e-02 -7.68294181e-03 1.63286113e+01] [ 7.38946200e-02 9.97266052e-01 -8.73762964e-05 2.92658924e-01] [ 7.66839355e-03 -4.80593227e-04 9.99970482e-01 -1.50684404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.36, Y:0.29, Z:-0.15 [[ 9.97248710e-01 -7.37291166e-02 -7.68295698e-03 1.63605689e+01] [ 7.37306333e-02 9.97278189e-01 -8.60216669e-05 2.91481433e-01] [ 7.66838772e-03 -4.80684288e-04 9.99970482e-01 -1.48637408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.735898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:16.39, Y:0.29, Z:-0.15 [[ 9.97247585e-01 -7.37443356e-02 -7.68297087e-03 1.63940339e+01] [ 7.37458624e-02 9.97277063e-01 -8.47626555e-05 2.92120794e-01] [ 7.66830139e-03 -4.82057959e-04 9.99970482e-01 -1.50091528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.765898227 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:16.43, Y:0.29, Z:-0.15 [[ 9.97316304e-01 -7.28090716e-02 -7.68298549e-03 1.64261914e+01] [ 7.28105811e-02 9.97345784e-01 -8.34161640e-05 2.93052538e-01] [ 7.66866664e-03 -4.76210338e-04 9.99970482e-01 -1.51196897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.795898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:16.46, Y:0.29, Z:-0.15 [[ 9.97473017e-01 -7.06296762e-02 -7.68299888e-03 1.64597596e+01] [ 7.06311310e-02 9.97502500e-01 -8.21637857e-05 2.93968960e-01] [ 7.66961379e-03 -4.60702741e-04 9.99970482e-01 -1.48523072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.825898227 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:16.49, Y:0.29, Z:-0.15 [[ 9.97511628e-01 -7.00822566e-02 -7.68301292e-03 1.64930459e+01] [ 7.00837054e-02 9.97541111e-01 -8.08293679e-05 2.93712837e-01] [ 7.66978595e-03 -4.57825780e-04 9.99970482e-01 -1.47563585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.855898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:16.53, Y:0.29, Z:-0.15 [[ 9.97559697e-01 -6.93946854e-02 -7.68302739e-03 1.65250516e+01] [ 6.93961246e-02 9.97589180e-01 -7.94297334e-05 2.91605304e-01] [ 7.67001699e-03 -4.53936425e-04 9.99970482e-01 -1.48200349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.885898227000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:16.56, Y:0.29, Z:-0.15 [[ 9.97558187e-01 -6.94163859e-02 -7.68304066e-03 1.65580454e+01] [ 6.94178358e-02 9.97587669e-01 -7.81242399e-05 2.90778367e-01] [ 7.66992973e-03 -4.55406580e-04 9.99970482e-01 -1.50578299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:0.29, Z:-0.15 [[ 9.97555222e-01 -6.94589827e-02 -7.68305392e-03 1.65904337e+01] [ 6.94604440e-02 9.97584704e-01 -7.67977175e-05 2.89149886e-01] [ 7.66983136e-03 -4.57058373e-04 9.99970482e-01 -1.50542785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.945898227 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:16.62, Y:0.29, Z:-0.15 [[ 9.97509379e-01 -7.01142662e-02 -7.68306209e-03 1.66232990e+01] [ 7.01157532e-02 9.97538859e-01 -7.59718390e-05 2.87287253e-01] [ 7.66947970e-03 -4.62921064e-04 9.99970482e-01 -1.47649594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.975898227000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:16.66, Y:0.29, Z:-0.15 [[ 9.97472336e-01 -7.06392893e-02 -7.68307566e-03 1.66552712e+01] [ 7.06408025e-02 9.97501815e-01 -7.45738579e-05 2.85049518e-01] [ 7.66914976e-03 -4.68353270e-04 9.99970482e-01 -1.46732725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.005898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:16.69, Y:0.28, Z:-0.15 [[ 9.97413465e-01 -7.14657242e-02 -7.68308811e-03 1.66876412e+01] [ 7.14672719e-02 9.97442943e-01 -7.32683563e-05 2.82762805e-01] [ 7.66867819e-03 -4.76010502e-04 9.99970482e-01 -1.47201145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.035898227 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:16.72, Y:0.28, Z:-0.15 [[ 9.97434843e-01 -7.11667269e-02 -7.68309617e-03 1.67203021e+01] [ 7.11682724e-02 9.97464321e-01 -7.24129709e-05 2.80602695e-01] [ 7.66876770e-03 -4.74565461e-04 9.99970482e-01 -1.48393717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.065898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:16.75, Y:0.28, Z:-0.15 [[ 9.97548880e-01 -6.95499908e-02 -7.68310792e-03 1.67532975e+01] [ 6.95514982e-02 9.97578360e-01 -7.11442212e-05 2.78668199e-01] [ 7.66945028e-03 -4.63401828e-04 9.99970482e-01 -1.50044140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.095898227 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:16.79, Y:0.28, Z:-0.15 [[ 9.97801690e-01 -6.58236853e-02 -7.68311342e-03 1.67855070e+01] [ 6.58250872e-02 9.97831175e-01 -7.05451265e-05 2.76907886e-01] [ 7.67109363e-03 -4.35351565e-04 9.99970482e-01 -1.51417053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.125898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:16.82, Y:0.28, Z:-0.15 [[ 9.97946394e-01 -6.35921776e-02 -7.68312497e-03 1.68178084e+01] [ 6.35935233e-02 9.97975881e-01 -6.92636290e-05 2.76606748e-01] [ 7.67197804e-03 -4.19475598e-04 9.99970482e-01 -1.49451780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.155898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:16.85, Y:0.28, Z:-0.15 [[ 9.98079090e-01 -6.14743767e-02 -7.68313249e-03 1.68507309e+01] [ 6.14756664e-02 9.98108580e-01 -6.84197242e-05 2.76846828e-01] [ 7.67280652e-03 -4.04037394e-04 9.99970482e-01 -1.47124969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.185898227 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:16.88, Y:0.28, Z:-0.15 [[ 9.98190995e-01 -5.96297499e-02 -7.68314430e-03 1.68842843e+01] [ 5.96309954e-02 9.98220487e-01 -6.70667128e-05 2.78166813e-01] [ 7.67347121e-03 -3.91208154e-04 9.99970482e-01 -1.46541879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.215898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:16.92, Y:0.28, Z:-0.15 [[ 9.98303096e-01 -5.77225968e-02 -7.68315614e-03 1.69171444e+01] [ 5.77237966e-02 9.98332589e-01 -6.56819511e-05 2.79100621e-01] [ 7.67413649e-03 -3.77930447e-04 9.99970482e-01 -1.47286613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.245898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:16.95, Y:0.28, Z:-0.15 [[ 9.98258487e-01 -5.84889975e-02 -7.68316775e-03 1.69493881e+01] [ 5.84902306e-02 9.98287979e-01 -6.42939218e-05 2.79375587e-01] [ 7.67377449e-03 -3.85208301e-04 9.99970482e-01 -1.45662749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.275898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:16.98, Y:0.28, Z:-0.14 [[ 9.98117869e-01 -6.08415089e-02 -7.68317487e-03 1.69818802e+01] [ 6.08428182e-02 9.98147358e-01 -6.34319290e-05 2.79641154e-01] [ 7.67279999e-03 -4.04153470e-04 9.99970482e-01 -1.42084171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.305898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:17.01, Y:0.28, Z:-0.14 [[ 9.97860556e-01 -6.49251767e-02 -7.68318515e-03 1.70146046e+01] [ 6.49266164e-02 9.97890039e-01 -6.21610288e-05 2.79041853e-01] [ 7.67100975e-03 -4.36815176e-04 9.99970482e-01 -1.39526742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.335898227 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:17.05, Y:0.28, Z:-0.14 [[ 9.97523557e-01 -6.99122363e-02 -7.68319451e-03 1.70473201e+01] [ 6.99138324e-02 9.97553032e-01 -6.09819370e-05 2.78392600e-01] [ 7.66865737e-03 -4.76330654e-04 9.99970482e-01 -1.38966679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.365898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:17.08, Y:0.28, Z:-0.14 [[ 9.97173668e-01 -7.47371722e-02 -7.68320491e-03 1.70808417e+01] [ 7.47389212e-02 9.97203134e-01 -5.96426355e-05 2.77107980e-01] [ 7.66617353e-03 -5.14760380e-04 9.99970482e-01 -1.39813310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.395898227 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:17.11, Y:0.28, Z:-0.14 [[ 9.96655862e-01 -8.13514663e-02 -7.68321520e-03 1.71130793e+01] [ 8.13534211e-02 9.96685315e-01 -5.82856756e-05 2.76942748e-01] [ 7.66248939e-03 -5.66965081e-04 9.99970482e-01 -1.42313823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.425898227 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:17.15, Y:0.28, Z:-0.14 [[ 9.96584688e-01 -8.22187782e-02 -7.68322394e-03 1.71450455e+01] [ 8.22207677e-02 9.96614139e-01 -5.71098646e-05 2.77555083e-01] [ 7.66190512e-03 -5.74805754e-04 9.99970482e-01 -1.42030489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.455898227 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:17.18, Y:0.28, Z:-0.14 [[ 9.96623789e-01 -8.17434499e-02 -7.68323010e-03 1.71778568e+01] [ 8.17454317e-02 9.96653240e-01 -5.62694750e-05 2.78028281e-01] [ 7.66211583e-03 -5.71989464e-04 9.99970482e-01 -1.40896399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.485898227 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:17.21, Y:0.28, Z:-0.14 [[ 9.96755959e-01 -8.01157060e-02 -7.68323957e-03 1.72095294e+01] [ 8.01176499e-02 9.96785413e-01 -5.49443038e-05 2.79186937e-01] [ 7.66294303e-03 -5.60797036e-04 9.99970482e-01 -1.39927137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.515898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:17.24, Y:0.28, Z:-0.14 [[ 9.97171354e-01 -7.47680282e-02 -7.68324824e-03 1.72417466e+01] [ 7.47698236e-02 9.97200818e-01 -5.37047227e-05 2.81089747e-01] [ 7.66575682e-03 -5.20922304e-04 9.99970482e-01 -1.40054701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.27, Y:0.28, Z:-0.14 [[ 9.97406545e-01 -7.15622256e-02 -7.68325669e-03 1.72747951e+01] [ 7.15639358e-02 9.97436013e-01 -5.24663360e-05 2.82292609e-01] [ 7.66731153e-03 -4.97513822e-04 9.99970482e-01 -1.40593525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.575898227 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:17.31, Y:0.28, Z:-0.14 [[ 9.97659013e-01 -6.79519077e-02 -7.68326523e-03 1.73079800e+01] [ 6.79535210e-02 9.97688487e-01 -5.11851928e-05 2.83668946e-01] [ 7.66898339e-03 -4.71039556e-04 9.99970482e-01 -1.40886910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.605898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:17.34, Y:0.29, Z:-0.14 [[ 9.98195816e-01 -5.95489684e-02 -7.68327380e-03 1.73404809e+01] [ 5.95503436e-02 9.98225302e-01 -4.98643667e-05 2.86729977e-01] [ 7.67260768e-03 -4.07767193e-04 9.99970482e-01 -1.40318188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.635898227000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.37, Y:0.29, Z:-0.14 [[ 9.98461164e-01 -5.49205984e-02 -7.68328209e-03 1.73734666e+01] [ 5.49218470e-02 9.98490655e-01 -4.85527449e-05 2.88619641e-01] [ 7.67435191e-03 -3.73502013e-04 9.99970482e-01 -1.39790734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.665898227 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:17.41, Y:0.29, Z:-0.14 [[ 9.98689387e-01 -5.06011474e-02 -7.68329068e-03 1.74052901e+01] [ 5.06022791e-02 9.98718883e-01 -4.71535090e-05 2.91150501e-01] [ 7.67583350e-03 -3.41700310e-04 9.99970482e-01 -1.40136403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.695898227 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:17.44, Y:0.29, Z:-0.14 [[ 9.99126104e-01 -4.10852271e-02 -7.68329849e-03 1.74380048e+01] [ 4.10860878e-02 9.99155609e-01 -4.58430380e-05 2.93818909e-01] [ 7.67869426e-03 -2.69873701e-04 9.99970482e-01 -1.40740456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.725898227000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:17.47, Y:0.30, Z:-0.14 [[ 9.99322828e-01 -3.59840448e-02 -7.68330185e-03 1.74715509e+01] [ 3.59847593e-02 9.99352338e-01 -4.52734944e-05 2.95727907e-01] [ 7.67995479e-03 -2.31238932e-04 9.99970482e-01 -1.39088143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.50, Y:0.30, Z:-0.14 [[ 9.99479481e-01 -3.13326285e-02 -7.68330934e-03 1.75042779e+01] [ 3.13332157e-02 9.99508993e-01 -4.39640027e-05 2.98953238e-01] [ 7.68091430e-03 -1.96801670e-04 9.99970482e-01 -1.36493072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.785898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:17.54, Y:0.30, Z:-0.13 [[ 9.99591568e-01 -2.75257116e-02 -7.68331607e-03 1.75356139e+01] [ 2.75261957e-02 9.99621082e-01 -4.27558924e-05 3.01883219e-01] [ 7.68158160e-03 -1.68754032e-04 9.99970482e-01 -1.33610549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.815898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:17.57, Y:0.30, Z:-0.13 [[ 9.99666098e-01 -2.46710287e-02 -7.68332256e-03 1.75679297e+01] [ 2.46714377e-02 9.99695613e-01 -4.15551640e-05 3.03841427e-01] [ 7.68200907e-03 -1.48017326e-04 9.99970482e-01 -1.31742854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.845898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:17.60, Y:0.30, Z:-0.13 [[ 9.99718929e-01 -2.24283154e-02 -7.68332709e-03 1.75991371e+01] [ 2.24286648e-02 9.99748445e-01 -4.06997529e-05 3.04939874e-01] [ 7.68230714e-03 -1.31638454e-04 9.99970482e-01 -1.32916922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.875898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.63, Y:0.31, Z:-0.14 [[ 9.99771263e-01 -1.99596451e-02 -7.68332878e-03 1.76340023e+01] [ 1.99599241e-02 9.99800780e-01 -4.03785112e-05 3.06821367e-01] [ 7.68260405e-03 -1.12989384e-04 9.99970482e-01 -1.40403546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.905898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:17.66, Y:0.31, Z:-0.14 [[ 9.99811556e-01 -1.78274452e-02 -7.68346067e-03 1.76637590e+01] [ 1.78278627e-02 9.99841071e-01 -1.41487945e-05 3.08135004e-01] [ 7.68249178e-03 -1.22833554e-04 9.99970482e-01 -1.41336602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.935898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:17.69, Y:0.31, Z:-0.14 [[ 9.99856085e-01 -1.51252706e-02 -7.68342763e-03 1.76942530e+01] [ 1.51255569e-02 9.99885602e-01 -2.08467226e-05 3.09801031e-01] [ 7.68286397e-03 -9.53723992e-05 9.99970482e-01 -1.38570910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.965898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:17.73, Y:0.31, Z:-0.14 [[ 9.99894959e-01 -1.22897143e-02 -7.68334285e-03 1.77264186e+01] [ 1.22897852e-02 9.99924477e-01 -3.79924869e-05 3.11572200e-01] [ 7.68322949e-03 -5.64381367e-05 9.99970482e-01 -1.35953265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.995898227 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:17.76, Y:0.32, Z:-0.13 [[ 9.99950043e-01 -6.39363026e-03 -7.68334466e-03 1.77579800e+01] [ 6.39352992e-03 9.99979560e-01 -3.76224944e-05 3.16293393e-01] [ 7.68342816e-03 -1.15030791e-05 9.99970482e-01 -1.30520795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.025898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:17.79, Y:0.32, Z:-0.14 [[ 9.99958480e-01 -4.89949537e-03 -7.68334757e-03 1.77902767e+01] [ 4.89935556e-03 9.99987997e-01 -3.70187633e-05 3.17045938e-01] [ 7.68343672e-03 -6.26225342e-07 9.99970482e-01 -1.35691746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.055898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:17.82, Y:0.32, Z:-0.14 [[ 9.99962509e-01 -3.99314439e-03 -7.68346438e-03 1.78210485e+01] [ 3.99316835e-03 9.99992027e-01 -1.22221408e-05 3.17176321e-01] [ 7.68345193e-03 -1.84596842e-05 9.99970482e-01 -1.35912475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.085898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:17.85, Y:0.32, Z:-0.14 [[ 9.99962449e-01 -4.00807281e-03 -7.68343182e-03 1.78520342e+01] [ 4.00804461e-03 9.99991968e-01 -1.90688096e-05 3.17358333e-01] [ 7.68344653e-03 -1.17274439e-05 9.99970482e-01 -1.35668349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.115898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:17.88, Y:0.32, Z:-0.14 [[ 9.99947826e-01 -6.73133289e-03 -7.68343233e-03 1.78818891e+01] [ 6.73138591e-03 9.99977344e-01 -1.89604617e-05 3.15639010e-01] [ 7.68338589e-03 -3.27606757e-05 9.99970482e-01 -1.38929908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.145898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:17.91, Y:0.31, Z:-0.14 [[ 9.99921576e-01 -9.88977449e-03 -7.68334750e-03 1.79137242e+01] [ 9.88978433e-03 9.99951094e-01 -3.67146505e-05 3.13639216e-01] [ 7.68333484e-03 -3.92748785e-05 9.99970482e-01 -1.38388325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.175898227 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:17.95, Y:0.31, Z:-0.14 [[ 9.99878879e-01 -1.35348786e-02 -7.68335322e-03 1.79452738e+01] [ 1.35350055e-02 9.99908397e-01 -3.54749764e-05 3.12645514e-01] [ 7.68312955e-03 -6.85235487e-05 9.99970482e-01 -1.35768314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.205898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:17.98, Y:0.31, Z:-0.13 [[ 9.99842243e-01 -1.60142308e-02 -7.68335524e-03 1.79766880e+01] [ 1.60144343e-02 9.99871760e-01 -3.50324389e-05 3.10224363e-01] [ 7.68293094e-03 -8.80176756e-05 9.99970482e-01 -1.30902454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.235898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:18.01, Y:0.31, Z:-0.13 [[ 9.99814302e-01 -1.76728135e-02 -7.68335832e-03 1.80089480e+01] [ 1.76730713e-02 9.99843818e-01 -3.43438708e-05 3.08773239e-01] [ 7.68276527e-03 -1.01451046e-04 9.99970482e-01 -1.27734045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.265898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:18.04, Y:0.31, Z:-0.13 [[ 9.99805242e-01 -1.81781041e-02 -7.68335987e-03 1.80401231e+01] [ 1.81783795e-02 9.99834759e-01 -3.39915977e-05 3.07664741e-01] [ 7.68270817e-03 -1.05686054e-04 9.99970482e-01 -1.25143321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.295898227 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:18.07, Y:0.31, Z:-0.13 [[ 9.99845552e-01 -1.58062751e-02 -7.68336103e-03 1.80732437e+01] [ 1.58064825e-02 9.99875069e-01 -3.37283728e-05 3.06122537e-01] [ 7.68293426e-03 -8.77237484e-05 9.99970482e-01 -1.27416028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.325898227 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:18.11, Y:0.30, Z:-0.13 [[ 9.99897374e-01 -1.20915592e-02 -7.68341477e-03 1.81058223e+01] [ 1.20917524e-02 9.99926892e-01 -2.13204624e-05 3.03744373e-01] [ 7.68311085e-03 -7.15876743e-05 9.99970482e-01 -1.29542233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.355898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:18.14, Y:0.30, Z:-0.13 [[ 9.99931679e-01 -8.80929805e-03 -7.68336605e-03 1.81377421e+01] [ 8.80930645e-03 9.99961197e-01 -3.27505938e-05 3.01709325e-01] [ 7.68335642e-03 -3.49367699e-05 9.99970482e-01 -1.29391519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.385898227000002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:18.17, Y:0.30, Z:-0.13 [[ 9.99955680e-01 -5.44085904e-03 -7.68336962e-03 1.81686462e+01] [ 5.44077461e-03 9.99985198e-01 -3.18910174e-05 2.99904613e-01] [ 7.68342941e-03 -9.91387836e-06 9.99970482e-01 -1.27538981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.415898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:18.20, Y:0.30, Z:-0.12 [[ 9.99970123e-01 8.48254125e-04 -7.68337069e-03 1.81997173e+01] [-8.48522202e-04 9.99999640e-01 -3.16308130e-05 2.99985587e-01] [ 7.68334109e-03 3.81493786e-05 9.99970482e-01 -1.24130073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.445898227 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:18.23, Y:0.30, Z:-0.12 [[ 9.99965398e-01 3.18893345e-03 -7.68337175e-03 1.82276391e+01] [-3.18926862e-03 9.99994914e-01 -3.13697827e-05 2.99849050e-01] [ 7.68323264e-03 5.58730336e-05 9.99970482e-01 -1.24849092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.475898227000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:18.26, Y:0.30, Z:-0.13 [[ 9.99958613e-01 4.87214189e-03 -7.68336569e-03 1.82554160e+01] [-4.87253765e-03 9.99988129e-01 -3.27901016e-05 2.99732748e-01] [ 7.68311472e-03 7.02262332e-05 9.99970482e-01 -1.26289990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.505898227 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:18.28, Y:0.30, Z:-0.13 [[ 9.99936773e-01 8.21069689e-03 -7.68335941e-03 1.82836517e+01] [-8.21120204e-03 9.99966287e-01 -3.42024820e-05 3.00422687e-01] [ 7.68281955e-03 9.72899359e-05 9.99970482e-01 -1.27649509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.535898227 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:18.31, Y:0.30, Z:-0.13 [[ 9.99918490e-01 1.01970046e-02 -7.68335280e-03 1.83111201e+01] [-1.01975793e-02 9.99948003e-01 -3.56275993e-05 3.00608103e-01] [ 7.68258999e-03 1.13976295e-04 9.99970482e-01 -1.26848846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.565898227 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:18.34, Y:0.30, Z:-0.13 [[ 9.99905058e-01 1.14385584e-02 -7.68335018e-03 1.83382546e+01] [-1.14391740e-02 9.99934570e-01 -3.61840545e-05 3.01653258e-01] [ 7.68243356e-03 1.24071799e-04 9.99970482e-01 -1.26400245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.595898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:18.37, Y:0.30, Z:-0.13 [[ 9.99898584e-01 1.19911805e-02 -7.68334526e-03 1.83659968e+01] [-1.19918203e-02 9.99928095e-01 -3.71996928e-05 3.01126370e-01] [ 7.68234672e-03 1.29333216e-04 9.99970482e-01 -1.25962469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.625898227 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:18.39, Y:0.30, Z:-0.13 [[ 9.99904349e-01 1.15004306e-02 -7.68334254e-03 1.83926096e+01] [-1.15010601e-02 9.99933860e-01 -3.77534366e-05 3.01917416e-01] [ 7.68240018e-03 1.26116410e-04 9.99970482e-01 -1.25748198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.655898227 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:18.42, Y:0.30, Z:-0.13 [[ 9.99920261e-01 1.00218328e-02 -7.68333933e-03 1.84212356e+01] [-1.00224236e-02 9.99949774e-01 -3.83951546e-05 3.00555114e-01] [ 7.68256864e-03 1.15397775e-04 9.99970482e-01 -1.25918564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.685898227 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:18.45, Y:0.30, Z:-0.13 [[ 9.99932212e-01 8.74854994e-03 -7.68333749e-03 1.84503679e+01] [-8.74910598e-03 9.99961725e-01 -3.87599545e-05 3.00557545e-01] [ 7.68270432e-03 1.05979661e-04 9.99970482e-01 -1.26294237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.715898227 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:18.48, Y:0.30, Z:-0.13 [[ 9.99939626e-01 7.85558438e-03 -7.68333564e-03 1.84796120e+01] [-7.85611685e-03 9.99969139e-01 -3.91230064e-05 3.00114325e-01] [ 7.68279120e-03 9.94818270e-05 9.99970482e-01 -1.26774435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.745898227 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:18.51, Y:0.30, Z:-0.13 [[ 9.99941789e-01 7.57528479e-03 -7.68333378e-03 1.85079725e+01] [-7.57581178e-03 9.99971302e-01 -3.94862607e-05 3.00545698e-01] [ 7.68281416e-03 9.76914527e-05 9.99970482e-01 -1.28641106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.775898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:18.54, Y:0.30, Z:-0.13 [[ 9.99932931e-01 8.66598771e-03 -7.68333189e-03 1.85367053e+01] [-8.66654968e-03 9.99962444e-01 -3.98490862e-05 2.97901015e-01] [ 7.68269801e-03 1.06434391e-04 9.99970482e-01 -1.32154880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.805898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:18.56, Y:0.30, Z:-0.13 [[ 9.99922781e-01 9.76725358e-03 -7.68332999e-03 1.85633137e+01] [-9.76785084e-03 9.99952293e-01 -4.02127944e-05 2.97121766e-01] [ 7.68257067e-03 1.15259310e-04 9.99970482e-01 -1.32044544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.835898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:18.59, Y:0.30, Z:-0.13 [[ 9.99902743e-01 1.16391990e-02 -7.68332661e-03 1.85916107e+01] [-1.16398564e-02 9.99932254e-01 -4.08492896e-05 2.96431267e-01] [ 7.68233064e-03 1.30278135e-04 9.99970482e-01 -1.29807017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.865898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:18.62, Y:0.30, Z:-0.13 [[ 9.99883460e-01 1.31921305e-02 -7.68332364e-03 1.86194594e+01] [-1.31928380e-02 9.99912970e-01 -4.13998076e-05 2.96262643e-01] [ 7.68210881e-03 1.42759827e-04 9.99970482e-01 -1.26032167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.895898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:18.65, Y:0.30, Z:-0.12 [[ 9.99850348e-01 1.54999481e-02 -7.68332114e-03 1.86483820e+01] [-1.55007272e-02 9.99879856e-01 -4.18580357e-05 2.95375365e-01] [ 7.68174924e-03 1.60948837e-04 9.99970482e-01 -1.22913689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.925898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.68, Y:0.29, Z:-0.12 [[ 9.99839601e-01 1.61783638e-02 -7.68331909e-03 1.86758354e+01] [-1.61791658e-02 9.99869108e-01 -4.22314293e-05 2.93846901e-01] [ 7.68163017e-03 1.66534349e-04 9.99970482e-01 -1.23511941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.71, Y:0.29, Z:-0.12 [[ 9.99816821e-01 1.75297158e-02 -7.68331650e-03 1.87097360e+01] [-1.75305612e-02 9.99846327e-01 -4.26970323e-05 2.88760052e-01] [ 7.68138732e-03 1.77382062e-04 9.99970482e-01 -1.24908937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.985898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:18.73, Y:0.29, Z:-0.13 [[ 9.99844941e-01 1.58446538e-02 -7.68374720e-03 1.87323981e+01] [-1.58448423e-02 9.99874462e-01 3.63485748e-05 2.92853801e-01] [ 7.68335853e-03 8.54048237e-05 9.99970479e-01 -1.30240734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.015898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:18.76, Y:0.29, Z:-0.13 [[ 9.99817607e-01 1.74848605e-02 -7.68326370e-03 1.87603603e+01] [-1.74857256e-02 9.99847112e-01 -4.54288765e-05 2.91158878e-01] [ 7.68129470e-03 1.79768031e-04 9.99970482e-01 -1.28308765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.79, Y:0.29, Z:-0.12 [[ 9.99775222e-01 1.97604086e-02 -7.68325433e-03 1.87936558e+01] [-1.97613526e-02 9.99804724e-01 -4.69621090e-05 2.87303957e-01] [ 7.68082598e-03 1.98783051e-04 9.99970482e-01 -1.24540014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.075898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:18.82, Y:0.29, Z:-0.12 [[ 9.99764220e-01 2.03091991e-02 -7.68374316e-03 1.88191834e+01] [-2.03095014e-02 9.99793740e-01 3.86883941e-05 2.89797347e-01] [ 7.68294405e-03 1.17373720e-04 9.99970479e-01 -1.22720855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.105898227 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:18.85, Y:0.29, Z:-0.12 [[ 9.99625054e-01 2.62814470e-02 -7.68352742e-03 1.88524635e+01] [-2.62822059e-02 9.99654563e-01 2.20646935e-06 2.85765549e-01] [ 7.68093123e-03 1.99734408e-04 9.99970481e-01 -1.21048973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.135898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:18.88, Y:0.28, Z:-0.12 [[ 9.99552801e-01 2.88990350e-02 -7.68399789e-03 1.88809330e+01] [-2.88992611e-02 9.99582326e-01 8.16271580e-05 2.84445619e-01] [ 7.68314743e-03 1.40471207e-04 9.99970474e-01 -1.21578010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.91, Y:0.29, Z:-0.12 [[ 9.99564787e-01 2.84814319e-02 -7.68404511e-03 1.89087421e+01] [-2.84815803e-02 9.99594313e-01 9.01287517e-05 2.85744431e-01] [ 7.68349479e-03 1.28764222e-04 9.99970473e-01 -1.22260770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.94, Y:0.28, Z:-0.12 [[ 9.99555206e-01 2.88157415e-02 -7.68396222e-03 1.89366318e+01] [-2.88160112e-02 9.99584730e-01 7.56284528e-05 2.84566440e-01] [ 7.68295059e-03 1.45826328e-04 9.99970475e-01 -1.21917426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.225898227000002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:18.97, Y:0.28, Z:-0.12 [[ 9.99564636e-01 2.84867357e-02 -7.68405464e-03 1.89652756e+01] [-2.84868781e-02 9.99594162e-01 9.09433906e-05 2.84812734e-01] [ 7.68352684e-03 1.27990930e-04 9.99970473e-01 -1.19304609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.255898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:18.99, Y:0.29, Z:-0.12 [[ 9.99561366e-01 2.86012353e-02 -7.68408628e-03 1.89936297e+01] [-2.86013436e-02 9.99590893e-01 9.58162789e-05 2.86681315e-01] [ 7.68368313e-03 1.24000941e-04 9.99970472e-01 -1.15131990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.285898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:19.02, Y:0.29, Z:-0.11 [[ 9.99565997e-01 2.84389190e-02 -7.68414627e-03 1.90212033e+01] [-2.84389565e-02 9.99595526e-01 1.04406554e-04 2.86823163e-01] [ 7.68400744e-03 1.14167861e-04 9.99970471e-01 -1.13922485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.05, Y:0.29, Z:-0.12 [[ 9.99602120e-01 2.71395625e-02 -7.68408433e-03 1.90484793e+01] [-2.71396313e-02 9.99631648e-01 9.53305301e-05 2.86375013e-01] [ 7.68384111e-03 1.13250616e-04 9.99970472e-01 -1.17461004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.345898227 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:19.08, Y:0.28, Z:-0.12 [[ 9.99631713e-01 2.60267791e-02 -7.68402991e-03 1.90788952e+01] [-2.60268707e-02 9.99661240e-01 8.80920201e-05 2.84976528e-01] [ 7.68371962e-03 1.11931676e-04 9.99970474e-01 -1.19535498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.11, Y:0.29, Z:-0.12 [[ 9.99682953e-01 2.39780615e-02 -7.68417346e-03 1.91053975e+01] [-2.39779490e-02 9.99712482e-01 1.06788148e-04 2.87255516e-01] [ 7.68452470e-03 7.74964278e-05 9.99970471e-01 -1.21846246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.405898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.14, Y:0.29, Z:-0.12 [[ 9.99667320e-01 2.46212789e-02 -7.68393177e-03 1.91355477e+01] [-2.46214368e-02 9.99696844e-01 7.40556921e-05 2.89221023e-01] [ 7.68342569e-03 1.15158386e-04 9.99970475e-01 -1.20066417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.435898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:19.16, Y:0.29, Z:-0.12 [[ 9.99653951e-01 2.51581492e-02 -7.68406812e-03 1.91617835e+01] [-2.51581823e-02 9.99683479e-01 9.23694503e-05 2.92090825e-01] [ 7.68395980e-03 1.00979701e-04 9.99970473e-01 -1.17915474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.465898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:19.19, Y:0.29, Z:-0.12 [[ 9.99614702e-01 2.66721766e-02 -7.68394705e-03 1.91912084e+01] [-2.66723803e-02 9.99644226e-01 7.59913666e-05 2.91297570e-01] [ 7.68324015e-03 1.28987070e-04 9.99970475e-01 -1.19791022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.495898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.22, Y:0.29, Z:-0.13 [[ 9.99644052e-01 2.55483890e-02 -7.68430411e-03 1.92178124e+01] [-2.55482390e-02 9.99673584e-01 1.17700107e-04 2.94731907e-01] [ 7.68480288e-03 7.86622260e-05 9.99970468e-01 -1.26098305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.525898227 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:19.25, Y:0.29, Z:-0.13 [[ 9.99663554e-01 2.47736346e-02 -7.68408739e-03 1.92451521e+01] [-2.47736522e-02 9.99693082e-01 9.29132751e-05 2.93899038e-01] [ 7.68403080e-03 9.74808934e-05 9.99970473e-01 -1.28059492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.555898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:19.27, Y:0.29, Z:-0.13 [[ 9.99747029e-01 2.11385162e-02 -7.68387522e-03 1.92749161e+01] [-2.11385809e-02 9.99776553e-01 7.27964678e-05 2.94672331e-01] [ 7.68369708e-03 8.96481656e-05 9.99970476e-01 -1.28831395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.585898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:19.30, Y:0.30, Z:-0.13 [[ 9.99825170e-01 1.70464148e-02 -7.68438745e-03 1.93003407e+01] [-1.70459803e-02 9.99854699e-01 1.22034478e-04 2.96678286e-01] [ 7.68535115e-03 8.97477468e-06 9.99970467e-01 -1.27816315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.615898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:19.33, Y:0.30, Z:-0.13 [[ 9.99878723e-01 1.35459830e-02 -7.68405206e-03 1.93280400e+01] [-1.35456813e-02 9.99908249e-01 9.13095922e-05 2.96582610e-01] [ 7.68458392e-03 1.27872015e-05 9.99970473e-01 -1.26813119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.645898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:19.35, Y:0.30, Z:-0.13 [[ 9.99961970e-01 4.12495533e-03 -7.68399916e-03 1.93544185e+01] [-4.12441161e-03 9.99991491e-01 8.66055560e-05 3.02001104e-01] [ 7.68429102e-03 -5.49102871e-05 9.99970474e-01 -1.25169020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.675898227 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:19.38, Y:0.30, Z:-0.13 [[ 9.99967716e-01 2.35180415e-03 -7.68352080e-03 1.93831537e+01] [-2.35155516e-03 9.99997234e-01 4.14400573e-05 3.01582348e-01] [ 7.68359701e-03 -2.33704964e-05 9.99970480e-01 -1.25649589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.41, Y:0.30, Z:-0.12 [[ 9.99970340e-01 5.30010469e-04 -7.68364660e-03 1.94129492e+01] [-5.29611175e-04 9.99999858e-01 5.40012649e-05 3.01530272e-01] [ 7.68367414e-03 -4.99303181e-05 9.99970479e-01 -1.22703253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.44, Y:0.31, Z:-0.13 [[ 9.99964917e-01 -3.33439564e-03 -7.68411756e-03 1.94383760e+01] [ 3.33519034e-03 9.99994434e-01 9.06088040e-05 3.07268149e-01] [ 7.68377267e-03 -1.16233620e-04 9.99970473e-01 -1.25572847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.47, Y:0.31, Z:-0.12 [[ 9.99963799e-01 -3.65613864e-03 -7.68328712e-03 1.94694701e+01] [ 3.65645469e-03 9.99993315e-01 2.70868718e-05 3.05800071e-01] [ 7.68313672e-03 -5.51794825e-05 9.99970483e-01 -1.23299644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.795898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:19.50, Y:0.31, Z:-0.12 [[ 9.99954969e-01 -5.56900886e-03 -7.68417055e-03 1.95001449e+01] [ 5.56996462e-03 9.99984482e-01 1.02985562e-04 3.09393574e-01] [ 7.68347779e-03 -1.45781482e-04 9.99970471e-01 -1.23578218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.53, Y:0.31, Z:-0.12 [[ 9.99937639e-01 -8.10446619e-03 -7.68344566e-03 1.95270351e+01] [ 8.10503503e-03 9.99967153e-01 4.28994407e-05 3.13497046e-01] [ 7.68284560e-03 -1.05171362e-04 9.99970481e-01 -1.22557853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.855898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:19.56, Y:0.31, Z:-0.12 [[ 9.99924514e-01 -9.58855946e-03 -7.68284270e-03 1.95606212e+01] [ 9.58880784e-03 9.99954026e-01 -4.50665916e-06 3.12828319e-01] [ 7.68253270e-03 -6.91629833e-05 9.99970487e-01 -1.23713292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.885898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:19.59, Y:0.31, Z:-0.12 [[ 9.99895309e-01 -1.22612684e-02 -7.68329637e-03 1.95921242e+01] [ 1.22618812e-02 9.99924820e-01 3.26575874e-05 3.12651929e-01] [ 7.68231832e-03 -1.26865836e-04 9.99970483e-01 -1.22079631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.915898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:19.63, Y:0.31, Z:-0.12 [[ 9.99799434e-01 -1.84948841e-02 -7.68313855e-03 1.96287337e+01] [ 1.84955857e-02 9.99828942e-01 2.02728134e-05 3.07658879e-01] [ 7.68144934e-03 -1.62372895e-04 9.99970484e-01 -1.17762601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.945898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:19.65, Y:0.31, Z:-0.12 [[ 9.99687402e-01 -2.37918629e-02 -7.68410209e-03 1.96533905e+01] [ 2.37933160e-02 9.99716894e-01 9.77279580e-05 3.12081686e-01] [ 7.67960154e-03 -2.80527678e-04 9.99970472e-01 -1.21654381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.975898227000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:19.68, Y:0.31, Z:-0.12 [[ 9.99596615e-01 -2.73419310e-02 -7.68277922e-03 1.96825215e+01] [ 2.73427434e-02 9.99626117e-01 7.02040044e-07 3.12270888e-01] [ 7.67988757e-03 -2.10770018e-04 9.99970487e-01 -1.20049693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.005898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:19.72, Y:0.31, Z:-0.12 [[ 9.99596430e-01 -2.73488251e-02 -7.68240705e-03 1.97160215e+01] [ 2.73494378e-02 9.99625934e-01 -2.53160021e-05 3.12813825e-01] [ 7.68022568e-03 -1.84803728e-04 9.99970490e-01 -1.19770186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.035898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:19.75, Y:0.31, Z:-0.12 [[ 9.99599956e-01 -2.72196342e-02 -7.68239171e-03 1.97499173e+01] [ 2.72202349e-02 9.99629460e-01 -2.63816053e-05 3.12525158e-01] [ 7.68026318e-03 -1.82745455e-04 9.99970490e-01 -1.20371911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.78, Y:0.31, Z:-0.12 [[ 9.99611282e-01 -2.68004380e-02 -7.68257904e-03 1.97820050e+01] [ 2.68011253e-02 9.99640785e-01 -1.34905949e-05 3.13363206e-01] [ 7.68018090e-03 -1.92416413e-04 9.99970488e-01 -1.21325379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.095898227 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:19.82, Y:0.31, Z:-0.12 [[ 9.99723357e-01 -2.22303393e-02 -7.68256561e-03 1.98222758e+01] [ 2.22308845e-02 9.99752863e-01 -1.44374467e-05 3.06708631e-01] [ 7.68098791e-03 -1.56356776e-04 9.99970489e-01 -1.18317639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.84, Y:0.32, Z:-0.12 [[ 9.99667861e-01 -2.45992515e-02 -7.68403156e-03 1.98437877e+01] [ 2.46006924e-02 9.99697353e-01 9.30459770e-05 3.17004575e-01] [ 7.67941714e-03 -2.82047570e-04 9.99970473e-01 -1.21672304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.155898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:19.88, Y:0.32, Z:-0.12 [[ 9.99688220e-01 -2.37580887e-02 -7.68223450e-03 1.98777838e+01] [ 2.37585533e-02 9.99717725e-01 -3.07866819e-05 3.18006617e-01] [ 7.68079743e-03 -1.51741695e-04 9.99970491e-01 -1.18779924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.185898227 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:19.91, Y:0.32, Z:-0.12 [[ 9.99630616e-01 -2.60694053e-02 -7.68233225e-03 1.99091702e+01] [ 2.60699879e-02 9.99660120e-01 -2.43183957e-05 3.18644883e-01] [ 7.68035514e-03 -1.75968896e-04 9.99970490e-01 -1.20032406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.215898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:19.94, Y:0.32, Z:-0.12 [[ 9.99550599e-01 -2.89755698e-02 -7.68216977e-03 1.99427313e+01] [ 2.89761552e-02 9.99580102e-01 -3.51150482e-05 3.18350456e-01] [ 7.67996153e-03 -1.87500476e-04 9.99970491e-01 -1.18841497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.245898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:19.97, Y:0.32, Z:-0.12 [[ 9.99430221e-01 -3.28666391e-02 -7.68233184e-03 1.99739358e+01] [ 3.28674226e-02 9.99459720e-01 -2.42737766e-05 3.17806028e-01] [ 7.67897903e-03 -2.28238501e-04 9.99970490e-01 -1.20953111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:0.31, Z:-0.12 [[ 9.99453487e-01 -3.21513649e-02 -7.68220862e-03 2.00139302e+01] [ 3.21520624e-02 9.99482988e-01 -3.27242713e-05 3.09786732e-01] [ 7.67928896e-03 -2.14292464e-04 9.99970491e-01 -1.16231347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.305898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:20.04, Y:0.32, Z:-0.12 [[ 9.99293402e-01 -3.67920818e-02 -7.68372855e-03 2.00389842e+01] [ 3.67937465e-02 9.99322878e-01 7.53699480e-05 3.17722126e-01] [ 7.67575271e-03 -3.58029852e-04 9.99970477e-01 -1.20773680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.335898227 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:20.07, Y:0.32, Z:-0.13 [[ 9.99299449e-01 -3.66277986e-02 -7.68222025e-03 2.00675804e+01] [ 3.66286691e-02 9.99328945e-01 -2.73961330e-05 3.21549769e-01] [ 7.67806851e-03 -2.54012563e-04 9.99970491e-01 -1.25935222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.10, Y:0.32, Z:-0.13 [[ 9.99338823e-01 -3.55374257e-02 -7.68163730e-03 2.01001090e+01] [ 3.55379673e-02 9.99368325e-01 -6.60254075e-05 3.24987921e-01] [ 7.67913137e-03 -2.07008022e-04 9.99970494e-01 -1.27147034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:0.33, Z:-0.13 [[ 9.99388437e-01 -3.41137153e-02 -7.68161363e-03 2.01329163e+01] [ 3.41142028e-02 9.99417939e-01 -6.75940292e-05 3.28018927e-01] [ 7.67944834e-03 -1.94499434e-04 9.99970494e-01 -1.26405079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.425898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:20.17, Y:0.33, Z:-0.12 [[ 9.99415326e-01 -3.33165876e-02 -7.68181331e-03 2.01654000e+01] [ 3.33171566e-02 9.99444828e-01 -5.39274179e-05 3.33394270e-01] [ 7.67934526e-03 -2.02040289e-04 9.99970493e-01 -1.23626319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.455898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:20.20, Y:0.34, Z:-0.12 [[ 9.99349020e-01 -3.52494340e-02 -7.68200617e-03 2.01969821e+01] [ 3.52501628e-02 9.99378519e-01 -4.05398734e-05 3.37953024e-01] [ 7.67866095e-03 -2.30278485e-04 9.99970492e-01 -1.21439902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.485898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:20.23, Y:0.34, Z:-0.12 [[ 9.99311713e-01 -3.62916894e-02 -7.68202076e-03 2.02314005e+01] [ 3.62924569e-02 9.99341211e-01 -3.95161736e-05 3.38686149e-01] [ 7.67839403e-03 -2.39310432e-04 9.99970492e-01 -1.18898434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.515898227 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:20.26, Y:0.34, Z:-0.12 [[ 9.99088597e-01 -4.19876020e-02 -7.68225254e-03 2.02604826e+01] [ 4.19886639e-02 9.99118087e-01 -2.30685418e-05 3.44247728e-01] [ 7.67644606e-03 -2.99520003e-04 9.99970491e-01 -1.23581103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.29, Y:0.34, Z:-0.12 [[ 9.98974357e-01 -4.46231557e-02 -7.68167421e-03 2.02916266e+01] [ 4.46239936e-02 9.99003851e-01 -6.23697474e-05 3.44682629e-01] [ 7.67680525e-03 -2.80481202e-04 9.99970494e-01 -1.24275612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.575898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:20.32, Y:0.35, Z:-0.13 [[ 9.98841527e-01 -4.75036884e-02 -7.68137591e-03 2.03236099e+01] [ 4.75044563e-02 9.98871023e-01 -8.25529126e-05 3.46692832e-01] [ 7.67662538e-03 -2.82442309e-04 9.99970494e-01 -1.25152284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.605898227 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:20.36, Y:0.35, Z:-0.12 [[ 9.98732748e-01 -4.97382539e-02 -7.68145792e-03 2.03574678e+01] [ 4.97391316e-02 9.98762240e-01 -7.68501603e-05 3.48764865e-01] [ 7.67577251e-03 -3.05316274e-04 9.99970494e-01 -1.21023274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.635898227 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:20.39, Y:0.35, Z:-0.12 [[ 9.98718545e-01 -5.00225784e-02 -7.68172861e-03 2.03898801e+01] [ 5.00236116e-02 9.98748034e-01 -5.76987832e-05 3.51882511e-01] [ 7.67499759e-03 -3.26642964e-04 9.99970493e-01 -1.16804859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.665898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:20.42, Y:0.36, Z:-0.12 [[ 9.98786097e-01 -4.86551389e-02 -7.68175224e-03 2.04210955e+01] [ 4.86561447e-02 9.98815587e-01 -5.60055847e-05 3.55348819e-01] [ 7.67537883e-03 -3.17826849e-04 9.99970493e-01 -1.17367948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.695898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:20.45, Y:0.36, Z:-0.12 [[ 9.98847799e-01 -4.73715840e-02 -7.68165437e-03 2.04521826e+01] [ 4.73724984e-02 9.98877291e-01 -6.29680746e-05 3.58497517e-01] [ 7.67601300e-03 -3.01003637e-04 9.99970494e-01 -1.17771960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.725898227000002 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:20.49, Y:0.36, Z:-0.12 [[ 9.98856907e-01 -4.71791730e-02 -7.68140641e-03 2.04859983e+01] [ 4.71799466e-02 9.98886403e-01 -8.05575835e-05 3.62755938e-01] [ 7.67665305e-03 -2.81942846e-04 9.99970494e-01 -1.21065771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.755898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:20.52, Y:0.36, Z:-0.12 [[ 9.98907044e-01 -4.61054201e-02 -7.68164469e-03 2.05183077e+01] [ 4.61062938e-02 9.98936537e-01 -6.34122209e-05 3.62625307e-01] [ 7.67639919e-03 -2.90829252e-04 9.99970494e-01 -1.23002336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.785898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:20.55, Y:0.37, Z:-0.12 [[ 9.98784882e-01 -4.86801100e-02 -7.68149871e-03 2.05477684e+01] [ 4.86809804e-02 9.98814376e-01 -7.37359259e-05 3.65837513e-01] [ 7.67598081e-03 -3.00296560e-04 9.99970494e-01 -1.21523416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.815898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:20.58, Y:0.37, Z:-0.12 [[ 9.98621586e-01 -5.19223412e-02 -7.68108165e-03 2.05812809e+01] [ 5.19230813e-02 9.98651082e-01 -1.03159895e-04 3.67055486e-01] [ 7.67607680e-03 -2.95807729e-04 9.99970495e-01 -1.19069171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.845898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:20.61, Y:0.37, Z:-0.12 [[ 9.98453081e-01 -5.50676244e-02 -7.68132094e-03 2.06110079e+01] [ 5.50685894e-02 9.98482570e-01 -8.59745825e-05 3.67350183e-01] [ 7.67439949e-03 -3.37157922e-04 9.99970495e-01 -1.18463519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.875898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:20.64, Y:0.37, Z:-0.12 [[ 9.98233941e-01 -5.89067290e-02 -7.68090251e-03 2.06439087e+01] [ 5.89075761e-02 9.98263434e-01 -1.16104442e-04 3.65769094e-01] [ 7.67440345e-03 -3.36563955e-04 9.99970495e-01 -1.20824771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.905898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:20.68, Y:0.36, Z:-0.12 [[ 9.97528300e-01 -6.98447855e-02 -7.68096587e-03 2.06774890e+01] [ 6.98459911e-02 9.97557780e-01 -1.11493673e-04 3.63665440e-01] [ 7.66999452e-03 -4.25266580e-04 9.99970495e-01 -1.21898951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.935898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:20.70, Y:0.36, Z:-0.12 [[ 9.97362722e-01 -7.21706086e-02 -7.68141661e-03 2.07045112e+01] [ 7.21721369e-02 9.97392188e-01 -7.84074607e-05 3.61436839e-01] [ 7.66704363e-03 -4.76183573e-04 9.99970494e-01 -1.23745955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.965898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:20.74, Y:0.36, Z:-0.12 [[ 9.96997556e-01 -7.70511684e-02 -7.68048717e-03 2.07389540e+01] [ 7.70523256e-02 9.97027040e-01 -1.45556921e-04 3.60495066e-01] [ 7.66886872e-03 -4.46679504e-04 9.99970494e-01 -1.23463127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.995898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:20.77, Y:0.36, Z:-0.12 [[ 9.96823784e-01 -7.92675618e-02 -7.68102593e-03 2.07717064e+01] [ 7.92690893e-02 9.96853249e-01 -1.05854005e-04 3.58805521e-01] [ 7.66524644e-03 -5.03350140e-04 9.99970495e-01 -1.22697033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.025898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:20.80, Y:0.35, Z:-0.12 [[ 9.96806630e-01 -7.94829608e-02 -7.68127619e-03 2.07995710e+01] [ 7.94846371e-02 9.96836087e-01 -8.72907433e-05 3.53410008e-01] [ 7.66391143e-03 -5.23531458e-04 9.99970495e-01 -1.22451735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.055898227 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:20.84, Y:0.35, Z:-0.12 [[ 9.96728515e-01 -8.04566688e-02 -7.68057740e-03 2.08371330e+01] [ 8.04579785e-02 9.96757992e-01 -1.38813077e-04 3.52801316e-01] [ 7.66684534e-03 -4.79604780e-04 9.99970494e-01 -1.19568273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.085898227 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:20.86, Y:0.35, Z:-0.12 [[ 9.97031809e-01 -7.66065441e-02 -7.68170289e-03 2.08643140e+01] [ 7.66084345e-02 9.97061255e-01 -4.82890902e-05 3.50178838e-01] [ 7.66282758e-03 -5.40337474e-04 9.99970494e-01 -1.19373648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.115898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:20.89, Y:0.35, Z:-0.12 [[ 9.97326591e-01 -7.26682252e-02 -7.68115520e-03 2.08931826e+01] [ 7.26696652e-02 9.97356060e-01 -9.18181953e-05 3.48632922e-01] [ 7.66751896e-03 -4.66614250e-04 9.99970495e-01 -1.19866254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.145898227 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:20.92, Y:0.35, Z:-0.12 [[ 9.97884596e-01 -6.45549338e-02 -7.68069146e-03 2.09247322e+01] [ 6.45558502e-02 9.97914087e-01 -1.28807021e-04 3.46715628e-01] [ 7.67298534e-03 -3.67299026e-04 9.99970495e-01 -1.19765931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.175898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:20.96, Y:0.34, Z:-0.12 [[ 9.98204410e-01 -5.94051023e-02 -7.68045991e-03 2.09585412e+01] [ 5.94057215e-02 9.98233910e-01 -1.47689738e-04 3.44830595e-01] [ 7.67566905e-03 -3.08838715e-04 9.99970494e-01 -1.19095022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.205898227 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:20.99, Y:0.35, Z:-0.12 [[ 9.98303048e-01 -5.77237662e-02 -7.68060370e-03 2.09942725e+01] [ 5.77244272e-02 9.98332546e-01 -1.35778071e-04 3.46602237e-01] [ 7.67563427e-03 -3.07810787e-04 9.99970495e-01 -1.17810696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.235898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:21.02, Y:0.35, Z:-0.11 [[ 9.98649852e-01 -5.13757975e-02 -7.68120769e-03 2.10173761e+01] [ 5.13766718e-02 9.98679343e-01 -8.35848661e-05 3.45252380e-01] [ 7.67535769e-03 -3.11162872e-04 9.99970496e-01 -1.13922885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.265898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:21.05, Y:0.35, Z:-0.11 [[ 9.98918710e-01 -4.58521693e-02 -7.68042846e-03 2.10462631e+01] [ 4.58523101e-02 9.98948217e-01 -1.57850489e-04 3.45254028e-01] [ 7.67958810e-03 -1.94485580e-04 9.99970493e-01 -1.14335408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.295898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:21.09, Y:0.35, Z:-0.11 [[ 9.98742171e-01 -4.95489351e-02 -7.67973374e-03 2.10887416e+01] [ 4.95486691e-02 9.98771685e-01 -2.25010939e-04 3.46678308e-01] [ 7.68144966e-03 -1.55792672e-04 9.99970485e-01 -1.14790766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.11, Y:0.34, Z:-0.12 [[ 9.98958341e-01 -4.49803775e-02 -7.68105222e-03 2.11109270e+01] [ 4.49810255e-02 9.98987838e-01 -8.84524172e-05 3.44625530e-01] [ 7.67725637e-03 -2.57141326e-04 9.99970496e-01 -1.16012072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.355898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:21.15, Y:0.35, Z:-0.12 [[ 9.98752655e-01 -4.93371571e-02 -7.67976590e-03 2.11506634e+01] [ 4.93369327e-02 9.98782168e-01 -2.18787120e-04 3.46388447e-01] [ 7.68120757e-03 -1.60381876e-04 9.99970486e-01 -1.17686109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.385898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:21.17, Y:0.35, Z:-0.12 [[ 9.98865180e-01 -4.70038079e-02 -7.68072383e-03 2.11734531e+01] [ 4.70043020e-02 9.98894680e-01 -1.16285361e-04 3.46293030e-01] [ 7.67770002e-03 -2.44873664e-04 9.99970496e-01 -1.16857798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.415898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.21, Y:0.35, Z:-0.12 [[ 9.98656338e-01 -5.12497692e-02 -7.67978471e-03 2.12135677e+01] [ 5.12496066e-02 9.98685852e-01 -2.18104861e-04 3.48079206e-01] [ 7.68087016e-03 -1.75774143e-04 9.99970486e-01 -1.16637379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.445898227 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:21.24, Y:0.35, Z:-0.12 [[ 9.98652260e-01 -5.13290511e-02 -7.68059220e-03 2.12388574e+01] [ 5.13296163e-02 9.98681759e-01 -1.23643565e-04 3.48907838e-01] [ 7.67681384e-03 -2.70764926e-04 9.99970496e-01 -1.15049178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.475898227000002 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:21.28, Y:0.34, Z:-0.12 [[ 9.98657574e-01 -5.12256954e-02 -7.67974340e-03 2.12821329e+01] [ 5.12255599e-02 9.98687086e-01 -2.14474482e-04 3.41125441e-01] [ 7.68064716e-03 -1.79212590e-04 9.99970487e-01 -1.17514660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.505898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:21.31, Y:0.34, Z:-0.12 [[ 9.98471508e-01 -5.47325241e-02 -7.68102073e-03 2.13149041e+01] [ 5.47336314e-02 9.98500989e-01 -6.61366531e-05 3.41502008e-01] [ 7.67312663e-03 -3.54374594e-04 9.99970498e-01 -1.18892498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.535898227 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:21.33, Y:0.35, Z:-0.12 [[ 9.98322865e-01 -5.73799539e-02 -7.68103205e-03 2.13343974e+01] [ 5.73811497e-02 9.98352342e-01 -6.47952926e-05 3.49287295e-01] [ 7.67209429e-03 -3.76059827e-04 9.99970498e-01 -1.18060139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.565898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:21.37, Y:0.35, Z:-0.12 [[ 9.98214272e-01 -5.92392667e-02 -7.67957066e-03 2.13671333e+01] [ 5.92392660e-02 9.98243787e-01 -2.27760811e-04 3.48834598e-01] [ 7.67957608e-03 -2.27578037e-04 9.99970486e-01 -1.17832292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.595898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:21.40, Y:0.35, Z:-0.12 [[ 9.98075716e-01 -6.15295635e-02 -7.67971510e-03 2.14033176e+01] [ 6.15297915e-02 9.98105226e-01 -2.06802622e-04 3.48595983e-01] [ 7.67788825e-03 -2.66126594e-04 9.99970489e-01 -1.19212971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.625898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.44, Y:0.35, Z:-0.12 [[ 9.97982086e-01 -6.30299312e-02 -7.68004902e-03 2.14372955e+01] [ 6.30305901e-02 9.98011583e-01 -1.56455486e-04 3.45604074e-01] [ 7.67463926e-03 -3.27938250e-04 9.99970496e-01 -1.18753163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.655898227 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:21.47, Y:0.34, Z:-0.12 [[ 9.97963794e-01 -6.33188618e-02 -7.68028481e-03 2.14683263e+01] [ 6.33197934e-02 9.97993281e-01 -1.22041292e-04 3.44959713e-01] [ 7.67260015e-03 -3.64521257e-04 9.99970499e-01 -1.20377210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.685898227 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:21.49, Y:0.34, Z:-0.12 [[ 9.98162766e-01 -6.01007992e-02 -7.68032017e-03 2.14930645e+01] [ 6.01016801e-02 9.98192253e-01 -1.16265478e-04 3.42388226e-01] [ 7.67342374e-03 -3.45548275e-04 9.99970499e-01 -1.20099929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.715898227 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:21.53, Y:0.34, Z:-0.12 [[ 9.98157882e-01 -6.01819524e-02 -7.67958847e-03 2.15267385e+01] [ 6.01819505e-02 9.98187397e-01 -2.31539714e-04 3.41216949e-01] [ 7.67960294e-03 -2.31059423e-04 9.99970485e-01 -1.20575637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.745898227 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:21.56, Y:0.34, Z:-0.12 [[ 9.98246330e-01 -5.86965785e-02 -7.67959243e-03 2.15591692e+01] [ 5.86965378e-02 9.98275845e-01 -2.30879475e-04 3.38265530e-01] [ 7.67990345e-03 -2.20290899e-04 9.99970485e-01 -1.20960646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.775898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.59, Y:0.34, Z:-0.12 [[ 9.98277184e-01 -5.81694577e-02 -7.67972254e-03 2.15893990e+01] [ 5.81695700e-02 9.98306695e-01 -2.08935571e-04 3.37443966e-01] [ 7.67887209e-03 -2.38150545e-04 9.99970489e-01 -1.19420645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.805898227 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:21.63, Y:0.33, Z:-0.12 [[ 9.98264756e-01 -5.83823615e-02 -7.67958995e-03 2.16260298e+01] [ 5.83823082e-02 9.98294272e-01 -2.31308787e-04 3.32095418e-01] [ 7.67999500e-03 -2.17444777e-04 9.99970485e-01 -1.22127843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.835898227 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:21.66, Y:0.32, Z:-0.12 [[ 9.98375204e-01 -5.64621089e-02 -7.68000845e-03 2.16648675e+01] [ 5.64625852e-02 9.98404704e-01 -1.54953059e-04 3.22776711e-01] [ 7.67650554e-03 -2.78931839e-04 9.99970496e-01 -1.23420299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.865898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:21.69, Y:0.33, Z:-0.12 [[ 9.98378166e-01 -5.64096269e-02 -7.68058326e-03 2.16851611e+01] [ 5.64110022e-02 9.98407631e-01 -3.76253041e-05 3.27261856e-01] [ 7.67047537e-03 -3.95705118e-04 9.99970503e-01 -1.20874290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.895898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:21.72, Y:0.33, Z:-0.12 [[ 9.98397568e-01 -5.60653099e-02 -7.67971527e-03 2.17189636e+01] [ 5.60654197e-02 9.98427077e-01 -2.01165527e-04 3.27102474e-01] [ 7.67891408e-03 -2.29723287e-04 9.99970490e-01 -1.20475791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.925898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:21.75, Y:0.32, Z:-0.12 [[ 9.98406319e-01 -5.59092558e-02 -7.67969873e-03 2.17510589e+01] [ 5.59093361e-02 9.98435829e-01 -2.04403926e-04 3.24653292e-01] [ 7.67911443e-03 -2.25288686e-04 9.99970490e-01 -1.21427169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.955898227 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:21.79, Y:0.31, Z:-0.12 [[ 9.98476682e-01 -5.46382276e-02 -7.67977173e-03 2.17949978e+01] [ 5.46383874e-02 9.98506190e-01 -1.89155697e-04 3.14987069e-01] [ 7.67863474e-03 -2.30742790e-04 9.99970492e-01 -1.24879538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.985898227 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:21.81, Y:0.32, Z:-0.12 [[ 9.98438838e-01 -5.53253775e-02 -7.68040031e-03 2.18140499e+01] [ 5.53267762e-02 9.98468300e-01 -3.04065485e-05 3.20424684e-01] [ 7.67031850e-03 -3.94572710e-04 9.99970505e-01 -1.20904112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.015898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:21.84, Y:0.32, Z:-0.12 [[ 9.98473366e-01 -5.46988021e-02 -7.67969639e-03 2.18434677e+01] [ 5.46989732e-02 9.98502873e-01 -1.87922588e-04 3.18265926e-01] [ 7.67847805e-03 -2.32435808e-04 9.99970493e-01 -1.20571853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.045898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:21.88, Y:0.32, Z:-0.12 [[ 9.98424453e-01 -5.55845006e-02 -7.67954353e-03 2.18770183e+01] [ 5.55844350e-02 9.98453966e-01 -2.22137668e-04 3.15921214e-01] [ 7.68001810e-03 -2.05075409e-04 9.99970487e-01 -1.19676587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.075898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:21.91, Y:0.31, Z:-0.12 [[ 9.98332162e-01 -5.72181615e-02 -7.67958889e-03 2.19108736e+01] [ 5.72182263e-02 9.98361673e-01 -2.11450618e-04 3.14725646e-01] [ 7.67910602e-03 -2.28314502e-04 9.99970489e-01 -1.17622259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.105898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:21.95, Y:0.31, Z:-0.12 [[ 9.98087880e-01 -6.13319474e-02 -7.67959717e-03 2.19473177e+01] [ 6.13321530e-02 9.98117390e-01 -2.08956434e-04 3.12362225e-01] [ 7.67795519e-03 -2.62449344e-04 9.99970490e-01 -1.19189238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.135898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:21.97, Y:0.31, Z:-0.12 [[ 9.98098816e-01 -6.11537052e-02 -7.67974856e-03 2.19743484e+01] [ 6.11542903e-02 9.98128312e-01 -1.58842321e-04 3.11894011e-01] [ 7.67508827e-03 -3.11109241e-04 9.99970498e-01 -1.21079188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.165898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.01, Y:0.31, Z:-0.12 [[ 9.97929088e-01 -6.38635902e-02 -7.67960458e-03 2.20107025e+01] [ 6.38638788e-02 9.97958597e-01 -2.07889521e-04 3.11574934e-01] [ 7.67720398e-03 -2.82990336e-04 9.99970490e-01 -1.21117502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.195898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:22.05, Y:0.30, Z:-0.12 [[ 9.97872559e-01 -6.47408523e-02 -7.67974218e-03 2.20531570e+01] [ 6.47416173e-02 9.97902050e-01 -1.49213968e-04 3.04509152e-01] [ 7.67329071e-03 -3.48302405e-04 9.99970499e-01 -1.23979394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.225898227000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:0.31, Z:-0.12 [[ 9.97674881e-01 -6.77188971e-02 -7.67996445e-03 2.20755618e+01] [ 6.77207986e-02 9.97704312e-01 -1.24797199e-05 3.08764790e-01] [ 7.66317875e-03 -5.07642623e-04 9.99970509e-01 -1.20373645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.255898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:22.12, Y:0.30, Z:-0.12 [[ 9.97695517e-01 -6.74142339e-02 -7.67964589e-03 2.21171558e+01] [ 6.74149875e-02 9.97725009e-01 -1.60985876e-04 3.01161058e-01] [ 7.67302750e-03 -3.57108345e-04 9.99970498e-01 -1.20973086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.285898227 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:22.14, Y:0.30, Z:-0.12 [[ 9.97615402e-01 -6.85895715e-02 -7.67985364e-03 2.21378627e+01] [ 6.85915130e-02 9.97644829e-01 -1.06055180e-05 3.03963243e-01] [ 7.66249370e-03 -5.16192553e-04 9.99970509e-01 -1.23097654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.315898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.17, Y:0.30, Z:-0.12 [[ 9.97515161e-01 -7.00323401e-02 -7.67953340e-03 2.21728007e+01] [ 7.00330629e-02 9.97544655e-01 -1.75088506e-04 3.01450759e-01] [ 7.67293936e-03 -3.63167807e-04 9.99970497e-01 -1.24538768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.345898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:22.20, Y:0.30, Z:-0.12 [[ 9.97262818e-01 -7.35384002e-02 -7.67960317e-03 2.22031820e+01] [ 7.35394976e-02 9.97292296e-01 -1.39767989e-04 3.01295750e-01] [ 7.66908739e-03 -4.25368740e-04 9.99970502e-01 -1.22674981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.375898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:22.25, Y:0.29, Z:-0.13 [[ 9.97285299e-01 -7.32328922e-02 -7.67953409e-03 2.22450161e+01] [ 7.32338349e-02 9.97314785e-01 -1.58745931e-04 2.93351239e-01] [ 7.67053832e-03 -4.04086749e-04 9.99970499e-01 -1.25311703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.405898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:22.26, Y:0.29, Z:-0.12 [[ 9.97695396e-01 -6.74159853e-02 -7.67993434e-03 2.22618723e+01] [ 6.74178006e-02 9.97724832e-01 -2.25684029e-05 2.93683265e-01] [ 7.66398267e-03 -4.95247890e-04 9.99970509e-01 -1.24874427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.435898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:22.30, Y:0.29, Z:-0.13 [[ 9.97877899e-01 -6.46584774e-02 -7.67983408e-03 2.22989424e+01] [ 6.46591457e-02 9.97907395e-01 -1.61502334e-04 2.92768659e-01] [ 7.67420571e-03 -3.35411901e-04 9.99970497e-01 -1.27120400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.34, Y:0.29, Z:-0.12 [[ 9.98142833e-01 -6.04309990e-02 -7.67984946e-03 2.23392840e+01] [ 6.04317655e-02 9.98172322e-01 -1.32432724e-04 2.86033560e-01] [ 7.67381621e-03 -3.31920087e-04 9.99970501e-01 -1.24556492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.495898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:22.37, Y:0.29, Z:-0.12 [[ 9.98233971e-01 -5.89063660e-02 -7.67982854e-03 2.23727298e+01] [ 5.89081124e-02 9.98263409e-01 1.20638065e-06 2.85334018e-01] [ 7.66642075e-03 -4.53608453e-04 9.99970510e-01 -1.24131259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.525898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:22.41, Y:0.28, Z:-0.12 [[ 9.98385720e-01 -5.62758698e-02 -7.67982807e-03 2.24053075e+01] [ 5.62775494e-02 9.98415163e-01 2.59915256e-06 2.83230888e-01] [ 7.66751052e-03 -4.34796860e-04 9.99970510e-01 -1.22600949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.555898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:22.44, Y:0.28, Z:-0.12 [[ 9.98480478e-01 -5.45688070e-02 -7.67982741e-03 2.24382989e+01] [ 5.45704461e-02 9.98509923e-01 3.89126878e-06 2.77650012e-01] [ 7.66817153e-03 -4.22976964e-04 9.99970510e-01 -1.22151657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.585898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:22.46, Y:0.28, Z:-0.12 [[ 9.98598766e-01 -5.23595794e-02 -7.67982647e-03 2.24556225e+01] [ 5.23611640e-02 9.98628213e-01 5.26714193e-06 2.77327735e-01] [ 7.66901560e-03 -4.07384414e-04 9.99970510e-01 -1.22952697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.615898227 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:22.50, Y:0.27, Z:-0.12 [[ 9.98353480e-01 -5.68450006e-02 -7.67955162e-03 2.25022937e+01] [ 5.68453008e-02 9.98382982e-01 -1.79345736e-04 2.72307114e-01] [ 7.67732855e-03 -2.57495982e-04 9.99970496e-01 -1.24069844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.645898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:22.54, Y:0.27, Z:-0.13 [[ 9.98319229e-01 -5.74433544e-02 -7.67966309e-03 2.25353417e+01] [ 5.74450108e-02 9.98348672e-01 -4.90243681e-06 2.69414626e-01] [ 7.66726306e-03 -4.36264132e-04 9.99970511e-01 -1.25060356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.675898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:22.57, Y:0.26, Z:-0.12 [[ 9.98318988e-01 -5.74475526e-02 -7.67966343e-03 2.25689141e+01] [ 5.74492138e-02 9.98348430e-01 -4.29671083e-06 2.63095892e-01] [ 7.66722676e-03 -4.36901138e-04 9.99970511e-01 -1.24247558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.705898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:22.60, Y:0.26, Z:-0.12 [[ 9.98301561e-01 -5.77495971e-02 -7.67966396e-03 2.26025106e+01] [ 5.77512779e-02 9.98331002e-01 -2.90517367e-06 2.59696299e-01] [ 7.66701439e-03 -4.40610168e-04 9.99970511e-01 -1.23994433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.735898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.63, Y:0.26, Z:-0.12 [[ 9.98404326e-01 -5.59448390e-02 -7.67966423e-03 2.26251899e+01] [ 5.59464775e-02 9.98433769e-01 -1.48640623e-06 2.57856452e-01] [ 7.66771926e-03 -4.28166127e-04 9.99970511e-01 -1.22791673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.765898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.67, Y:0.25, Z:-0.12 [[ 9.98286868e-01 -5.80030530e-02 -7.67957460e-03 2.26673108e+01] [ 5.80036907e-02 9.98316359e-01 -1.39842826e-04 2.49889899e-01] [ 7.67475626e-03 -3.05840413e-04 9.99970502e-01 -1.16830880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.795898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.70, Y:0.25, Z:-0.12 [[ 9.98324762e-01 -5.73471375e-02 -7.67956603e-03 2.26995601e+01] [ 5.73488322e-02 9.98354201e-01 4.73132795e-07 2.46642772e-01] [ 7.66689988e-03 -4.40886484e-04 9.99970512e-01 -1.15596514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.825898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.73, Y:0.24, Z:-0.12 [[ 9.98278930e-01 -5.81395004e-02 -7.67956572e-03 2.27326968e+01] [ 5.81412286e-02 9.98308368e-01 1.79057740e-06 2.44082948e-01] [ 7.66647062e-03 -4.48286882e-04 9.99970512e-01 -1.15105911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.77, Y:0.24, Z:-0.12 [[ 9.98197026e-01 -5.95291582e-02 -7.67956517e-03 2.27662265e+01] [ 5.95309376e-02 9.98226461e-01 3.13259539e-06 2.41720683e-01] [ 7.66575869e-03 -4.60298663e-04 9.99970512e-01 -1.16369836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.80, Y:0.23, Z:-0.12 [[ 9.97948459e-01 -6.35601928e-02 -7.67956433e-03 2.27986715e+01] [ 6.35621020e-02 9.97977885e-01 4.56096205e-06 2.34621668e-01] [ 7.66374547e-03 -4.92680856e-04 9.99970512e-01 -1.18779529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.915898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:22.83, Y:0.23, Z:-0.12 [[ 9.97814724e-01 -6.56262153e-02 -7.67956330e-03 2.28313286e+01] [ 6.56281957e-02 9.97844146e-01 5.89770731e-06 2.30386756e-01] [ 7.66262024e-03 -5.09880703e-04 9.99970512e-01 -1.19542246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.945898227 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:22.86, Y:0.23, Z:-0.12 [[ 9.97674254e-01 -6.77281797e-02 -7.67956202e-03 2.28644587e+01] [ 6.77302325e-02 9.97703671e-01 7.25495651e-06 2.26433538e-01] [ 7.66143585e-03 -5.27376605e-04 9.99970512e-01 -1.20513854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.975898227000002 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:22.90, Y:0.22, Z:-0.12 [[ 9.97555819e-01 -6.94507851e-02 -7.67956048e-03 2.28964759e+01] [ 6.94528992e-02 9.97585232e-01 8.62164361e-06 2.23430889e-01] [ 7.66041735e-03 -5.41968311e-04 9.99970512e-01 -1.21049209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.92, Y:0.22, Z:-0.12 [[ 9.97602003e-01 -6.87842135e-02 -7.67955943e-03 2.29225767e+01] [ 6.87863145e-02 9.97631416e-01 9.47373626e-06 2.21250468e-01] [ 7.66071811e-03 -5.37699608e-04 9.99970512e-01 -1.23751883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.035898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.96, Y:0.22, Z:-0.12 [[ 9.97846791e-01 -6.51368224e-02 -7.67962992e-03 2.29592580e+01] [ 6.51382430e-02 9.97876247e-01 -6.52605492e-05 2.15549778e-01] [ 7.66757115e-03 -4.35117570e-04 9.99970509e-01 -1.22079653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.99, Y:0.21, Z:-0.12 [[ 9.98050825e-01 -6.19320210e-02 -7.67952119e-03 2.29927889e+01] [ 6.19339313e-02 9.98080251e-01 1.09577570e-05 2.14088495e-01] [ 7.66409980e-03 -4.86559336e-04 9.99970512e-01 -1.20229641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.095898227 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:23.03, Y:0.21, Z:-0.12 [[ 9.98603148e-01 -5.22759810e-02 -7.67951891e-03 2.30250563e+01] [ 5.22776175e-02 9.98632590e-01 1.23727530e-05 2.13190896e-01] [ 7.66837106e-03 -4.13822422e-04 9.99970512e-01 -1.18375607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.125898227 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:23.06, Y:0.21, Z:-0.12 [[ 9.98875956e-01 -4.67744639e-02 -7.67951639e-03 2.30584695e+01] [ 4.67759489e-02 9.98905406e-01 1.37761830e-05 2.13413867e-01] [ 7.67046606e-03 -3.72977364e-04 9.99970512e-01 -1.18515407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.155898227 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:23.09, Y:0.21, Z:-0.12 [[ 9.99121472e-01 -4.11984129e-02 -7.67951367e-03 2.30916990e+01] [ 4.11997440e-02 9.99150930e-01 1.51533944e-05 2.14219084e-01] [ 7.67236893e-03 -3.31534079e-04 9.99970512e-01 -1.18675605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.185898227 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:23.12, Y:0.22, Z:-0.12 [[ 9.99291630e-01 -3.68410468e-02 -7.67951064e-03 2.31236549e+01] [ 3.68422603e-02 9.99321093e-01 1.65580491e-05 2.15734245e-01] [ 7.67368696e-03 -2.99476850e-04 9.99970512e-01 -1.19866935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.215898227 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:23.16, Y:0.22, Z:-0.12 [[ 9.99465358e-01 -3.17808747e-02 -7.67950866e-03 2.31558486e+01] [ 3.17819456e-02 9.99494826e-01 1.74331313e-05 2.19088822e-01] [ 7.67507513e-03 -2.61493538e-04 9.99970512e-01 -1.16334942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.245898227 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:23.19, Y:0.22, Z:-0.12 [[ 9.99481539e-01 -3.12678476e-02 -7.67950786e-03 2.31888907e+01] [ 3.12689061e-02 9.99511008e-01 1.77774125e-05 2.21150606e-01] [ 7.67519678e-03 -2.57898006e-04 9.99970512e-01 -1.15026603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.275898227 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:23.22, Y:0.22, Z:-0.11 [[ 9.99479015e-01 -3.13484402e-02 -7.67950441e-03 2.32221001e+01] [ 3.13495117e-02 9.99508483e-01 1.91583867e-05 2.22592145e-01] [ 7.67512922e-03 -2.59897119e-04 9.99970512e-01 -1.12522995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.305898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:23.25, Y:0.23, Z:-0.11 [[ 9.99411831e-01 -3.34218029e-02 -7.67950305e-03 2.32507474e+01] [ 3.34229396e-02 9.99441297e-01 1.96898913e-05 2.28050814e-01] [ 7.67455442e-03 -2.76349877e-04 9.99970512e-01 -1.09124694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.335898227 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:23.29, Y:0.23, Z:-0.11 [[ 9.99403055e-01 -3.36831890e-02 -7.67964247e-03 2.32870156e+01] [ 3.36838827e-02 9.99432536e-01 -3.90327214e-05 2.25379677e-01] [ 7.67659930e-03 -2.19670755e-04 9.99970510e-01 -1.12463537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.365898227 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:23.32, Y:0.23, Z:-0.11 [[ 9.99392436e-01 -3.39968198e-02 -7.67947205e-03 2.33206786e+01] [ 3.39979880e-02 9.99421901e-01 2.15900289e-05 2.25560954e-01] [ 7.67429857e-03 -2.82663510e-04 9.99970512e-01 -1.13122029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.395898227 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:23.35, Y:0.23, Z:-0.11 [[ 9.99403747e-01 -3.36626784e-02 -7.67946780e-03 2.33524074e+01] [ 3.36638476e-02 9.99433212e-01 2.30089896e-05 2.25542117e-01] [ 7.67434063e-03 -2.81515705e-04 9.99970512e-01 -1.12479676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.425898227 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:23.38, Y:0.23, Z:-0.11 [[ 9.99487090e-01 -3.10899103e-02 -7.67946361e-03 2.33841673e+01] [ 3.10910139e-02 9.99516557e-01 2.43326042e-05 2.25247477e-01] [ 7.67499453e-03 -2.63082434e-04 9.99970512e-01 -1.11740548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.455898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:23.42, Y:0.22, Z:-0.11 [[ 9.99564255e-01 -2.85013178e-02 -7.67945928e-03 2.34174354e+01] [ 2.85023550e-02 9.99593725e-01 2.56302182e-05 2.24276803e-01] [ 7.67560881e-03 -2.44501724e-04 9.99970512e-01 -1.09601359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.485898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:23.45, Y:0.22, Z:-0.11 [[ 9.99644143e-01 -2.55462787e-02 -7.67945446e-03 2.34500201e+01] [ 2.55472393e-02 9.99673616e-01 2.69996407e-05 2.23688243e-01] [ 7.67625827e-03 -2.23178893e-04 9.99970512e-01 -1.09146599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.515898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:23.48, Y:0.22, Z:-0.11 [[ 9.99818638e-01 -1.74274660e-02 -7.67945261e-03 2.34816683e+01] [ 1.74281912e-02 9.99848117e-01 2.75165648e-05 2.24822365e-01] [ 7.67780669e-03 -1.61350542e-04 9.99970512e-01 -1.08286925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.545898227 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:23.51, Y:0.23, Z:-0.11 [[ 9.99886560e-01 -1.29573617e-02 -7.67945073e-03 2.35142585e+01] [ 1.29579591e-02 9.99916042e-01 2.80321629e-05 2.26074764e-01] [ 7.67844275e-03 -1.27538991e-04 9.99970512e-01 -1.10922225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.575898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:23.55, Y:0.23, Z:-0.11 [[ 9.99933018e-01 -8.65942093e-03 -7.67944877e-03 2.35464423e+01] [ 8.65989558e-03 9.99962502e-01 2.85572898e-05 2.27577993e-01] [ 7.67891352e-03 -9.50586015e-05 9.99970512e-01 -1.10620842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.605898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:23.58, Y:0.23, Z:-0.11 [[ 9.99960706e-01 -4.42863167e-03 -7.67944744e-03 2.35771952e+01] [ 4.42898428e-03 9.99990192e-01 2.89114831e-05 2.29274049e-01] [ 7.67924408e-03 -6.29224991e-05 9.99970512e-01 -1.11409570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.635898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:23.61, Y:0.23, Z:-0.11 [[ 9.99970197e-01 7.94055726e-04 -7.67944643e-03 2.36070351e+01] [-7.93855071e-04 9.99999684e-01 2.91769611e-05 2.34322973e-01] [ 7.67946718e-03 -2.30797241e-05 9.99970512e-01 -1.06956704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.665898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:23.64, Y:0.24, Z:-0.10 [[ 9.99969501e-01 1.42228177e-03 -7.67944677e-03 2.36353435e+01] [-1.42210031e-03 9.99998988e-01 2.90890486e-05 2.36320748e-01] [ 7.67948037e-03 -1.81672178e-05 9.99970512e-01 -1.04707748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.695898227 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:23.66, Y:0.24, Z:-0.11 [[ 9.99969684e-01 1.28766775e-03 -7.67945179e-03 2.36636375e+01] [-1.28749303e-03 9.99999171e-01 2.76957309e-05 2.37147269e-01] [ 7.67948109e-03 -1.78076506e-05 9.99970512e-01 -1.06561684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.725898227 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:23.69, Y:0.24, Z:-0.11 [[ 9.99970464e-01 -3.12095007e-04 -7.67945364e-03 2.36918110e+01] [ 3.12312889e-04 9.99999951e-01 2.71729698e-05 2.37046176e-01] [ 7.67944478e-03 -2.95705596e-05 9.99970512e-01 -1.06117063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.755898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:23.72, Y:0.24, Z:-0.11 [[ 9.99967987e-01 -2.24759231e-03 -7.67945515e-03 2.37207335e+01] [ 2.24786393e-03 9.99997473e-01 2.67393490e-05 2.36586537e-01] [ 7.67937565e-03 -4.40008632e-05 9.99970512e-01 -1.06105822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.785898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:23.75, Y:0.24, Z:-0.11 [[ 9.99961282e-01 -4.29657632e-03 -7.67945633e-03 2.37491450e+01] [ 4.29690573e-03 9.99990768e-01 2.63969693e-05 2.35425744e-01] [ 7.67927201e-03 -5.93938472e-05 9.99970512e-01 -1.06202937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.815898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:23.78, Y:0.23, Z:-0.10 [[ 9.99950115e-01 -6.38699599e-03 -7.67945720e-03 2.37788439e+01] [ 6.38738508e-03 9.99979600e-01 2.61409821e-05 2.33823211e-01] [ 7.67913358e-03 -7.51913284e-05 9.99970512e-01 -1.04848959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.845898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:23.81, Y:0.23, Z:-0.10 [[ 9.99950255e-01 -6.36500579e-03 -7.67945749e-03 2.38106950e+01] [ 6.36539358e-03 9.99979740e-01 2.60561843e-05 2.33675867e-01] [ 7.67913606e-03 -7.49376575e-05 9.99970512e-01 -1.04604284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.875898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:23.84, Y:0.23, Z:-0.10 [[ 9.99932208e-01 -8.75250118e-03 -7.67945691e-03 2.38418682e+01] [ 8.75296066e-03 9.99961692e-01 2.62250754e-05 2.30503085e-01] [ 7.67893319e-03 -9.34412818e-05 9.99970512e-01 -1.00013830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.905898227 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:23.87, Y:0.23, Z:-0.10 [[ 9.99935066e-01 -8.41962500e-03 -7.67945633e-03 2.38741691e+01] [ 8.42007597e-03 9.99964550e-01 2.63933906e-05 2.27912186e-01] [ 7.67896187e-03 -9.10532824e-05 9.99970512e-01 -1.01263926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.935898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:23.91, Y:0.22, Z:-0.10 [[ 9.99943817e-01 -7.30676162e-03 -7.67945516e-03 2.39053007e+01] [ 7.30718235e-03 9.99973302e-01 2.67295222e-05 2.24413172e-01] [ 7.67905483e-03 -8.28431996e-05 9.99970512e-01 -1.01289280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.965898227 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:23.94, Y:0.22, Z:-0.10 [[ 9.99955164e-01 -5.54034633e-03 -7.67945428e-03 2.39365475e+01] [ 5.54071689e-03 9.99984650e-01 2.69798779e-05 2.20526128e-01] [ 7.67918692e-03 -6.95283503e-05 9.99970512e-01 -1.03966861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.995898227 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:23.97, Y:0.22, Z:-0.10 [[ 9.99969944e-01 -1.06604941e-03 -7.67945369e-03 2.39675625e+01] [ 1.06628932e-03 9.99999431e-01 2.71461054e-05 2.15177486e-01] [ 7.67942039e-03 -3.53338090e-05 9.99970512e-01 -1.02025314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.025898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:24.00, Y:0.21, Z:-0.10 [[ 9.99968779e-01 1.86222252e-03 -7.67945310e-03 2.39952560e+01] [-1.86206769e-03 9.99998266e-01 2.73117849e-05 2.13412767e-01] [ 7.67949065e-03 -1.30112707e-05 9.99970512e-01 -1.00174040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.055898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:24.02, Y:0.21, Z:-0.10 [[ 9.99955414e-01 5.49513317e-03 -7.67945765e-03 2.40217636e+01] [-5.49509579e-03 9.99984902e-01 2.59682998e-05 2.11271895e-01] [ 7.67948440e-03 1.62322134e-05 9.99970512e-01 -1.00481529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.085898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:24.05, Y:0.21, Z:-0.10 [[ 9.99910075e-01 1.09939812e-02 -7.67945958e-03 2.40467223e+01] [-1.09941105e-02 9.99939563e-01 2.53832330e-05 2.07906393e-01] [ 7.67927452e-03 5.90478765e-05 9.99970512e-01 -9.54072887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.115898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:24.08, Y:0.20, Z:-0.10 [[ 9.99890191e-01 1.26740264e-02 -7.67955560e-03 2.40775053e+01] [-1.26744520e-02 9.99919676e-01 -6.75772407e-06 2.03826022e-01] [ 7.67885309e-03 1.04091141e-04 9.99970512e-01 -9.78372139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.145898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:24.10, Y:0.20, Z:-0.10 [[ 9.99891610e-01 1.25616220e-02 -7.67946218e-03 2.41042348e+01] [-1.25618110e-02 9.99921097e-01 2.36173907e-05 2.01813421e-01] [ 7.67915292e-03 7.28531219e-05 9.99970512e-01 -9.63403308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.175898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:24.13, Y:0.20, Z:-0.10 [[ 9.99925015e-01 9.53882617e-03 -7.67946481e-03 2.41333770e+01] [-9.53893289e-03 9.99954503e-01 2.27312417e-05 1.95685492e-01] [ 7.67933224e-03 5.05243622e-05 9.99970512e-01 -9.90533923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.205898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.16, Y:0.19, Z:-0.10 [[ 9.99945074e-01 7.13271364e-03 -7.67946576e-03 2.41608207e+01] [-7.13275192e-03 9.99974561e-01 2.24039129e-05 1.92294333e-01] [ 7.67943021e-03 3.23730418e-05 9.99970512e-01 -1.00876331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.235898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:24.19, Y:0.19, Z:-0.10 [[ 9.99963172e-01 3.83143047e-03 -7.67946693e-03 2.41888939e+01] [-3.83137452e-03 9.99992660e-01 2.19975066e-05 1.88699150e-01] [ 7.67949484e-03 7.42621744e-06 9.99970512e-01 -1.03047641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.265898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.22, Y:0.19, Z:-0.10 [[ 9.99970510e-01 -6.54597448e-05 -7.67946829e-03 2.42156218e+01] [ 6.56268812e-05 9.99999998e-01 2.15120628e-05 1.85678826e-01] [ 7.67946686e-03 -2.20154080e-05 9.99970512e-01 -1.02487618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.295898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:24.25, Y:0.18, Z:-0.11 [[ 9.99963488e-01 -3.74790357e-03 -7.67952110e-03 2.42454123e+01] [ 3.74802871e-03 9.99992976e-01 1.90376913e-06 1.79191570e-01] [ 7.67946003e-03 -3.06867652e-05 9.99970512e-01 -1.06780883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.325898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:24.27, Y:0.17, Z:-0.11 [[ 9.99924789e-01 -9.56257860e-03 -7.67946707e-03 2.42749023e+01] [ 9.56302449e-03 9.99954273e-01 2.13436734e-05 1.69181962e-01] [ 7.67891181e-03 -9.47809998e-05 9.99970512e-01 -1.09181503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.31, Y:0.17, Z:-0.11 [[ 9.99913309e-01 -1.06958379e-02 -7.67946730e-03 2.43055615e+01] [ 1.06963166e-02 9.99942793e-01 2.12622872e-05 1.65523981e-01] [ 7.67880056e-03 -1.03402457e-04 9.99970512e-01 -1.07520427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.385898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.34, Y:0.16, Z:-0.11 [[ 9.99917484e-01 -1.02980980e-02 -7.67950013e-03 2.43390868e+01] [ 1.02984790e-02 9.99946969e-01 1.00638379e-05 1.57150153e-01] [ 7.67898925e-03 -8.91501780e-05 9.99970512e-01 -1.07692537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.415898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:24.37, Y:0.15, Z:-0.11 [[ 9.99932662e-01 -8.70040397e-03 -7.67946216e-03 2.43711613e+01] [ 8.70083589e-03 9.99962147e-01 2.28352340e-05 1.53798072e-01] [ 7.67897279e-03 -8.96514363e-05 9.99970512e-01 -1.08008410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.445898227 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:24.40, Y:0.15, Z:-0.11 [[ 9.99950749e-01 -6.28697301e-03 -7.67946110e-03 2.44025368e+01] [ 6.28733646e-03 9.99980234e-01 2.31864294e-05 1.51036121e-01] [ 7.67916354e-03 -7.14686432e-05 9.99970512e-01 -1.09560524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.475898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:24.43, Y:0.15, Z:-0.11 [[ 9.99965655e-01 -3.11674937e-03 -7.67946055e-03 2.44329802e+01] [ 3.11702074e-03 9.99995142e-01 2.33678665e-05 1.48037280e-01] [ 7.67935041e-03 -4.73041017e-05 9.99970512e-01 -1.10275087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.505898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.46, Y:0.14, Z:-0.11 [[ 9.99966283e-01 2.90849198e-03 -7.67946027e-03 2.44624432e+01] [-2.90839759e-03 9.99995770e-01 2.34583812e-05 1.44262037e-01] [ 7.67949602e-03 -1.12266645e-06 9.99970512e-01 -1.08662974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.535898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:24.49, Y:0.14, Z:-0.11 [[ 9.99955601e-01 5.46086745e-03 -7.67946081e-03 2.44903895e+01] [-5.46084970e-03 9.99985089e-01 2.32795951e-05 1.43539791e-01] [ 7.67947343e-03 1.86578197e-05 9.99970512e-01 -1.05301454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.565898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:24.52, Y:0.14, Z:-0.10 [[ 9.99942139e-01 7.53285413e-03 -7.67946213e-03 2.45195337e+01] [-7.53290090e-03 9.99971627e-01 2.28352395e-05 1.43420640e-01] [ 7.67941626e-03 3.50147089e-05 9.99970512e-01 -1.02157750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.595898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:24.55, Y:0.14, Z:-0.10 [[ 9.99927697e-01 9.25346081e-03 -7.67946317e-03 2.45468003e+01] [-9.25356103e-03 9.99957185e-01 2.24820548e-05 1.43618667e-01] [ 7.67934240e-03 4.85819519e-05 9.99970512e-01 -9.56975452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.625898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:24.57, Y:0.14, Z:-0.10 [[ 9.99888082e-01 1.28393774e-02 -7.67949656e-03 2.45749240e+01] [-1.28396769e-02 9.99917568e-01 1.03093859e-05 1.41264450e-01] [ 7.67899589e-03 8.82940222e-05 9.99970512e-01 -9.90449309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.655898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.60, Y:0.14, Z:-0.10 [[ 9.99864140e-01 1.45851974e-02 -7.67946903e-03 2.46032105e+01] [-1.45854695e-02 9.99893626e-01 2.05810353e-05 1.41699015e-01] [ 7.67895232e-03 9.14304222e-05 9.99970512e-01 -9.97363014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.685898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:24.63, Y:0.14, Z:-0.10 [[ 9.99824829e-01 1.70685890e-02 -7.67947042e-03 2.46314725e+01] [-1.70689383e-02 9.99854315e-01 2.00491958e-05 1.42931536e-01] [ 7.67869385e-03 1.11034723e-04 9.99970512e-01 -9.97454449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.715898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:24.66, Y:0.14, Z:-0.10 [[ 9.99784370e-01 1.92934892e-02 -7.67947179e-03 2.46586518e+01] [-1.92939083e-02 9.99813855e-01 1.95113721e-05 1.44521929e-01] [ 7.67841874e-03 1.28659860e-04 9.99970512e-01 -1.01093865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.745898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.69, Y:0.15, Z:-0.10 [[ 9.99723754e-01 2.22135382e-02 -7.67947333e-03 2.46865994e+01] [-2.22140482e-02 9.99753237e-01 1.88864954e-05 1.46316553e-01] [ 7.67799785e-03 1.51710912e-04 9.99970512e-01 -9.57811674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.71, Y:0.15, Z:-0.09 [[ 9.99710313e-01 2.28104462e-02 -7.67947671e-03 2.47132577e+01] [-2.28109853e-02 9.99739795e-01 1.73908093e-05 1.47128245e-01] [ 7.67787517e-03 1.57790659e-04 9.99970512e-01 -9.27817970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.805898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:24.74, Y:0.15, Z:-0.09 [[ 9.99704704e-01 2.30549419e-02 -7.67947813e-03 2.47409051e+01] [-2.30554933e-02 9.99734187e-01 1.67411228e-05 1.48951008e-01] [ 7.67782279e-03 1.60317977e-04 9.99970512e-01 -9.05498018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.835898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.77, Y:0.15, Z:-0.09 [[ 9.99709591e-01 2.28420670e-02 -7.67947911e-03 2.47693099e+01] [-2.28426155e-02 9.99739073e-01 1.62806058e-05 1.50082453e-01] [ 7.67784721e-03 1.59143511e-04 9.99970512e-01 -9.07787762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.865898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.80, Y:0.15, Z:-0.09 [[ 9.99768848e-01 2.00817177e-02 -7.67948024e-03 2.47976743e+01] [-2.00821891e-02 9.99798332e-01 1.57247475e-05 1.52456173e-01] [ 7.67824732e-03 1.38499662e-04 9.99970512e-01 -9.40965498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.895898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.83, Y:0.15, Z:-0.10 [[ 9.99804511e-01 1.82199210e-02 -7.67949292e-03 2.48259239e+01] [-1.82203881e-02 9.99833995e-01 9.14290580e-06 1.51757639e-01] [ 7.67838467e-03 1.30782223e-04 9.99970512e-01 -9.66174867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.925898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:24.85, Y:0.15, Z:-0.10 [[ 9.99836894e-01 1.63465617e-02 -7.67948452e-03 2.48541098e+01] [-1.63469376e-02 9.99866380e-01 1.38132294e-05 1.50618841e-01] [ 7.67868419e-03 1.11725078e-04 9.99970512e-01 -9.61731146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.955898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:24.88, Y:0.15, Z:-0.10 [[ 9.99864724e-01 1.45450586e-02 -7.67948549e-03 2.48806681e+01] [-1.45453857e-02 9.99894210e-01 1.32563442e-05 1.49081174e-01] [ 7.67886589e-03 9.84465275e-05 9.99970512e-01 -9.50517329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.985898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:24.91, Y:0.15, Z:-0.09 [[ 9.99906491e-01 1.13152681e-02 -7.67948655e-03 2.49082300e+01] [-1.13155049e-02 9.99935978e-01 1.26104194e-05 1.45309595e-01] [ 7.67913758e-03 7.42880278e-05 9.99970512e-01 -9.40341178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.015898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.93, Y:0.14, Z:-0.09 [[ 9.99920365e-01 1.00144955e-02 -7.67948742e-03 2.49347642e+01] [-1.00146983e-02 9.99949852e-01 1.20561308e-05 1.43405670e-01] [ 7.67922304e-03 6.48525787e-05 9.99970512e-01 -9.41915396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.045898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.96, Y:0.14, Z:-0.10 [[ 9.99926705e-01 9.36002927e-03 -7.67948837e-03 2.49624619e+01] [-9.36021763e-03 9.99956192e-01 1.14131570e-05 1.40958639e-01] [ 7.67925878e-03 6.04693620e-05 9.99970512e-01 -9.52988888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.075898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.99, Y:0.14, Z:-0.10 [[ 9.99908902e-01 1.11001190e-02 -7.67948913e-03 2.49908902e+01] [-1.11003627e-02 9.99938389e-01 1.08789958e-05 1.35932984e-01] [ 7.67913675e-03 7.43671103e-05 9.99970512e-01 -9.74105096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.105898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:25.02, Y:0.13, Z:-0.10 [[ 9.99872942e-01 1.39686898e-02 -7.67948987e-03 2.50176212e+01] [-1.39690224e-02 9.99902428e-01 1.03297178e-05 1.34193346e-01] [ 7.67888486e-03 9.69465609e-05 9.99970512e-01 -9.71823184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.135898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:25.05, Y:0.13, Z:-0.10 [[ 9.99813189e-01 1.77373399e-02 -7.67949067e-03 2.50459797e+01] [-1.77377885e-02 9.99842673e-01 9.69238788e-06 1.33942940e-01] [ 7.67845440e-03 1.26526604e-04 9.99970512e-01 -9.69723461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.07, Y:0.13, Z:-0.10 [[ 9.99601470e-01 2.71648153e-02 -7.67949133e-03 2.50730428e+01] [-2.71655462e-02 9.99630948e-01 9.14063441e-06 1.34170579e-01] [ 7.67690550e-03 1.99480585e-04 9.99970512e-01 -9.54533789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.195898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.10, Y:0.13, Z:-0.10 [[ 9.99502550e-01 3.05888517e-02 -7.67949204e-03 2.51007509e+01] [-3.05896884e-02 9.99532026e-01 8.49919455e-06 1.34093881e-01] [ 7.67615822e-03 2.26418302e-04 9.99970512e-01 -9.75508429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.13, Y:0.13, Z:-0.10 [[ 9.99434825e-01 3.27270005e-02 -7.67949338e-03 2.51277138e+01] [-3.27279116e-02 9.99464298e-01 7.02873462e-06 1.34675121e-01] [ 7.67560950e-03 2.44309019e-04 9.99970512e-01 -9.86578453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.255898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.15, Y:0.14, Z:-0.10 [[ 9.99400232e-01 3.37668615e-02 -7.67949392e-03 2.51543514e+01] [-3.37678082e-02 9.99429705e-01 6.38670933e-06 1.35662610e-01] [ 7.67533000e-03 2.52936799e-04 9.99970512e-01 -9.79777845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.285898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.18, Y:0.14, Z:-0.09 [[ 9.99469557e-01 3.16485377e-02 -7.67949439e-03 2.51801348e+01] [-3.16494269e-02 9.99499031e-01 5.75048910e-06 1.40470609e-01] [ 7.67582920e-03 2.37304157e-04 9.99970512e-01 -9.19023922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.21, Y:0.14, Z:-0.09 [[ 9.99525931e-01 2.98150740e-02 -7.67950935e-03 2.52091642e+01] [-2.98161477e-02 9.99555400e-01 -2.53340148e-05 1.40600482e-01] [ 7.67533970e-03 2.54295390e-04 9.99970512e-01 -9.05013006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.345898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:25.24, Y:0.14, Z:-0.09 [[ 9.99578722e-01 2.79893421e-02 -7.67950752e-03 2.52382909e+01] [-2.79903240e-02 9.99608194e-01 -2.03813878e-05 1.38309473e-01] [ 7.67592818e-03 2.35324705e-04 9.99970512e-01 -9.37169228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.27, Y:0.13, Z:-0.10 [[ 9.99701595e-01 2.31893660e-02 -7.67950032e-03 2.52656794e+01] [-2.31900312e-02 9.99731075e-01 2.42530067e-06 1.34953555e-01] [ 7.67749135e-03 1.75663275e-04 9.99970512e-01 -9.76971564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.405898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.29, Y:0.13, Z:-0.10 [[ 9.99758982e-01 2.05670361e-02 -7.67950050e-03 2.52932496e+01] [-2.05676351e-02 9.99788464e-01 9.76518948e-07 1.33250068e-01] [ 7.67789610e-03 1.56972880e-04 9.99970512e-01 -9.77325156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.435898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.32, Y:0.13, Z:-0.09 [[ 9.99817130e-01 1.75137768e-02 -7.67950053e-03 2.53197584e+01] [-1.75142899e-02 9.99846613e-01 4.36732443e-07 1.32969795e-01] [ 7.67833025e-03 1.34064346e-04 9.99970512e-01 -9.43575789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.35, Y:0.12, Z:-0.09 [[ 9.99879787e-01 1.34698248e-02 -7.67949657e-03 2.53481418e+01] [-1.34703815e-02 9.99909270e-01 -2.07672596e-05 1.24977106e-01] [ 7.67852008e-03 1.24210512e-04 9.99970512e-01 -8.94145428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.495898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:25.38, Y:0.12, Z:-0.09 [[ 9.99908783e-01 1.11108096e-02 -7.67950042e-03 2.53752892e+01] [-1.11111490e-02 9.99938269e-01 -1.53993348e-06 1.20755187e-01] [ 7.67900925e-03 8.68678668e-05 9.99970512e-01 -8.90186403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.525898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:25.40, Y:0.12, Z:-0.09 [[ 9.99929396e-01 9.06796366e-03 -7.67950024e-03 2.54023157e+01] [-9.06824790e-03 9.99958883e-01 -2.19184383e-06 1.15725467e-01] [ 7.67916460e-03 7.18313010e-05 9.99970512e-01 -9.16202490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.43, Y:0.11, Z:-0.09 [[ 9.99935726e-01 8.34077319e-03 -7.67950001e-03 2.54297247e+01] [-8.34104074e-03 9.99965213e-01 -2.81088577e-06 1.09823126e-01] [ 7.67920942e-03 6.68657276e-05 9.99970512e-01 -9.01455632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.585898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:25.46, Y:0.10, Z:-0.09 [[ 9.99904231e-01 1.15131769e-02 -7.67949983e-03 2.54568835e+01] [-1.15135414e-02 9.99933717e-01 -3.24831084e-06 1.02382192e-01] [ 7.67895341e-03 9.16662386e-05 9.99970512e-01 -8.68491581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.49, Y:0.10, Z:-0.09 [[ 9.99841521e-01 1.60611066e-02 -7.67949264e-03 2.54857954e+01] [-1.60617092e-02 9.99871002e-01 -1.67976395e-05 9.81156077e-02] [ 7.67823221e-03 1.40140755e-04 9.99970512e-01 -8.86634566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.645898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.51, Y:0.10, Z:-0.09 [[ 9.99753580e-01 2.08279939e-02 -7.67950001e-03 2.55140869e+01] [-2.08286439e-02 9.99783060e-01 -4.66631718e-06 9.61176537e-02] [ 7.67773683e-03 1.64618739e-04 9.99970512e-01 -8.88180624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.54, Y:0.09, Z:-0.09 [[ 9.99474838e-01 3.14813231e-02 -7.67949894e-03 2.55406042e+01] [-3.14822977e-02 9.99504310e-01 -6.03085162e-06 9.49167181e-02] [ 7.67550243e-03 2.47795956e-04 9.99970512e-01 -8.97740770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.57, Y:0.10, Z:-0.09 [[ 9.99480580e-01 3.12985002e-02 -7.67949839e-03 2.55689722e+01] [-3.12994744e-02 9.99510051e-01 -6.66702974e-06 9.51133867e-02] [ 7.67552716e-03 2.47027830e-04 9.99970512e-01 -8.95558197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.735898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.60, Y:0.10, Z:-0.09 [[ 9.99319304e-01 3.60825917e-02 -7.67949691e-03 2.55971728e+01] [-3.60837176e-02 9.99348771e-01 -8.07175477e-06 9.58058116e-02] [ 7.67420455e-03 2.85171058e-04 9.99970512e-01 -9.03162616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.765898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.62, Y:0.10, Z:-0.09 [[ 9.99163593e-01 4.01639129e-02 -7.67949509e-03 2.56237912e+01] [-4.01651704e-02 9.99193054e-01 -9.53721214e-06 9.64777827e-02] [ 7.67291510e-03 3.17977464e-04 9.99970512e-01 -9.21387689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.65, Y:0.10, Z:-0.09 [[ 9.99066355e-01 4.25140320e-02 -7.67949372e-03 2.56511938e+01] [-4.25153665e-02 9.99095813e-01 -1.05364979e-05 9.75112621e-02] [ 7.67210207e-03 3.37023151e-04 9.99970512e-01 -9.32917987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.825898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:25.68, Y:0.10, Z:-0.10 [[ 9.99057180e-01 4.27291158e-02 -7.67949143e-03 2.56792438e+01] [-4.27304679e-02 9.99086636e-01 -1.20026900e-05 1.01019411e-01] [ 7.67196440e-03 3.40139635e-04 9.99970512e-01 -9.85689496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.71, Y:0.10, Z:-0.10 [[ 9.99109463e-01 4.14886373e-02 -7.67948880e-03 2.57057403e+01] [-4.14899643e-02 9.99138921e-01 -1.34995150e-05 1.01964620e-01] [ 7.67231607e-03 3.32109209e-04 9.99970512e-01 -9.58826870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.73, Y:0.10, Z:-0.09 [[ 9.99203118e-01 3.91682766e-02 -7.67948687e-03 2.57331804e+01] [-3.91695430e-02 9.99232579e-01 -1.45180462e-05 1.02995531e-01] [ 7.67302482e-03 3.15308469e-04 9.99970512e-01 -9.47328223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.76, Y:0.10, Z:-0.09 [[ 9.99312254e-01 3.62773245e-02 -7.67948600e-03 2.57613443e+01] [-3.62785091e-02 9.99341718e-01 -1.49667967e-05 1.03164308e-01] [ 7.67388777e-03 2.93556806e-04 9.99970512e-01 -9.19982829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.79, Y:0.10, Z:-0.09 [[ 9.99559544e-01 2.86660582e-02 -7.67948278e-03 2.57896381e+01] [-2.86670299e-02 9.99589016e-01 -1.64660398e-05 1.02375901e-01] [ 7.67585462e-03 2.36606750e-04 9.99970512e-01 -8.59851081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.82, Y:0.10, Z:-0.08 [[ 9.99671879e-01 2.44368432e-02 -7.67947928e-03 2.58150634e+01] [-2.44377017e-02 9.99701355e-01 -1.79631186e-05 1.02393763e-01] [ 7.67674688e-03 2.05626048e-04 9.99970512e-01 -8.42291661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.005898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.85, Y:0.10, Z:-0.09 [[ 9.99754072e-01 2.08043898e-02 -7.67941957e-03 2.58453224e+01] [-2.08053238e-02 9.99783545e-01 -4.17523543e-05 9.94693321e-02] [ 7.67688868e-03 2.01514897e-04 9.99970512e-01 -9.08519219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.87, Y:0.10, Z:-0.10 [[ 9.99818142e-01 1.74559249e-02 -7.67947609e-03 2.58728751e+01] [-1.74565896e-02 9.99847622e-01 -1.95375490e-05 9.60228698e-02] [ 7.67796486e-03 1.53591459e-04 9.99970512e-01 -9.55574400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.90, Y:0.09, Z:-0.10 [[ 9.99898365e-01 1.20119073e-02 -7.67947488e-03 2.59018191e+01] [-1.20124151e-02 9.99927848e-01 -2.00007431e-05 8.99315709e-02] [ 7.67868054e-03 1.12247750e-04 9.99970512e-01 -9.74707799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.93, Y:0.09, Z:-0.09 [[ 9.99914602e-01 1.05741944e-02 -7.67947392e-03 2.59298028e+01] [-1.05746626e-02 9.99944086e-01 -2.03606652e-05 8.72580320e-02] [ 7.67882924e-03 1.01566772e-04 9.99970512e-01 -9.13056578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:0.08, Z:-0.08 [[ 9.99912443e-01 1.07764753e-02 -7.67947272e-03 2.59578650e+01] [-1.07769528e-02 9.99941927e-01 -2.08064763e-05 8.46377619e-02] [ 7.67880252e-03 1.03565970e-04 9.99970512e-01 -8.27409943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.99, Y:0.08, Z:-0.08 [[ 9.99865850e-01 1.44674528e-02 -7.67947119e-03 2.59855098e+01] [-1.44680434e-02 9.99895332e-01 -2.13550622e-05 8.01004538e-02] [ 7.67835844e-03 1.32459120e-04 9.99970512e-01 -7.79032005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.01, Y:0.08, Z:-0.08 [[ 9.99811773e-01 1.78169728e-02 -7.67946962e-03 2.60144920e+01] [-1.78176664e-02 9.99841253e-01 -2.19058436e-05 7.81088049e-02] [ 7.67786023e-03 1.58731948e-04 9.99970512e-01 -8.45244698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.04, Y:0.08, Z:-0.09 [[ 9.99726868e-01 2.20729733e-02 -7.67946855e-03 2.60434244e+01] [-2.20737952e-02 9.99756344e-01 -2.22733314e-05 7.62075358e-02] [ 7.67710577e-03 1.91782264e-04 9.99970512e-01 -9.40208706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.07, Y:0.07, Z:-0.10 [[ 9.99561756e-01 2.85888382e-02 -7.67946747e-03 2.60710393e+01] [-2.85898550e-02 9.99591226e-01 -2.26424017e-05 7.30014149e-02] [ 7.67568098e-03 2.42187340e-04 9.99970512e-01 -9.98833963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.10, Y:0.07, Z:-0.09 [[ 9.99536274e-01 2.94663067e-02 -7.67946282e-03 2.60995286e+01] [-2.94673608e-02 9.99565743e-01 -2.41223273e-05 7.14001008e-02] [ 7.67541716e-03 2.50404642e-04 9.99970512e-01 -9.20689890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:0.07, Z:-0.08 [[ 9.99523843e-01 2.98850111e-02 -7.67945854e-03 2.61269700e+01] [-2.98860874e-02 9.99553311e-01 -2.54151396e-05 6.94786916e-02] [ 7.67526868e-03 2.54912007e-04 9.99970512e-01 -8.02942663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:0.07, Z:-0.07 [[ 9.99502142e-01 3.06021806e-02 -7.67945699e-03 2.61554359e+01] [-3.06032816e-02 9.99531610e-01 -2.58736841e-05 6.57721297e-02] [ 7.67506822e-03 2.60877387e-04 9.99970512e-01 -6.72866752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.18, Y:0.07, Z:-0.07 [[ 9.99500407e-01 3.06587962e-02 -7.67945249e-03 2.61819051e+01] [-3.06599087e-02 9.99529874e-01 -2.71487311e-05 6.52822257e-02] [ 7.67500983e-03 2.62586480e-04 9.99970512e-01 -7.32776941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.21, Y:0.06, Z:-0.09 [[ 9.99475667e-01 3.14550247e-02 -7.67935972e-03 2.62105473e+01] [-3.14563503e-02 9.99505125e-01 -5.18577985e-05 6.22958020e-02] [ 7.67392821e-03 2.93395237e-04 9.99970512e-01 -8.92327444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.425898227 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:26.24, Y:0.06, Z:-0.10 [[ 9.99469643e-01 3.16458315e-02 -7.67944624e-03 2.62392532e+01] [-3.16469853e-02 9.99499108e-01 -2.87408142e-05 6.22503062e-02] [ 7.67469014e-03 2.71756893e-04 9.99970512e-01 -1.04198762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.27, Y:0.06, Z:-0.09 [[ 9.99394262e-01 3.39431119e-02 -7.67944128e-03 2.62678093e+01] [-3.39443431e-02 9.99423724e-01 -3.00112551e-05 6.20420574e-02] [ 7.67399713e-03 2.90666666e-04 9.99970512e-01 -9.06978606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.30, Y:0.06, Z:-0.08 [[ 9.99355773e-01 3.50580335e-02 -7.67943982e-03 2.62951710e+01] [-3.50593004e-02 9.99385233e-01 -3.03793527e-05 6.09852466e-02] [ 7.67365372e-03 2.99595569e-04 9.99970512e-01 -7.97484159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.515898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:26.32, Y:0.06, Z:-0.08 [[ 9.99320290e-01 3.60552868e-02 -7.67943374e-03 2.63241362e+01] [-3.60565944e-02 9.99349749e-01 -3.18457790e-05 5.87606357e-02] [ 7.67329197e-03 3.08718361e-04 9.99970512e-01 -7.77162281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.545898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.35, Y:0.06, Z:-0.08 [[ 9.99293398e-01 3.67930958e-02 -7.67942810e-03 2.63514581e+01] [-3.67944352e-02 9.99322855e-01 -3.31531983e-05 5.53658126e-02] [ 7.67300820e-03 3.15689991e-04 9.99970512e-01 -7.59081319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:0.05, Z:-0.09 [[ 9.99251966e-01 3.79016584e-02 -7.67942357e-03 2.63805035e+01] [-3.79030382e-02 9.99281421e-01 -3.41708691e-05 5.19903494e-02] [ 7.67261016e-03 3.25218793e-04 9.99970512e-01 -8.67980887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.41, Y:0.05, Z:-0.09 [[ 9.99246124e-01 3.80553557e-02 -7.67941751e-03 2.64086513e+01] [-3.80567501e-02 9.99275579e-01 -3.54817382e-05 5.23669045e-02] [ 7.67250411e-03 3.27708663e-04 9.99970512e-01 -9.32098922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.44, Y:0.05, Z:-0.10 [[ 9.99274999e-01 3.72894366e-02 -7.67941532e-03 2.64371371e+01] [-3.72908120e-02 9.99304455e-01 -3.59488028e-05 5.35998796e-02] [ 7.67273344e-03 3.22294373e-04 9.99970512e-01 -9.56900198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.47, Y:0.06, Z:-0.08 [[ 9.99368856e-01 3.46830879e-02 -7.67940902e-03 2.64653947e+01] [-3.46843965e-02 9.99398315e-01 -3.72481753e-05 5.63272696e-02] [ 7.67349655e-03 3.03580334e-04 9.99970512e-01 -8.33369179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.49, Y:0.06, Z:-0.08 [[ 9.99417706e-01 3.32456917e-02 -7.67940253e-03 2.64919514e+01] [-3.32469678e-02 9.99447166e-01 -3.85409781e-05 5.64479097e-02] [ 7.67387578e-03 2.93835385e-04 9.99970512e-01 -7.57136871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.52, Y:0.05, Z:-0.08 [[ 9.99491510e-01 3.09475140e-02 -7.67939926e-03 2.65207922e+01] [-3.09487273e-02 9.99520973e-01 -3.91829523e-05 5.41742305e-02] [ 7.67450800e-03 2.76830662e-04 9.99970512e-01 -7.59532529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.55, Y:0.05, Z:-0.09 [[ 9.99655138e-01 2.51123793e-02 -7.67939742e-03 2.65499445e+01] [-2.51134233e-02 9.99684607e-01 -3.95400177e-05 4.70414815e-02] [ 7.67598245e-03 2.32382340e-04 9.99970512e-01 -8.67282986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.785898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.58, Y:0.05, Z:-0.09 [[ 9.99725374e-01 2.21405558e-02 -7.67939547e-03 2.65771744e+01] [-2.21415151e-02 9.99754846e-01 -3.99150429e-05 4.57204073e-02] [ 7.67662909e-03 2.09937532e-04 9.99970512e-01 -8.54237792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.815898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.61, Y:0.05, Z:-0.08 [[ 9.99773916e-01 1.98278545e-02 -7.67939202e-03 2.66055491e+01] [-1.98287506e-02 9.99803390e-01 -4.05677801e-05 4.52852838e-02] [ 7.67707781e-03 1.92831358e-04 9.99970512e-01 -8.16138772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.63, Y:0.04, Z:-0.08 [[ 9.99800465e-01 1.84406334e-02 -7.67938909e-03 2.66325870e+01] [-1.84414929e-02 9.99829940e-01 -4.11148673e-05 4.40390040e-02] [ 7.67732496e-03 1.82726063e-04 9.99970512e-01 -8.15318192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:0.04, Z:-0.09 [[ 9.99775157e-01 1.97651808e-02 -7.67938565e-03 2.66620451e+01] [-1.97660841e-02 9.99804631e-01 -4.17489622e-05 3.80435164e-02] [ 7.67706016e-03 1.93530958e-04 9.99970512e-01 -9.33489875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.69, Y:0.04, Z:-0.10 [[ 9.99742315e-01 2.13619047e-02 -7.67938188e-03 2.66901691e+01] [-2.13628604e-02 9.99771787e-01 -4.24309274e-05 3.62073882e-02] [ 7.67672294e-03 2.06473556e-04 9.99970512e-01 -9.54764452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.72, Y:0.04, Z:-0.09 [[ 9.99705094e-01 2.30380596e-02 -7.67937931e-03 2.67179117e+01] [-2.30390682e-02 9.99734565e-01 -4.28903366e-05 3.54883310e-02] [ 7.67635282e-03 2.19803432e-04 9.99970512e-01 -9.14957433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.75, Y:0.03, Z:-0.08 [[ 9.99650241e-01 2.53065939e-02 -7.67937673e-03 2.67459841e+01] [-2.53076729e-02 9.99679709e-01 -4.33470808e-05 3.44240093e-02] [ 7.67582013e-03 2.37679074e-04 9.99970512e-01 -8.33195472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.77, Y:0.03, Z:-0.07 [[ 9.99476695e-01 3.14223376e-02 -7.67937415e-03 2.67749451e+01] [-3.14236003e-02 9.99506156e-01 -4.38001196e-05 2.78039140e-02] [ 7.67420543e-03 2.85090783e-04 9.99970512e-01 -6.97578308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.80, Y:0.02, Z:-0.07 [[ 9.99423173e-01 3.30809503e-02 -7.67936667e-03 2.68039882e+01] [-3.30822717e-02 9.99452631e-01 -4.50741893e-05 2.37774549e-02] [ 7.67367213e-03 2.99099084e-04 9.99970512e-01 -7.30791686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.83, Y:0.02, Z:-0.09 [[ 9.99391232e-01 3.40322241e-02 -7.67935877e-03 2.68318014e+01] [-3.40335835e-02 9.99420689e-01 -4.63824092e-05 2.33644187e-02] [ 7.67333153e-03 3.07710271e-04 9.99970512e-01 -8.56681782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.86, Y:0.03, Z:-0.09 [[ 9.99349954e-01 3.52235364e-02 -7.67935451e-03 2.68591041e+01] [-3.52249364e-02 9.99379408e-01 -4.70774552e-05 2.59225110e-02] [ 7.67293053e-03 3.17551627e-04 9.99970512e-01 -9.24472208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.89, Y:0.02, Z:-0.09 [[ 9.99279854e-01 3.71591815e-02 -7.67914986e-03 2.68893960e+01] [-3.71608858e-02 9.99309293e-01 -7.93192111e-05 2.36062314e-02] [ 7.67089838e-03 3.64626101e-04 9.99970512e-01 -9.18565827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.92, Y:0.02, Z:-0.09 [[ 9.99262261e-01 3.76292737e-02 -7.67934633e-03 2.69184028e+01] [-3.76307491e-02 9.99291711e-01 -4.76705425e-05 2.11027064e-02] [ 7.67211333e-03 3.36614929e-04 9.99970512e-01 -8.73072744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.95, Y:0.02, Z:-0.08 [[ 9.99303009e-01 3.65311263e-02 -7.67933799e-03 2.69456312e+01] [-3.65325794e-02 9.99332461e-01 -4.89783557e-05 1.87427018e-02] [ 7.67242250e-03 3.29490243e-04 9.99970512e-01 -8.09266907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.97, Y:0.02, Z:-0.08 [[ 9.99452684e-01 3.21770144e-02 -7.67933267e-03 2.69740761e+01] [-3.21783454e-02 9.99482142e-01 -4.97984085e-05 1.76489997e-02] [ 7.67375350e-03 2.96879373e-04 9.99970512e-01 -7.98142686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.00, Y:0.02, Z:-0.08 [[ 9.99519085e-01 3.00437397e-02 -7.67932908e-03 2.70033768e+01] [-3.00450121e-02 9.99548545e-01 -5.03468303e-05 1.76292888e-02] [ 7.67434960e-03 2.81048153e-04 9.99970512e-01 -8.46180397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:0.02, Z:-0.09 [[ 9.99550633e-01 2.89751756e-02 -7.67932112e-03 2.70313875e+01] [-2.89764256e-02 9.99580094e-01 -5.15325005e-05 1.68383347e-02] [ 7.67460336e-03 2.74028620e-04 9.99970512e-01 -8.67820736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:0.02, Z:-0.08 [[ 9.99552191e-01 2.89213699e-02 -7.67931804e-03 2.70602298e+01] [-2.89226217e-02 9.99581652e-01 -5.19877143e-05 1.56008679e-02] [ 7.67460186e-03 2.74070444e-04 9.99970512e-01 -8.15216999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:0.01, Z:-0.08 [[ 9.99507887e-01 3.04140245e-02 -7.67930927e-03 2.70876738e+01] [-3.04153301e-02 9.99537345e-01 -5.32516653e-05 1.44739314e-02] [ 7.67413681e-03 2.86794186e-04 9.99970512e-01 -7.55358693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:0.01, Z:-0.08 [[ 9.99294682e-01 3.67582294e-02 -7.67930615e-03 2.71152845e+01] [-3.67597254e-02 9.99324131e-01 -5.36990541e-05 1.28521988e-02] [ 7.67214206e-03 3.35950364e-04 9.99970512e-01 -7.79097040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.14, Y:0.01, Z:-0.08 [[ 9.99188480e-01 3.95399888e-02 -7.67930223e-03 2.71433233e+01] [-3.95415710e-02 9.99217925e-01 -5.42532096e-05 1.26074275e-02] [ 7.67115127e-03 3.57860856e-04 9.99970512e-01 -8.39373518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:0.01, Z:-0.09 [[ 9.99110970e-01 4.14523559e-02 -7.67929133e-03 2.71704991e+01] [-4.14540060e-02 9.99140412e-01 -5.57540234e-05 1.20646912e-02] [ 7.67037917e-03 3.74041845e-04 9.99970512e-01 -8.67664729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.20, Y:0.01, Z:-0.08 [[ 9.99100433e-01 4.17055521e-02 -7.67928652e-03 2.71991255e+01] [-4.17072146e-02 9.99129874e-01 -5.64091377e-05 1.27902600e-02] [ 7.67025200e-03 3.76640045e-04 9.99970512e-01 -8.24265649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.23, Y:0.01, Z:-0.07 [[ 9.99161082e-01 4.02263740e-02 -7.67927716e-03 2.72266505e+01] [-4.02280025e-02 9.99190525e-01 -5.76555487e-05 1.15911558e-02] [ 7.67074170e-03 3.66529162e-04 9.99970512e-01 -7.45141026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.25, Y:0.01, Z:-0.08 [[ 9.99241718e-01 3.81709062e-02 -7.67926576e-03 2.72548067e+01] [-3.81724855e-02 9.99271163e-01 -5.91367993e-05 8.87293899e-03] [ 7.67141152e-03 3.52228618e-04 9.99970512e-01 -7.71518519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.535898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:27.28, Y:0.01, Z:-0.09 [[ 9.99311717e-01 3.62921667e-02 -7.67926140e-03 2.72830472e+01] [-3.62936949e-02 9.99341165e-01 -5.96972909e-05 7.03727878e-03] [ 7.67203549e-03 3.38364973e-04 9.99970512e-01 -8.50801306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.565898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.31, Y:0.01, Z:-0.08 [[ 9.99342819e-01 3.54253945e-02 -7.67925775e-03 2.73121407e+01] [-3.54269007e-02 9.99372269e-01 -6.01630474e-05 5.94882680e-03] [ 7.67230594e-03 3.32175811e-04 9.99970512e-01 -8.48877369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.34, Y:0.01, Z:-0.08 [[ 9.99337390e-01 3.55782143e-02 -7.67925482e-03 2.73397937e+01] [-3.55797279e-02 9.99366839e-01 -6.05347315e-05 5.63601807e-03] [ 7.67223890e-03 3.33720418e-04 9.99970512e-01 -8.31519927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.37, Y:0.01, Z:-0.08 [[ 9.99344251e-01 3.53849775e-02 -7.67924280e-03 2.73681731e+01] [-3.53864968e-02 9.99373700e-01 -6.20231969e-05 6.03336745e-03] [ 7.67223860e-03 3.33724026e-04 9.99970512e-01 -8.29332564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.40, Y:0.01, Z:-0.08 [[ 9.99328003e-01 3.58409184e-02 -7.67923052e-03 2.73956290e+01] [-3.58424625e-02 9.99357450e-01 -6.35080415e-05 5.08440037e-03] [ 7.67202005e-03 3.38707897e-04 9.99970512e-01 -7.93967940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.42, Y:0.00, Z:-0.08 [[ 9.99329594e-01 3.57965323e-02 -7.67921962e-03 2.74238252e+01] [-3.57980850e-02 9.99359041e-01 -6.48002232e-05 3.72534029e-03] [ 7.67197793e-03 3.39658138e-04 9.99970512e-01 -7.54512589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.45, Y:0.00, Z:-0.08 [[ 9.99356969e-01 3.50239792e-02 -7.67920677e-03 2.74503431e+01] [-3.50255206e-02 9.99386416e-01 -6.62880626e-05 1.27344049e-03] [ 7.67217326e-03 3.35213652e-04 9.99970512e-01 -7.78523784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:0.00, Z:-0.08 [[ 9.99363540e-01 3.48359635e-02 -7.67920116e-03 2.74796191e+01] [-3.48375043e-02 9.99392988e-01 -6.69320075e-05 1.01691738e-03] [ 7.67220815e-03 3.34413611e-04 9.99970512e-01 -8.38050642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.51, Y:0.00, Z:-0.09 [[ 9.99379186e-01 3.43842030e-02 -7.67919801e-03 2.75079865e+01] [-3.43857332e-02 9.99408634e-01 -6.72909528e-05 1.19865572e-03] [ 7.67234305e-03 3.31304032e-04 9.99970512e-01 -8.89066286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.54, Y:0.00, Z:-0.08 [[ 9.99406770e-01 3.35728775e-02 -7.67918657e-03 2.75370714e+01] [-3.35743936e-02 9.99436219e-01 -6.85721446e-05 1.68722428e-03] [ 7.67255503e-03 3.26355498e-04 9.99970512e-01 -8.44236912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.56, Y:0.00, Z:-0.08 [[ 9.99421191e-01 3.31408231e-02 -7.67917448e-03 2.75647840e+01] [-3.31423367e-02 9.99450639e-01 -6.99009230e-05 7.10248765e-04] [ 7.67263927e-03 3.24366250e-04 9.99970512e-01 -8.02413860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.59, Y:-0.00, Z:-0.08 [[ 9.99459737e-01 3.19572307e-02 -7.67916802e-03 2.75932333e+01] [-3.19587149e-02 9.99489187e-01 -7.06028669e-05 -1.41604948e-03] [ 7.67298914e-03 3.15981064e-04 9.99970512e-01 -7.59782871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.62, Y:-0.00, Z:-0.08 [[ 9.99514344e-01 3.02010916e-02 -7.67915586e-03 2.76202832e+01] [-3.02025339e-02 9.99543797e-01 -7.19023954e-05 -2.82604848e-03] [ 7.67348107e-03 3.03797441e-04 9.99970512e-01 -7.63819347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.01, Z:-0.09 [[ 9.99547054e-01 2.90984661e-02 -7.67891671e-03 2.76497189e+01] [-2.91000678e-02 9.99576499e-01 -9.69109691e-05 -5.55377192e-03] [ 7.67284471e-03 3.20324070e-04 9.99970512e-01 -8.50986231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.00, Z:-0.09 [[ 9.99517940e-01 3.00818720e-02 -7.67913895e-03 2.76783176e+01] [-3.00833252e-02 9.99547392e-01 -7.37787228e-05 -3.66169256e-03] [ 7.67344391e-03 3.04757191e-04 9.99970512e-01 -8.78110715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.71, Y:-0.00, Z:-0.09 [[ 9.99436267e-01 3.26830035e-02 -7.67913539e-03 2.77065977e+01] [-3.26845362e-02 9.99465715e-01 -7.41478817e-05 -7.69541860e-04] [ 7.67260917e-03 3.25095061e-04 9.99970512e-01 -8.80574352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.73, Y:0.00, Z:-0.09 [[ 9.99305819e-01 3.64542354e-02 -7.67913181e-03 2.77347550e+01] [-3.64558820e-02 9.99335261e-01 -7.45167018e-05 1.85444588e-03] [ 7.67131074e-03 3.54414497e-04 9.99970512e-01 -8.59419262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.76, Y:0.00, Z:-0.08 [[ 9.99151200e-01 4.04711048e-02 -7.67912733e-03 2.77632865e+01] [-4.04728733e-02 9.99180635e-01 -7.49755161e-05 3.51575048e-03] [ 7.66980098e-03 3.85708224e-04 9.99970512e-01 -8.16964435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.79, Y:0.00, Z:-0.08 [[ 9.98846792e-01 4.73932179e-02 -7.67911431e-03 2.77906966e+01] [-4.73952004e-02 9.98876213e-01 -7.62859287e-05 4.79303457e-03] [ 7.66686919e-03 4.40151117e-04 9.99970512e-01 -8.15413231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.82, Y:0.01, Z:-0.08 [[ 9.98787085e-01 4.86352667e-02 -7.67910966e-03 2.78180116e+01] [-4.86372893e-02 9.98816504e-01 -7.67511121e-05 6.61867158e-03] [ 7.66628866e-03 4.50149098e-04 9.99970512e-01 -8.32907163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.85, Y:0.01, Z:-0.08 [[ 9.98816728e-01 4.80226593e-02 -7.67910504e-03 2.78453989e+01] [-4.80246673e-02 9.98846147e-01 -7.72113462e-05 9.80939601e-03] [ 7.66653658e-03 4.45906449e-04 9.99970512e-01 -8.32204868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.87, Y:0.01, Z:-0.08 [[ 9.98903403e-01 4.61846552e-02 -7.67908964e-03 2.78722989e+01] [-4.61866206e-02 9.98932826e-01 -7.87130555e-05 1.22528536e-02] [ 7.66725938e-03 4.33297939e-04 9.99970512e-01 -8.21277305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.90, Y:0.01, Z:-0.08 [[ 9.99023574e-01 4.35078277e-02 -7.67908288e-03 2.79004529e+01] [-4.35097194e-02 9.99053001e-01 -7.93673552e-05 1.37456284e-02] [ 7.66835769e-03 4.13404600e-04 9.99970512e-01 -7.89950090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.93, Y:0.01, Z:-0.07 [[ 9.99164545e-01 4.01402931e-02 -7.67907820e-03 2.79291661e+01] [-4.01420890e-02 9.99193978e-01 -7.98175359e-05 1.23510885e-02] [ 7.66968480e-03 3.88005092e-04 9.99970512e-01 -7.49135748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.96, Y:0.01, Z:-0.08 [[ 9.99193339e-01 3.94170456e-02 -7.67906495e-03 2.79565868e+01] [-3.94188298e-02 9.99222773e-01 -8.10729926e-05 1.27970716e-02] [ 7.66990091e-03 3.83707348e-04 9.99970512e-01 -7.57206143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.98, Y:0.01, Z:-0.08 [[ 9.99220814e-01 3.87143078e-02 -7.67905454e-03 2.79840749e+01] [-3.87160788e-02 9.99250248e-01 -8.20466236e-05 1.45864130e-02] [ 7.67012078e-03 3.79285574e-04 9.99970512e-01 -7.83477559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.315898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.01, Y:0.02, Z:-0.08 [[ 9.99272934e-01 3.73448281e-02 -7.67904877e-03 2.80130126e+01] [-3.73465628e-02 9.99302370e-01 -8.25836430e-05 1.60106980e-02] [ 7.67060757e-03 3.69309677e-04 9.99970512e-01 -8.04158311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.345898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:28.04, Y:0.02, Z:-0.08 [[ 9.99454956e-01 3.21064487e-02 -7.67904479e-03 2.80418873e+01] [-3.21080319e-02 9.99484401e-01 -8.29521209e-05 1.60404056e-02] [ 7.67242218e-03 3.29465924e-04 9.99970512e-01 -7.99047767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.07, Y:0.02, Z:-0.07 [[ 9.99556723e-01 2.87643889e-02 -7.67904075e-03 2.80677570e+01] [-2.87658765e-02 9.99586173e-01 -8.33241386e-05 1.60853891e-02] [ 7.67346619e-03 3.04181541e-04 9.99970512e-01 -7.36629567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.10, Y:0.01, Z:-0.07 [[ 9.99696170e-01 2.34223228e-02 -7.67866752e-03 2.80977501e+01] [-2.34239107e-02 9.99725616e-01 -1.16906528e-04 1.13483074e-02] [ 7.67382239e-03 2.96735430e-04 9.99970512e-01 -7.13336544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.13, Y:0.01, Z:-0.07 [[ 9.99746629e-01 2.11591569e-02 -7.67901831e-03 2.81254109e+01] [-2.11604359e-02 9.99776089e-01 -8.53427485e-05 9.05969409e-03] [ 7.67549312e-03 2.47812500e-04 9.99970512e-01 -7.19188748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.465898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:28.15, Y:0.01, Z:-0.08 [[ 9.99789632e-01 1.90190815e-02 -7.67901237e-03 2.81534390e+01] [-1.90203016e-02 9.99819094e-01 -8.58745217e-05 7.32821903e-03] [ 7.67598993e-03 2.31913587e-04 9.99970512e-01 -7.50903776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.18, Y:0.00, Z:-0.07 [[ 9.99820822e-01 1.73019392e-02 -7.67900615e-03 2.81808236e+01] [-1.73031129e-02 9.99850286e-01 -8.64265895e-05 3.86153241e-03] [ 7.67636115e-03 2.19281814e-04 9.99970512e-01 -7.21522674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.21, Y:0.00, Z:-0.07 [[ 9.99851285e-01 1.54415132e-02 -7.67899890e-03 2.82078412e+01] [-1.54426370e-02 9.99880752e-01 -8.70661959e-05 1.24618227e-03] [ 7.67673876e-03 2.05637240e-04 9.99970512e-01 -7.12726837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.24, Y:-0.00, Z:-0.07 [[ 9.99864798e-01 1.45402550e-02 -7.67899175e-03 2.82353687e+01] [-1.45413570e-02 9.99894265e-01 -8.76925304e-05 -2.93148400e-03] [ 7.67690474e-03 1.99343635e-04 9.99970512e-01 -7.04616772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.26, Y:-0.01, Z:-0.07 [[ 9.99860263e-01 1.48488131e-02 -7.67898535e-03 2.82627128e+01] [-1.48499285e-02 9.99889730e-01 -8.82488278e-05 -1.43209183e-02] [ 7.67682820e-03 2.02268880e-04 9.99970512e-01 -7.11013079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.29, Y:-0.02, Z:-0.07 [[ 9.99838718e-01 1.62348611e-02 -7.67897790e-03 2.82903811e+01] [-1.62360222e-02 9.99868183e-01 -8.88931181e-05 -1.93735880e-02] [ 7.67652251e-03 2.13554837e-04 9.99970512e-01 -7.29840493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.32, Y:-0.02, Z:-0.07 [[ 9.99816796e-01 1.75331072e-02 -7.67888499e-03 2.83180458e+01] [-1.75343677e-02 9.99846256e-01 -9.68563422e-05 -2.26912102e-02] [ 7.67600621e-03 2.31482991e-04 9.99970512e-01 -7.43284709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.35, Y:-0.03, Z:-0.07 [[ 9.99788644e-01 1.90709528e-02 -7.67896752e-03 2.83455541e+01] [-1.90722045e-02 9.99818105e-01 -8.97983262e-05 -2.51121153e-02] [ 7.67585822e-03 2.36234186e-04 9.99970512e-01 -7.38295636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.37, Y:-0.03, Z:-0.07 [[ 9.99740557e-01 2.14441507e-02 -7.67896101e-03 2.83721631e+01] [-2.14454766e-02 9.99770015e-01 -9.03515600e-05 -3.31436546e-02] [ 7.67525746e-03 2.55007097e-04 9.99970512e-01 -7.21044868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.40, Y:-0.04, Z:-0.07 [[ 9.99711736e-01 2.27481377e-02 -7.67895450e-03 2.83987274e+01] [-2.27495062e-02 9.99741192e-01 -9.09021491e-05 -3.75467591e-02] [ 7.67489927e-03 2.65568368e-04 9.99970512e-01 -7.20638915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.43, Y:-0.04, Z:-0.07 [[ 9.99700376e-01 2.32420327e-02 -7.67894306e-03 2.84267506e+01] [-2.32434231e-02 9.99729831e-01 -9.18578615e-05 -4.15334792e-02] [ 7.67473349e-03 2.70315261e-04 9.99970512e-01 -7.27331111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.05, Z:-0.07 [[ 9.99708399e-01 2.28943501e-02 -7.67893643e-03 2.84545250e+01] [-2.28957345e-02 9.99737854e-01 -9.24089524e-05 -4.59484462e-02] [ 7.67480779e-03 2.68196895e-04 9.99970512e-01 -7.42506371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.48, Y:-0.06, Z:-0.07 [[ 9.99800442e-01 1.84421025e-02 -7.67892967e-03 2.84818640e+01] [-1.84433599e-02 9.99829902e-01 -9.29671464e-05 -5.65986855e-02] [ 7.67590900e-03 2.34573858e-04 9.99970512e-01 -7.38879315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.51, Y:-0.06, Z:-0.07 [[ 9.99854973e-01 1.52008837e-02 -7.67892179e-03 2.85097893e+01] [-1.52020506e-02 9.99884438e-01 -9.36138006e-05 -6.19136946e-02] [ 7.67661138e-03 2.10335582e-04 9.99970512e-01 -7.18908948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.54, Y:-0.07, Z:-0.07 [[ 9.99902816e-01 1.16358445e-02 -7.67891497e-03 2.85371219e+01] [-1.16369106e-02 9.99932284e-01 -9.41699723e-05 -6.63776616e-02] [ 7.67729924e-03 1.83519667e-04 9.99970512e-01 -6.96698803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.57, Y:-0.08, Z:-0.07 [[ 9.99959020e-01 4.79501134e-03 -7.67890418e-03 2.85660938e+01] [-4.79588253e-03 9.99988495e-01 -9.50419452e-05 -7.69729109e-02] [ 7.67836010e-03 1.31865173e-04 9.99970512e-01 -6.59911521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.59, Y:-0.08, Z:-0.07 [[ 9.99968136e-01 2.18196968e-03 -7.67889959e-03 2.85948348e+01] [-2.18276668e-03 9.99997613e-01 -9.54108836e-05 -8.25166761e-02] [ 7.67867308e-03 1.12169090e-04 9.99970512e-01 -6.69864475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.62, Y:-0.09, Z:-0.07 [[ 9.99970204e-01 7.91403752e-04 -7.67889494e-03 2.86226727e+01] [-7.92162617e-04 9.99999682e-01 -9.57837161e-05 -8.80322285e-02] [ 7.67881669e-03 1.01863796e-04 9.99970512e-01 -7.01469145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.65, Y:-0.09, Z:-0.07 [[ 9.99970515e-01 -5.95599505e-05 -7.67888913e-03 2.86503191e+01] [ 5.88226099e-05 9.99999994e-01 -9.62475980e-05 -9.28390924e-02] [ 7.67889481e-03 9.57930679e-05 9.99970512e-01 -7.35548126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.68, Y:-0.10, Z:-0.07 [[ 9.99970009e-01 -1.00754294e-03 -7.67888338e-03 2.86796341e+01] [ 1.00683004e-03 9.99999488e-01 -9.67043129e-05 -1.01105010e-01] [ 7.67897688e-03 8.89700822e-05 9.99970512e-01 -6.92708457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.065898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.10, Z:-0.06 [[ 9.99969804e-01 -1.19400052e-03 -7.67887891e-03 2.87076281e+01] [ 1.19329041e-03 9.99999283e-01 -9.70575666e-05 -1.03647248e-01] [ 7.67898929e-03 8.78915033e-05 9.99970512e-01 -6.46330562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.74, Y:-0.11, Z:-0.06 [[ 9.99970001e-01 -1.01605882e-03 -7.67886020e-03 2.87358449e+01] [ 1.01533226e-03 9.99999480e-01 -9.85156627e-05 -1.05583869e-01] [ 7.67895631e-03 9.07161128e-05 9.99970512e-01 -6.41539441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.76, Y:-0.11, Z:-0.07 [[ 9.99970432e-01 -4.13342454e-04 -7.67885440e-03 2.87638852e+01] [ 4.12594668e-04 9.99999910e-01 -9.89663885e-05 -1.09263317e-01] [ 7.67889461e-03 9.57952078e-05 9.99970512e-01 -7.03746508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.79, Y:-0.11, Z:-0.07 [[ 9.99970371e-01 -5.40624757e-04 -7.67883567e-03 2.87915867e+01] [ 5.39869726e-04 9.99999849e-01 -1.00398745e-04 -1.10182426e-01] [ 7.67888879e-03 9.62501992e-05 9.99970512e-01 -7.01673849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.82, Y:-0.11, Z:-0.07 [[ 9.99969749e-01 -1.23933998e-03 -7.67882828e-03 2.88193126e+01] [ 1.23860123e-03 9.99999228e-01 -1.00960610e-04 -1.10335343e-01] [ 7.67894748e-03 9.14465498e-05 9.99970512e-01 -6.88183824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.85, Y:-0.11, Z:-0.07 [[ 9.99968689e-01 -1.91215847e-03 -7.67882213e-03 2.88476730e+01] [ 1.91143598e-03 9.99998168e-01 -1.01426074e-04 -1.09970639e-01] [ 7.67900201e-03 8.67453212e-05 9.99970512e-01 -6.73493462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.88, Y:-0.11, Z:-0.07 [[ 9.99961350e-01 -4.28176334e-03 -7.67881488e-03 2.88760545e+01] [ 4.28110652e-03 9.99990831e-01 -1.01971824e-04 -1.09000438e-01] [ 7.67918110e-03 6.90940586e-05 9.99970512e-01 -6.67446293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.90, Y:-0.11, Z:-0.07 [[ 9.99951983e-01 -6.08823590e-03 -7.67881005e-03 2.89046071e+01] [ 6.08762955e-03 9.99981465e-01 -1.02334561e-04 -1.08637115e-01] [ 7.67929076e-03 5.55838966e-05 9.99970512e-01 -6.79149231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.93, Y:-0.11, Z:-0.07 [[ 9.99941611e-01 -7.60327820e-03 -7.67879277e-03 2.89330051e+01] [ 7.60270669e-03 9.99971094e-01 -1.03615301e-04 -1.07759842e-01] [ 7.67935862e-03 4.52296417e-05 9.99970512e-01 -7.13595366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.96, Y:-0.10, Z:-0.08 [[ 9.99908451e-01 -1.11411851e-02 -7.67878908e-03 2.89622971e+01] [ 1.11407158e-02 9.99937935e-01 -1.03888081e-04 -1.03360847e-01] [ 7.67946993e-03 1.83313630e-05 9.99970512e-01 -7.56787095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.99, Y:-0.10, Z:-0.07 [[ 9.99878776e-01 -1.35450676e-02 -7.67878787e-03 2.89935490e+01] [ 1.35446685e-02 9.99908261e-01 -1.03977313e-04 -1.00612516e-01] [ 7.67949181e-03 -4.19283119e-08 9.99970512e-01 -7.27547678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.02, Y:-0.10, Z:-0.07 [[ 9.99830783e-01 -1.67165001e-02 -7.67879036e-03 2.90242546e+01] [ 1.67161959e-02 9.99860269e-01 -1.03793350e-04 -9.85710316e-02] [ 7.67945245e-03 -2.45843778e-05 9.99970512e-01 -6.85587961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.06, Y:-0.10, Z:-0.07 [[ 9.99757967e-01 -2.06165848e-02 -7.67880020e-03 2.90564625e+01] [ 2.06164012e-02 9.99787454e-01 -1.03063315e-04 -9.74282069e-02] [ 7.67929292e-03 -5.52708556e-05 9.99970512e-01 -6.60075294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.09, Y:-0.10, Z:-0.07 [[ 9.99549201e-01 -2.90246677e-02 -7.67879887e-03 2.90886691e+01] [ 2.90247314e-02 9.99578688e-01 -1.03162306e-04 -9.83121086e-02] [ 7.67855796e-03 -1.19759274e-04 9.99970512e-01 -7.02857090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.12, Y:-0.10, Z:-0.08 [[ 9.99422364e-01 -3.31055038e-02 -7.67880379e-03 2.91198924e+01] [ 3.31056908e-02 9.99451851e-01 -1.02795208e-04 -9.95683981e-02] [ 7.67799775e-03 -1.51476274e-04 9.99970512e-01 -7.65109530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.15, Y:-0.10, Z:-0.08 [[ 9.99424702e-01 -3.30348435e-02 -7.67880743e-03 2.91534235e+01] [ 3.30350304e-02 9.99454189e-01 -1.02522456e-04 -9.92415114e-02] [ 7.67800307e-03 -1.51206162e-04 9.99970512e-01 -7.62535391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.18, Y:-0.10, Z:-0.08 [[ 9.99273455e-01 -3.73309203e-02 -7.67881464e-03 2.91847808e+01] [ 3.73312382e-02 9.99302941e-01 -1.01979555e-04 -1.01119459e-01] [ 7.67726904e-03 -1.84754196e-04 9.99970512e-01 -8.04429716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.22, Y:-0.10, Z:-0.08 [[ 9.99102231e-01 -4.16625486e-02 -7.67881821e-03 2.92168442e+01] [ 4.16629964e-02 9.99131715e-01 -1.01709899e-04 -1.02946373e-01] [ 7.67638830e-03 -2.18303989e-04 9.99970512e-01 -8.05663407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.25, Y:-0.10, Z:-0.07 [[ 9.98855259e-01 -4.72144715e-02 -7.67882291e-03 2.92491906e+01] [ 4.72150859e-02 9.98884741e-01 -1.01354095e-04 -1.04650697e-01] [ 7.67504441e-03 -2.61318212e-04 9.99970512e-01 -7.19083282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.635898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:29.28, Y:-0.10, Z:-0.07 [[ 9.98868025e-01 -4.69436291e-02 -7.67882761e-03 2.92813053e+01] [ 4.69442383e-02 9.98897506e-01 -1.00996587e-04 -1.02738442e-01] [ 7.67510290e-03 -2.59594452e-04 9.99970512e-01 -7.16870442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.31, Y:-0.10, Z:-0.07 [[ 9.98991476e-01 -4.42387463e-02 -7.67883918e-03 2.93126343e+01] [ 4.42392824e-02 9.99020959e-01 -1.00109221e-04 -1.00762291e-01] [ 7.67574998e-03 -2.39698076e-04 9.99970512e-01 -6.75169008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.35, Y:-0.10, Z:-0.07 [[ 9.99342205e-01 -3.54428125e-02 -7.67884261e-03 2.93450340e+01] [ 3.54430910e-02 9.99371691e-01 -9.98455315e-05 -9.58363003e-02] [ 7.67755673e-03 -1.72382064e-04 9.99970512e-01 -6.99394295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.38, Y:-0.09, Z:-0.07 [[ 9.99503610e-01 -3.05543447e-02 -7.67884829e-03 2.93759071e+01] [ 3.05544824e-02 9.99533098e-01 -9.94062259e-05 -9.35543509e-02] [ 7.67830031e-03 -1.35266354e-04 9.99970512e-01 -7.19331308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.755898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:29.41, Y:-0.09, Z:-0.07 [[ 9.99604774e-01 -2.70431174e-02 -7.67885170e-03 2.94072553e+01] [ 2.70431535e-02 9.99634262e-01 -9.91421632e-05 -9.02583521e-02] [ 7.67872437e-03 -1.08557386e-04 9.99970512e-01 -7.30476712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.44, Y:-0.09, Z:-0.07 [[ 9.99656997e-01 -2.50384574e-02 -7.67885497e-03 2.94386332e+01] [ 2.50384364e-02 9.99686484e-01 -9.88883090e-05 -8.69235638e-02] [ 7.67892354e-03 -9.34121317e-05 9.99970512e-01 -6.85018214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.815898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.47, Y:-0.09, Z:-0.07 [[ 9.99632477e-01 -2.59990194e-02 -7.67863710e-03 2.94706640e+01] [ 2.59988969e-02 9.99661965e-01 -1.15790040e-04 -8.52935973e-02] [ 7.67905188e-03 -8.38886103e-05 9.99970512e-01 -6.54821458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.50, Y:-0.09, Z:-0.07 [[ 9.99558597e-01 -2.86992392e-02 -7.67886290e-03 2.95014325e+01] [ 2.86993321e-02 9.99588085e-01 -9.81189585e-05 -8.53815400e-02] [ 7.67851580e-03 -1.22302588e-04 9.99970512e-01 -6.80793386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.53, Y:-0.09, Z:-0.07 [[ 9.99447821e-01 -3.23278333e-02 -7.67886735e-03 2.95336784e+01] [ 3.23280359e-02 9.99477308e-01 -9.77696444e-05 -8.57676335e-02] [ 7.67801435e-03 -1.50527042e-04 9.99970512e-01 -6.94314500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.57, Y:-0.09, Z:-0.06 [[ 9.99235749e-01 -3.83269261e-02 -7.67887187e-03 2.95655328e+01] [ 3.83273084e-02 9.99265234e-01 -9.74130857e-05 -8.64317552e-02] [ 7.67696324e-03 -1.96971853e-04 9.99970512e-01 -6.47109499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.09, Z:-0.06 [[ 9.99155569e-01 -4.03631430e-02 -7.67887646e-03 2.95976164e+01] [ 4.03635882e-02 9.99185054e-01 -9.70499621e-05 -8.71106644e-02] [ 7.67653583e-03 -2.12978997e-04 9.99970512e-01 -6.03386692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.09, Z:-0.06 [[ 9.99084487e-01 -4.20858846e-02 -7.67888737e-03 2.96302924e+01] [ 4.20863874e-02 9.99113971e-01 -9.61788742e-05 -8.82518123e-02] [ 7.67613143e-03 -2.27085807e-04 9.99970512e-01 -5.79490420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.09, Z:-0.06 [[ 9.99002370e-01 -4.39920467e-02 -7.67889395e-03 2.96619057e+01] [ 4.39926097e-02 9.99031852e-01 -9.56506701e-05 -8.91644488e-02] [ 7.67566752e-03 -2.42259339e-04 9.99970512e-01 -6.14851697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.09, Z:-0.07 [[ 9.98996299e-01 -4.41296956e-02 -7.67889937e-03 2.96942744e+01] [ 4.41302661e-02 9.99025781e-01 -9.52137409e-05 -8.85998672e-02] [ 7.67562019e-03 -2.43753698e-04 9.99970512e-01 -6.52118972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.73, Y:-0.09, Z:-0.06 [[ 9.99055518e-01 -4.27680680e-02 -7.67880432e-03 2.97263385e+01] [ 4.27685393e-02 9.99085002e-01 -1.02899216e-04 -8.97055631e-02] [ 7.67617903e-03 -2.25609215e-04 9.99970512e-01 -6.49132125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.76, Y:-0.09, Z:-0.06 [[ 9.99141786e-01 -4.07029060e-02 -7.67891031e-03 2.97592740e+01] [ 4.07033826e-02 9.99171269e-01 -9.42648959e-05 -8.97470589e-02] [ 7.67638342e-03 -2.18373628e-04 9.99970512e-01 -6.30656666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.79, Y:-0.09, Z:-0.06 [[ 9.99235059e-01 -3.83449065e-02 -7.67891717e-03 2.97909469e+01] [ 3.83453178e-02 9.99264543e-01 -9.37025979e-05 -8.93224046e-02] [ 7.67686268e-03 -2.00819599e-04 9.99970512e-01 -6.24187967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.82, Y:-0.09, Z:-0.06 [[ 9.99364552e-01 -3.48069839e-02 -7.67892285e-03 2.98239862e+01] [ 3.48072945e-02 9.99394038e-01 -9.32353597e-05 -8.66645359e-02] [ 7.67751495e-03 -1.74106415e-04 9.99970512e-01 -6.10990709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.09, Z:-0.06 [[ 9.99391236e-01 -3.40322252e-02 -7.67892939e-03 2.98551271e+01] [ 3.40325171e-02 9.99420722e-01 -9.26927897e-05 -8.51899436e-02] [ 7.67763570e-03 -1.68696934e-04 9.99970512e-01 -5.94799070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.89, Y:-0.08, Z:-0.06 [[ 9.99345251e-01 -3.53568064e-02 -7.67893264e-03 2.98868656e+01] [ 3.53571394e-02 9.99374737e-01 -9.24228880e-05 -8.42603969e-02] [ 7.67739907e-03 -1.79142718e-04 9.99970512e-01 -5.65387888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.08, Z:-0.06 [[ 9.99280516e-01 -3.71414023e-02 -7.67893790e-03 2.99190094e+01] [ 3.71417914e-02 9.99310001e-01 -9.19836953e-05 -8.44954278e-02] [ 7.67705585e-03 -1.93291995e-04 9.99970512e-01 -5.69190387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.95, Y:-0.08, Z:-0.06 [[ 9.99202520e-01 -3.91836529e-02 -7.67894308e-03 2.99515947e+01] [ 3.91841056e-02 9.99232004e-01 -9.15491766e-05 -8.43436221e-02] [ 7.67663292e-03 -2.09416349e-04 9.99970512e-01 -5.70709551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.08, Z:-0.06 [[ 9.99140816e-01 -4.07266871e-02 -7.67894949e-03 2.99840538e+01] [ 4.07271895e-02 9.99170300e-01 -9.10090349e-05 -8.40312573e-02] [ 7.67628476e-03 -2.21811189e-04 9.99970512e-01 -5.79533467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.02, Y:-0.08, Z:-0.06 [[ 9.99068721e-01 -4.24585134e-02 -7.67895477e-03 3.00151844e+01] [ 4.24590703e-02 9.99098203e-01 -9.05606794e-05 -8.29305130e-02] [ 7.67587499e-03 -2.35564938e-04 9.99970512e-01 -5.81703912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.05, Y:-0.08, Z:-0.06 [[ 9.99076500e-01 -4.22750628e-02 -7.67895786e-03 3.00486365e+01] [ 4.22756163e-02 9.99105982e-01 -9.02983622e-05 -8.24086992e-02] [ 7.67591010e-03 -2.34417704e-04 9.99970512e-01 -5.72320576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.08, Y:-0.08, Z:-0.06 [[ 9.99098610e-01 -4.17492670e-02 -7.67896398e-03 3.00818057e+01] [ 4.17498090e-02 9.99128093e-01 -8.97743209e-05 -8.23985026e-02] [ 7.67601665e-03 -2.30901880e-04 9.99970512e-01 -5.61018059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.11, Y:-0.08, Z:-0.06 [[ 9.99163374e-01 -4.01694658e-02 -7.67897016e-03 3.01137120e+01] [ 4.01699652e-02 9.99192857e-01 -8.92433211e-05 -8.30345939e-02] [ 7.67635699e-03 -2.19295306e-04 9.99970512e-01 -5.62159683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.15, Y:-0.08, Z:-0.06 [[ 9.99201605e-01 -3.92069578e-02 -7.67897626e-03 3.01471045e+01] [ 3.92074329e-02 9.99231089e-01 -8.87146483e-05 -8.27974836e-02] [ 7.67655005e-03 -2.12429128e-04 9.99970512e-01 -5.68983817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.18, Y:-0.08, Z:-0.06 [[ 9.99236112e-01 -3.83174377e-02 -7.67898256e-03 3.01786908e+01] [ 3.83178908e-02 9.99265596e-01 -8.81659599e-05 -8.25353584e-02] [ 7.67672138e-03 -2.06143804e-04 9.99970512e-01 -5.73325975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.21, Y:-0.08, Z:-0.05 [[ 9.99184338e-01 -3.96445754e-02 -7.67898774e-03 3.02115115e+01] [ 3.96450711e-02 9.99213821e-01 -8.77126257e-05 -8.01846099e-02] [ 7.67642801e-03 -2.16792933e-04 9.99970512e-01 -5.35216817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.08, Z:-0.05 [[ 9.99132014e-01 -4.09420445e-02 -7.67899376e-03 3.02435759e+01] [ 4.09425826e-02 9.99161497e-01 -8.71824523e-05 -7.90888987e-02] [ 7.67612433e-03 -2.27291057e-04 9.99970512e-01 -5.12508520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.28, Y:-0.08, Z:-0.05 [[ 9.99101571e-01 -4.16783369e-02 -7.67899873e-03 3.02770710e+01] [ 4.16789001e-02 9.99131053e-01 -8.67428422e-05 -7.84932696e-02] [ 7.67594138e-03 -2.33387311e-04 9.99970512e-01 -5.03739634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.31, Y:-0.08, Z:-0.05 [[ 9.99085524e-01 -4.20612475e-02 -7.67900462e-03 3.03093303e+01] [ 4.20618260e-02 9.99115006e-01 -8.62183423e-05 -7.78210939e-02] [ 7.67583519e-03 -2.36853458e-04 9.99970512e-01 -5.19100859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.34, Y:-0.08, Z:-0.05 [[ 9.99083628e-01 -4.21062491e-02 -7.67900947e-03 3.03421348e+01] [ 4.21068323e-02 9.99113110e-01 -8.57835591e-05 -7.63866055e-02] [ 7.67581106e-03 -2.37633815e-04 9.99970512e-01 -5.16117584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.37, Y:-0.07, Z:-0.05 [[ 9.99057958e-01 -4.27110066e-02 -7.67901519e-03 3.03743169e+01] [ 4.27116116e-02 9.99087439e-01 -8.52687707e-05 -7.37592185e-02] [ 7.67564954e-03 -2.42794670e-04 9.99970512e-01 -5.19268997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.41, Y:-0.07, Z:-0.05 [[ 9.99012330e-01 -4.37652484e-02 -7.67901993e-03 3.04072320e+01] [ 4.37658878e-02 9.99041811e-01 -8.48396687e-05 -7.04169568e-02] [ 7.67537501e-03 -2.51323249e-04 9.99970512e-01 -5.17582379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.44, Y:-0.07, Z:-0.05 [[ 9.98859705e-01 -4.71202900e-02 -7.67902572e-03 3.04396456e+01] [ 4.71210324e-02 9.98889184e-01 -8.43126986e-05 -6.62531842e-02] [ 7.67446857e-03 -2.77627062e-04 9.99970512e-01 -5.49329260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.47, Y:-0.06, Z:-0.06 [[ 9.98743502e-01 -4.95222055e-02 -7.67902955e-03 3.04730132e+01] [ 4.95230215e-02 9.98772979e-01 -8.39616409e-05 -6.48313308e-02] [ 7.67376519e-03 -2.96432602e-04 9.99970512e-01 -5.61674086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.775898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:30.51, Y:-0.06, Z:-0.06 [[ 9.98607491e-01 -5.21930199e-02 -7.67903527e-03 3.05053638e+01] [ 5.21939188e-02 9.98636965e-01 -8.34357669e-05 -6.28089830e-02] [ 7.67292324e-03 -3.17479361e-04 9.99970512e-01 -5.99656076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:-0.06, Z:-0.06 [[ 9.98346088e-01 -5.69747317e-02 -7.67903902e-03 3.05381411e+01] [ 5.69757744e-02 9.98375558e-01 -8.30888562e-05 -5.86200384e-02] [ 7.67129883e-03 -3.54567760e-04 9.99970512e-01 -5.83367597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:-0.06, Z:-0.06 [[ 9.98221324e-01 -5.91203957e-02 -7.67904476e-03 3.05714588e+01] [ 5.91215059e-02 9.98250790e-01 -8.25547414e-05 -5.57594529e-02] [ 7.67049317e-03 -3.71588787e-04 9.99970512e-01 -5.81289071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.60, Y:-0.05, Z:-0.06 [[ 9.98148471e-01 -6.03378997e-02 -7.67905045e-03 3.06037324e+01] [ 6.03390499e-02 9.98177936e-01 -8.20220414e-05 -5.35163990e-02] [ 7.67000777e-03 -3.81476433e-04 9.99970512e-01 -5.85099391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.64, Y:-0.05, Z:-0.06 [[ 9.98100297e-01 -6.11296083e-02 -7.67906434e-03 3.06369424e+01] [ 6.11307920e-02 9.98129761e-01 -8.07006125e-05 -5.09125943e-02] [ 7.66963585e-03 -3.88879979e-04 9.99970512e-01 -5.88743349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.67, Y:-0.05, Z:-0.06 [[ 9.97964664e-01 -6.33053087e-02 -7.67906990e-03 3.06676789e+01] [ 6.33065607e-02 9.97994125e-01 -8.01683813e-05 -4.64427466e-02] [ 7.66874172e-03 -4.06130293e-04 9.99970512e-01 -6.23068757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.70, Y:-0.04, Z:-0.06 [[ 9.97847467e-01 -6.51265274e-02 -7.67907713e-03 3.06995446e+01] [ 6.51278385e-02 9.97876925e-01 -7.94693923e-05 -4.48345820e-02] [ 7.66794944e-03 -4.20823363e-04 9.99970512e-01 -6.37293744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.73, Y:-0.04, Z:-0.06 [[ 9.97688456e-01 -6.75187173e-02 -7.67909035e-03 3.07312271e+01] [ 6.75201090e-02 9.97717910e-01 -7.81711383e-05 -4.31832438e-02] [ 7.66684399e-03 -4.40502575e-04 9.99970512e-01 -6.08533559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.76, Y:-0.04, Z:-0.06 [[ 9.97490693e-01 -7.03800342e-02 -7.67909387e-03 3.07637422e+01] [ 7.03815130e-02 9.97520143e-01 -7.78236947e-05 -4.11489164e-02] [ 7.66552805e-03 -4.62837834e-04 9.99970512e-01 -5.74877034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.80, Y:-0.04, Z:-0.05 [[ 9.97184263e-01 -7.45960907e-02 -7.67909737e-03 3.07961366e+01] [ 7.45976967e-02 9.97213707e-01 -7.74764587e-05 -3.70716890e-02] [ 7.66348060e-03 -4.95584671e-04 9.99970512e-01 -5.15748062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.83, Y:-0.04, Z:-0.05 [[ 9.97120362e-01 -7.54454454e-02 -7.67910091e-03 3.08283927e+01] [ 7.54470791e-02 9.97149804e-01 -7.71241435e-05 -3.54359248e-02] [ 7.66303264e-03 -5.02463680e-04 9.99970512e-01 -5.19466091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.86, Y:-0.03, Z:-0.05 [[ 9.97139063e-01 -7.51978776e-02 -7.67911383e-03 3.08613558e+01] [ 7.51995141e-02 9.97168505e-01 -7.58155231e-05 -3.48281037e-02] [ 7.66307162e-03 -5.01867009e-04 9.99970512e-01 -5.43291081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.89, Y:-0.03, Z:-0.06 [[ 9.97235560e-01 -7.39071605e-02 -7.67912700e-03 3.08933882e+01] [ 7.39087693e-02 9.97265004e-01 -7.44569940e-05 -3.32734996e-02] [ 7.66362753e-03 -4.93303664e-04 9.99970512e-01 -5.68456701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.93, Y:-0.03, Z:-0.05 [[ 9.97278336e-01 -7.33276975e-02 -7.67913861e-03 3.09256166e+01] [ 7.33292986e-02 9.97307780e-01 -7.32403182e-05 -3.17235825e-02] [ 7.66383522e-03 -4.90064865e-04 9.99970512e-01 -5.15824903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.96, Y:-0.03, Z:-0.05 [[ 9.97334676e-01 -7.25573863e-02 -7.67920508e-03 3.09565785e+01] [ 7.25590189e-02 9.97364118e-01 -6.61593299e-05 -2.96668387e-02] [ 7.66376395e-03 -4.91212593e-04 9.99970512e-01 -5.05751595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.99, Y:-0.03, Z:-0.05 [[ 9.97290613e-01 -7.31605355e-02 -7.67915719e-03 3.09895943e+01] [ 7.31621463e-02 9.97320057e-01 -7.13162878e-05 -2.58881289e-02] [ 7.66379502e-03 -4.90700558e-04 9.99970512e-01 -4.67064572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.02, Y:-0.03, Z:-0.05 [[ 9.97211072e-01 -7.42368354e-02 -7.67916973e-03 3.10220541e+01] [ 7.42384886e-02 9.97240514e-01 -6.99389218e-05 -2.55651759e-02] [ 7.66317121e-03 -5.00346087e-04 9.99970512e-01 -4.77821305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.06, Y:-0.03, Z:-0.05 [[ 9.97107211e-01 -7.56190449e-02 -7.67918123e-03 3.10551114e+01] [ 7.56207488e-02 9.97136649e-01 -6.86535231e-05 -2.62865727e-02] [ 7.66238455e-03 -5.12250511e-04 9.99970512e-01 -4.93925577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.315898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:31.09, Y:-0.03, Z:-0.05 [[ 9.96952243e-01 -7.76353982e-02 -7.67919348e-03 3.10879514e+01] [ 7.76371723e-02 9.96981677e-01 -6.72543639e-05 -2.78051385e-02] [ 7.66123652e-03 -5.29141478e-04 9.99970512e-01 -5.19925629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.12, Y:-0.03, Z:-0.05 [[ 9.96728483e-01 -8.04572045e-02 -7.67920548e-03 3.11197371e+01] [ 8.04590727e-02 9.96757911e-01 -6.58549791e-05 -3.30297205e-02] [ 7.65960732e-03 -5.52222218e-04 9.99970512e-01 -4.88403467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.15, Y:-0.04, Z:-0.05 [[ 9.96740529e-01 -8.03078312e-02 -7.67921645e-03 3.11525984e+01] [ 8.03097049e-02 9.96769957e-01 -6.45497398e-05 -3.53608999e-02] [ 7.65959610e-03 -5.52376266e-04 9.99970512e-01 -4.78217170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.405898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.19, Y:-0.04, Z:-0.05 [[ 9.96827142e-01 -7.92254856e-02 -7.67922780e-03 3.11855970e+01] [ 7.92273379e-02 9.96856572e-01 -6.31700001e-05 -3.93024910e-02] [ 7.66009338e-03 -5.45435205e-04 9.99970512e-01 -4.93711317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.22, Y:-0.04, Z:-0.05 [[ 9.96939365e-01 -7.78005865e-02 -7.67923907e-03 3.12175524e+01] [ 7.78024075e-02 9.96968797e-01 -6.17688417e-05 -4.09298013e-02] [ 7.66076739e-03 -5.35883498e-04 9.99970512e-01 -4.91517466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.25, Y:-0.04, Z:-0.05 [[ 9.96953292e-01 -7.76219185e-02 -7.67924941e-03 3.12511462e+01] [ 7.76237443e-02 9.96982723e-01 -6.04556391e-05 -4.08010418e-02] [ 7.66077167e-03 -5.35820644e-04 9.99970512e-01 -4.88943200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.28, Y:-0.04, Z:-0.05 [[ 9.97093595e-01 -7.57983572e-02 -7.67926000e-03 3.12831662e+01] [ 7.58001398e-02 9.97123029e-01 -5.90794355e-05 -4.20850080e-02] [ 7.66164512e-03 -5.23181254e-04 9.99970512e-01 -4.82735547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.32, Y:-0.04, Z:-0.05 [[ 9.97237627e-01 -7.38792560e-02 -7.67926966e-03 3.13162338e+01] [ 7.38809917e-02 9.97267063e-01 -5.77955001e-05 -4.24632660e-02] [ 7.66255259e-03 -5.09716211e-04 9.99970512e-01 -4.69337149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.04, Z:-0.05 [[ 9.97378178e-01 -7.19569286e-02 -7.67928006e-03 3.13479090e+01] [ 7.19586184e-02 9.97407617e-01 -5.63797595e-05 -4.27492491e-02] [ 7.66342933e-03 -4.96358442e-04 9.99970512e-01 -4.65436177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.38, Y:-0.04, Z:-0.05 [[ 9.97558913e-01 -6.94063719e-02 -7.67928955e-03 3.13805839e+01] [ 6.94079966e-02 9.97588355e-01 -5.50561749e-05 -4.24671946e-02] [ 7.66459108e-03 -4.78082325e-04 9.99970512e-01 -4.65105558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.615898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.04, Z:-0.05 [[ 9.97677871e-01 -6.76749108e-02 -7.67929329e-03 3.14130254e+01] [ 6.76764885e-02 9.97707317e-01 -5.45287627e-05 -4.16484439e-02] [ 7.66537733e-03 -4.65305464e-04 9.99970512e-01 -4.94892833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.45, Y:-0.04, Z:-0.05 [[ 9.97808519e-01 -6.57205223e-02 -7.67930237e-03 3.14462231e+01] [ 6.57220523e-02 9.97837967e-01 -5.32180341e-05 -4.16642337e-02] [ 7.66619699e-03 -4.51598104e-04 9.99970512e-01 -4.77283569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.48, Y:-0.04, Z:-0.05 [[ 9.98008403e-01 -6.26119506e-02 -7.67930598e-03 3.14784627e+01] [ 6.26133929e-02 9.98037855e-01 -5.26922821e-05 -4.07464352e-02] [ 7.66753724e-03 -4.28240063e-04 9.99970512e-01 -5.14629175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.51, Y:-0.04, Z:-0.05 [[ 9.98093902e-01 -6.12339025e-02 -7.67930836e-03 3.15101455e+01] [ 6.12353068e-02 9.98123356e-01 -5.23432278e-05 -4.01478424e-02] [ 7.66810221e-03 -4.18001347e-04 9.99970512e-01 -5.19439781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.54, Y:-0.04, Z:-0.05 [[ 9.98203813e-01 -5.94152806e-02 -7.67931703e-03 3.15420171e+01] [ 5.94166412e-02 9.98233269e-01 -5.10383671e-05 -3.92114826e-02] [ 7.66878221e-03 -4.05332532e-04 9.99970512e-01 -5.12830500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.765898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:31.57, Y:-0.04, Z:-0.05 [[ 9.98458310e-01 -5.49730038e-02 -7.67932542e-03 3.15737468e+01] [ 5.49742433e-02 9.98487772e-01 -4.97441172e-05 -3.55620150e-02] [ 7.67044711e-03 -3.72497677e-04 9.99970512e-01 -4.75781068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.61, Y:-0.03, Z:-0.05 [[ 9.98574656e-01 -5.28174678e-02 -7.67932763e-03 3.16053916e+01] [ 5.28186463e-02 9.98604120e-01 -4.94003422e-05 -3.27652775e-02] [ 7.67121741e-03 -3.56281760e-04 9.99970512e-01 -4.64489506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.03, Z:-0.04 [[ 9.98691146e-01 -5.05670133e-02 -7.67932927e-03 3.16379261e+01] [ 5.05681274e-02 9.98720613e-01 -4.91434616e-05 -2.99359209e-02] [ 7.67198947e-03 -3.39250161e-04 9.99970512e-01 -4.41917553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.855898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:31.67, Y:-0.03, Z:-0.05 [[ 9.98781436e-01 -4.87511115e-02 -7.67933155e-03 3.16696382e+01] [ 4.87521748e-02 9.98810905e-01 -4.87847526e-05 -2.69889547e-02] [ 7.67257840e-03 -3.25658809e-04 9.99970512e-01 -4.54411048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.02, Z:-0.05 [[ 9.98787519e-01 -4.86263173e-02 -7.67933712e-03 3.17022819e+01] [ 4.86273837e-02 9.98816988e-01 -4.78910170e-05 -2.36700794e-02] [ 7.67258114e-03 -3.25593123e-04 9.99970512e-01 -4.62842187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.73, Y:-0.02, Z:-0.05 [[ 9.98703005e-01 -5.03322449e-02 -7.67933935e-03 3.17336028e+01] [ 5.03333645e-02 9.98732472e-01 -4.75307003e-05 -2.14118956e-02] [ 7.67199790e-03 -3.39057933e-04 9.99970512e-01 -4.83714097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.02, Z:-0.05 [[ 9.98563852e-01 -5.30213225e-02 -7.67934369e-03 3.17645657e+01] [ 5.30225268e-02 9.98593315e-01 -4.68199882e-05 -1.93865462e-02] [ 7.67102373e-03 -3.60425459e-04 9.99970512e-01 -4.92299403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.80, Y:-0.02, Z:-0.05 [[ 9.98136349e-01 -6.05380570e-02 -7.67934528e-03 3.17965787e+01] [ 6.05394851e-02 9.98165802e-01 -4.65567418e-05 -1.87367902e-02] [ 7.66807830e-03 -4.18433633e-04 9.99970512e-01 -4.83563340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.02, Z:-0.05 [[ 9.97864633e-01 -6.48629394e-02 -7.67934740e-03 3.18285788e+01] [ 6.48644979e-02 9.97894080e-01 -4.62044390e-05 -1.90576524e-02] [ 7.66617227e-03 -4.52011238e-04 9.99970512e-01 -4.69343895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.86, Y:-0.02, Z:-0.04 [[ 9.97581412e-01 -6.90822316e-02 -7.67934949e-03 3.18609374e+01] [ 6.90839173e-02 9.97610851e-01 -4.58541665e-05 -1.94564059e-02] [ 7.66417009e-03 -4.84776282e-04 9.99970512e-01 -4.47651133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.02, Z:-0.04 [[ 9.97313581e-01 -7.28467455e-02 -7.67935160e-03 3.18936023e+01] [ 7.28485450e-02 9.97343014e-01 -4.54991597e-05 -1.98120828e-02] [ 7.66226213e-03 -5.14052660e-04 9.99970512e-01 -4.37294172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.93, Y:-0.02, Z:-0.05 [[ 9.96834825e-01 -7.91287490e-02 -7.67935973e-03 3.19264785e+01] [ 7.91307447e-02 9.96864245e-01 -4.40816989e-05 -2.21881694e-02] [ 7.65876727e-03 -5.63731282e-04 9.99970512e-01 -4.51403317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.125898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:31.96, Y:-0.02, Z:-0.05 [[ 9.96678617e-01 -8.10725755e-02 -7.67936759e-03 3.19591368e+01] [ 8.10746395e-02 9.96708032e-01 -4.26677466e-05 -2.33803621e-02] [ 7.65754654e-03 -5.80075929e-04 9.99970512e-01 -4.69383047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.155898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:31.99, Y:-0.02, Z:-0.05 [[ 9.96594307e-01 -8.21024581e-02 -7.67937515e-03 3.19924407e+01] [ 8.21045632e-02 9.96623720e-01 -4.12614379e-05 -2.44108316e-02] [ 7.65683509e-03 -5.89390828e-04 9.99970512e-01 -4.56069280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.185898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:32.03, Y:-0.03, Z:-0.04 [[ 9.96544726e-01 -8.27020975e-02 -7.67938240e-03 3.20252649e+01] [ 8.27042310e-02 9.96574136e-01 -3.98639061e-05 -2.57137204e-02] [ 7.65637071e-03 -5.95391251e-04 9.99970512e-01 -4.36560837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.215898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.03, Z:-0.05 [[ 9.96618839e-01 -8.18041323e-02 -7.67944859e-03 3.20553091e+01] [ 8.18063405e-02 9.96648244e-01 -2.66628091e-05 -2.87595336e-02] [ 7.65589008e-03 -6.01654929e-04 9.99970512e-01 -4.72348023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.09, Y:-0.03, Z:-0.04 [[ 9.96818074e-01 -7.93394820e-02 -7.67939084e-03 3.20887299e+01] [ 7.93415287e-02 9.96847491e-01 -3.82565405e-05 -2.98771049e-02] [ 7.65821674e-03 -5.71159797e-04 9.99970512e-01 -4.29106873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.12, Y:-0.03, Z:-0.04 [[ 9.97131741e-01 -7.52948740e-02 -7.67939744e-03 3.21218151e+01] [ 7.52968118e-02 9.97161165e-01 -3.68810574e-05 -2.97300204e-02] [ 7.66037386e-03 -5.41458871e-04 9.99970512e-01 -4.03118943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.15, Y:-0.03, Z:-0.04 [[ 9.97901961e-01 -6.42861014e-02 -7.67940380e-03 3.21549997e+01] [ 6.42877250e-02 9.97931404e-01 -3.55055732e-05 -2.70716781e-02] [ 7.66580073e-03 -4.58260318e-04 9.99970512e-01 -3.92512488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.02, Z:-0.04 [[ 9.98296814e-01 -5.78316366e-02 -7.67940622e-03 3.21871228e+01] [ 5.78330737e-02 9.98326266e-01 -3.49757996e-05 -2.47929035e-02] [ 7.66857564e-03 -4.09207436e-04 9.99970512e-01 -3.97916137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.22, Y:-0.02, Z:-0.04 [[ 9.98644784e-01 -5.14744742e-02 -7.67940859e-03 3.22195440e+01] [ 5.14757279e-02 9.98674245e-01 -3.44458832e-05 -2.20829023e-02] [ 7.67100067e-03 -3.60903945e-04 9.99970512e-01 -4.02234223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.25, Y:-0.02, Z:-0.04 [[ 9.99159373e-01 -4.02687643e-02 -7.67941229e-03 3.22528549e+01] [ 4.02696939e-02 9.99188846e-01 -3.36002581e-05 -1.50666651e-02] [ 7.67453615e-03 -2.75675569e-04 9.99970512e-01 -3.83546400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.29, Y:-0.01, Z:-0.04 [[ 9.99336762e-01 -3.55958277e-02 -7.67941485e-03 3.22859385e+01] [ 3.55966240e-02 9.99366239e-01 -3.30055009e-05 -1.04162645e-02] [ 7.67572279e-03 -2.40377633e-04 9.99970512e-01 -3.70363786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.455898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.01, Z:-0.04 [[ 9.99491696e-01 -3.09414844e-02 -7.67941702e-03 3.23190824e+01] [ 3.09421473e-02 9.99521177e-01 -3.24918313e-05 -5.57398156e-03] [ 7.67674528e-03 -2.05142337e-04 9.99970512e-01 -3.86624161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.35, Y:0.00, Z:-0.04 [[ 9.99703538e-01 -2.31054807e-02 -7.67941924e-03 3.23515075e+01] [ 2.31059167e-02 9.99733022e-01 -3.19581630e-05 4.51669801e-03] [ 7.67810742e-03 -1.45491332e-04 9.99970512e-01 -3.68082183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.38, Y:0.01, Z:-0.04 [[ 9.99770743e-01 -1.99871797e-02 -7.67942073e-03 3.23826180e+01] [ 1.99875265e-02 9.99800229e-01 -3.15974198e-05 9.39560683e-03] [ 7.67851815e-03 -1.21902449e-04 9.99970512e-01 -3.83871963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.545898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:32.41, Y:0.02, Z:-0.04 [[ 9.99809938e-01 -1.79196635e-02 -7.67942183e-03 3.24126613e+01] [ 1.79199513e-02 9.99839424e-01 -3.13269423e-05 1.59450218e-02] [ 7.67875007e-03 -1.06293877e-04 9.99970512e-01 -3.79742699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.45, Y:0.02, Z:-0.04 [[ 9.99846871e-01 -1.57245849e-02 -7.67928994e-03 3.24462917e+01] [ 1.57245628e-02 9.99876359e-01 -6.32627976e-05 1.87770177e-02] [ 7.67933525e-03 -5.75003666e-05 9.99970512e-01 -3.59991502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.605898227 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:32.48, Y:0.03, Z:-0.04 [[ 9.99870603e-01 -1.41352296e-02 -7.67941998e-03 3.24784950e+01] [ 1.41354142e-02 9.99900090e-01 -3.02346126e-05 2.57207379e-02] [ 7.67908010e-03 -7.83210820e-05 9.99970512e-01 -3.61783157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.51, Y:0.03, Z:-0.03 [[ 9.99869040e-01 -1.42453460e-02 -7.67942138e-03 3.25095108e+01] [ 1.42455367e-02 9.99898527e-01 -2.98750604e-05 2.83141791e-02] [ 7.67906771e-03 -7.95263308e-05 9.99970512e-01 -3.38673766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.665898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.54, Y:0.03, Z:-0.04 [[ 9.99859937e-01 -1.48705331e-02 -7.67942242e-03 3.25419790e+01] [ 1.48707443e-02 9.99889424e-01 -2.96060119e-05 3.39146294e-02] [ 7.67901352e-03 -8.45968619e-05 9.99970512e-01 -3.72236171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.57, Y:0.04, Z:-0.04 [[ 9.99865848e-01 -1.44676426e-02 -7.67942380e-03 3.25745416e+01] [ 1.44678446e-02 9.99895335e-01 -2.92424330e-05 3.55953418e-02] [ 7.67904310e-03 -8.18662003e-05 9.99970512e-01 -3.86548782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.61, Y:0.04, Z:-0.04 [[ 9.99875554e-01 -1.37804917e-02 -7.67942517e-03 3.26056500e+01] [ 1.37806763e-02 9.99905042e-01 -2.88798377e-05 3.61277399e-02] [ 7.67909392e-03 -7.69514287e-05 9.99970512e-01 -3.90787790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.64, Y:0.04, Z:-0.04 [[ 9.99890602e-01 -1.26416454e-02 -7.67942618e-03 3.26376911e+01] [ 1.26417984e-02 9.99920089e-01 -2.86087801e-05 3.59557194e-02] [ 7.67917417e-03 -6.84761075e-05 9.99970512e-01 -3.77310670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.67, Y:0.04, Z:-0.03 [[ 9.99927514e-01 -9.27321479e-03 -7.67942752e-03 3.26692294e+01] [ 9.27327134e-03 9.99957002e-01 -2.82443392e-05 3.53848327e-02] [ 7.67935923e-03 -4.29711232e-05 9.99970512e-01 -3.33258414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.70, Y:0.04, Z:-0.03 [[ 9.99944450e-01 -7.21968901e-03 -7.67942851e-03 3.27005825e+01] [ 7.21968710e-03 9.99973937e-01 -2.79712423e-05 3.50781022e-02] [ 7.67943031e-03 -2.74733825e-05 9.99970512e-01 -3.06654790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.73, Y:0.04, Z:-0.03 [[ 9.99956534e-01 -5.28740059e-03 -7.67942950e-03 3.27305746e+01] [ 5.28734381e-03 9.99986022e-01 -2.76965948e-05 3.52020067e-02] [ 7.67946860e-03 -1.29083931e-05 9.99970512e-01 -2.86993359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.76, Y:0.04, Z:-0.03 [[ 9.99969178e-01 -1.63383442e-03 -7.67942989e-03 3.27597071e+01] [ 1.63367072e-03 9.99998665e-01 -2.75891733e-05 3.53813348e-02] [ 7.67946471e-03 1.50426632e-05 9.99970512e-01 -3.29629113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.905898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.79, Y:0.04, Z:-0.04 [[ 9.99970493e-01 -1.98365983e-04 -7.67942956e-03 3.27872787e+01] [ 1.98159258e-04 9.99999980e-01 -2.76801901e-05 3.57749807e-02] [ 7.67943490e-03 2.61576233e-05 9.99970512e-01 -3.72215876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.82, Y:0.04, Z:-0.04 [[ 9.99969874e-01 1.12988363e-03 -7.67942405e-03 3.28152818e+01] [-1.13014068e-03 9.99999361e-01 -2.91337143e-05 3.59617036e-02] [ 7.67938622e-03 3.78116661e-05 9.99970512e-01 -3.81623537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.84, Y:0.04, Z:-0.04 [[ 9.99966746e-01 2.74457864e-03 -7.67941820e-03 3.28423097e+01] [-2.74489456e-03 9.99996232e-01 -3.06001376e-05 3.62666835e-02] [ 7.67930528e-03 5.16783134e-05 9.99970512e-01 -3.70184902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.87, Y:0.04, Z:-0.03 [[ 9.99954010e-01 5.74489144e-03 -7.67941403e-03 3.28701664e+01] [-5.74530363e-03 9.99983495e-01 -3.16143248e-05 3.65852333e-02] [ 7.67910566e-03 7.57334361e-05 9.99970512e-01 -3.08666452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.90, Y:0.04, Z:-0.03 [[ 9.99946166e-01 6.97800167e-03 -7.67940777e-03 3.28979350e+01] [-6.97846137e-03 9.99975650e-01 -3.30678459e-05 3.70355999e-02] [ 7.67899002e-03 8.66565162e-05 9.99970512e-01 -2.88894570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.93, Y:0.04, Z:-0.03 [[ 9.99937408e-01 8.13681099e-03 -7.67940539e-03 3.29262399e+01] [-8.13730904e-03 9.99966891e-01 -3.36111437e-05 3.75790875e-02] [ 7.67887765e-03 9.60987348e-05 9.99970512e-01 -2.62597543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.95, Y:0.04, Z:-0.03 [[ 9.99927933e-01 9.22798721e-03 -7.67940203e-03 3.29549159e+01] [-9.22852326e-03 9.99957416e-01 -3.43715033e-05 3.70407556e-02] [ 7.67875783e-03 1.05238567e-04 9.99970512e-01 -2.74079230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.98, Y:0.03, Z:-0.03 [[ 9.99930580e-01 8.93660625e-03 -7.67940214e-03 3.29830020e+01] [-8.93713354e-03 9.99960062e-01 -3.43486366e-05 3.43933911e-02] [ 7.67878848e-03 1.02978095e-04 9.99970512e-01 -2.66534145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.01, Y:0.03, Z:-0.03 [[ 9.99937539e-01 8.12064277e-03 -7.67939966e-03 3.30112407e+01] [-8.12115018e-03 9.99967022e-01 -3.48937830e-05 3.31164567e-02] [ 7.67886305e-03 9.72571614e-05 9.99970512e-01 -2.56447915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.04, Y:0.03, Z:-0.02 [[ 9.99942265e-01 7.51625596e-03 -7.67939716e-03 3.30387906e+01] [-7.51674972e-03 9.99971748e-01 -3.54356518e-05 3.17439930e-02] [ 7.67891386e-03 9.31577124e-05 9.99970512e-01 -2.42517701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.205898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:33.07, Y:0.03, Z:-0.03 [[ 9.99957135e-01 5.17250465e-03 -7.67939457e-03 3.30670671e+01] [-5.17293355e-03 9.99986620e-01 -3.59887975e-05 2.54070367e-02] [ 7.67910566e-03 7.57122526e-05 9.99970512e-01 -2.68440688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.10, Y:0.02, Z:-0.03 [[ 9.99964911e-01 3.34705551e-03 -7.67939192e-03 3.30952289e+01] [-3.34743485e-03 9.99994397e-01 -3.65441376e-05 2.05972563e-02] [ 7.67922658e-03 6.22491195e-05 9.99970512e-01 -2.92725232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.12, Y:0.02, Z:-0.03 [[ 9.99968395e-01 2.05828025e-03 -7.67938971e-03 3.31229449e+01] [-2.05862511e-03 9.99997880e-01 -3.70039677e-05 1.59565361e-02] [ 7.67929726e-03 5.28117827e-05 9.99970512e-01 -3.06013086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:0.01, Z:-0.03 [[ 9.99968965e-01 1.75955884e-03 -7.67938748e-03 3.31515000e+01] [-1.75989840e-03 9.99998451e-01 -3.74596287e-05 1.20284881e-02] [ 7.67930967e-03 5.09734079e-05 9.99970512e-01 -3.09894769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.18, Y:0.01, Z:-0.03 [[ 9.99969048e-01 1.71192011e-03 -7.67938569e-03 3.31808049e+01] [-1.71226107e-03 9.99998533e-01 -3.78243674e-05 1.22534586e-02] [ 7.67930967e-03 5.09723098e-05 9.99970512e-01 -3.07642440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.21, Y:0.00, Z:-0.03 [[ 9.99967134e-01 2.59956066e-03 -7.67938387e-03 3.32085277e+01] [-2.59993060e-03 9.99996619e-01 -3.81902041e-05 3.35320994e-03] [ 7.67925863e-03 5.81548141e-05 9.99970512e-01 -2.98267856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.00, Z:-0.03 [[ 9.99963781e-01 3.66919448e-03 -7.67937634e-03 3.32363478e+01] [-3.66960716e-03 9.99993266e-01 -3.96486408e-05 -1.68356009e-03] [ 7.67917915e-03 6.78274992e-05 9.99970512e-01 -2.95400179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.26, Y:-0.01, Z:-0.03 [[ 9.99957570e-01 5.08784320e-03 -7.67937347e-03 3.32639260e+01] [-5.08830191e-03 9.99987054e-01 -4.01957269e-05 -6.34004652e-03] [ 7.67906955e-03 7.92689921e-05 9.99970512e-01 -2.88923757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.29, Y:-0.01, Z:-0.03 [[ 9.99928919e-01 9.12052272e-03 -7.67937057e-03 3.32907047e+01] [-9.12110453e-03 9.99958401e-01 -4.07425065e-05 -1.37572164e-02] [ 7.67867953e-03 1.10783952e-04 9.99970512e-01 -2.54334523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.32, Y:-0.02, Z:-0.02 [[ 9.99903403e-01 1.15849899e-02 -7.67936715e-03 3.33188979e+01] [-1.15856493e-02 9.99932883e-01 -4.13780991e-05 -1.72461504e-02] [ 7.67837237e-03 1.30344556e-04 9.99970512e-01 -2.43277091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.35, Y:-0.02, Z:-0.02 [[ 9.99866883e-01 1.43959248e-02 -7.67936425e-03 3.33471408e+01] [-1.43966711e-02 9.99896362e-01 -4.19098967e-05 -2.11605606e-02] [ 7.67796504e-03 1.52461599e-04 9.99970512e-01 -2.39522193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.535898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:33.37, Y:-0.02, Z:-0.03 [[ 9.99827468e-01 1.69133428e-02 -7.67936122e-03 3.33744209e+01] [-1.69141676e-02 9.99856944e-01 -4.24571717e-05 -2.49046468e-02] [ 7.67754455e-03 1.72339849e-04 9.99970512e-01 -2.79899234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.40, Y:-0.03, Z:-0.03 [[ 9.99748294e-01 2.10802315e-02 -7.67935765e-03 3.34028901e+01] [-2.10811840e-02 9.99777766e-01 -4.30935583e-05 -3.17890790e-02] [ 7.67674262e-03 2.04972663e-04 9.99970512e-01 -2.95440274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.43, Y:-0.03, Z:-0.03 [[ 9.99722785e-01 2.22571520e-02 -7.67935459e-03 3.34307878e+01] [-2.22581433e-02 9.99752256e-01 -4.36318891e-05 -3.44473625e-02] [ 7.67648095e-03 2.14547969e-04 9.99970512e-01 -3.01963040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.46, Y:-0.04, Z:-0.03 [[ 9.99702016e-01 2.31712481e-02 -7.67935142e-03 3.34591075e+01] [-2.31722706e-02 9.99731486e-01 -4.41836698e-05 -3.73486155e-02] [ 7.67626561e-03 2.22118513e-04 9.99970512e-01 -2.92105135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.49, Y:-0.05, Z:-0.03 [[ 9.99649200e-01 2.53476635e-02 -7.67934820e-03 3.34882092e+01] [-2.53487543e-02 9.99678668e-01 -4.47359555e-05 -4.52689978e-02] [ 7.67574662e-03 2.39382173e-04 9.99970512e-01 -2.58349829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.52, Y:-0.05, Z:-0.03 [[ 9.99619884e-01 2.64785652e-02 -7.67934604e-03 3.35152971e+01] [-2.64796922e-02 9.99649350e-01 -4.51040313e-05 -4.92490628e-02] [ 7.67545899e-03 2.48433606e-04 9.99970512e-01 -2.50574469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.54, Y:-0.05, Z:-0.03 [[ 9.99596504e-01 2.73469642e-02 -7.67934220e-03 3.35433228e+01] [-2.73481217e-02 9.99625969e-01 -4.57477626e-05 -5.20465603e-02] [ 7.67521883e-03 2.55744889e-04 9.99970512e-01 -2.56419238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.745898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:33.57, Y:-0.06, Z:-0.03 [[ 9.99537215e-01 2.94343820e-02 -7.67933884e-03 3.35701633e+01] [-2.94356054e-02 9.99566678e-01 -4.63046372e-05 -5.52250118e-02] [ 7.67464827e-03 2.72329196e-04 9.99970512e-01 -2.86713428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.60, Y:-0.06, Z:-0.03 [[ 9.99473743e-01 3.15161073e-02 -7.67933488e-03 3.35982071e+01] [-3.15173970e-02 9.99503202e-01 -4.69531142e-05 -5.83784675e-02] [ 7.67404002e-03 2.88961051e-04 9.99970512e-01 -2.59487685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.63, Y:-0.06, Z:-0.02 [[ 9.99411979e-01 3.34174309e-02 -7.67933144e-03 3.36254310e+01] [-3.34187809e-02 9.99441435e-01 -4.75098294e-05 -6.15580822e-02] [ 7.67345438e-03 3.04115787e-04 9.99970512e-01 -2.46288454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.65, Y:-0.06, Z:-0.02 [[ 9.99348080e-01 3.52766681e-02 -7.67932506e-03 3.36534657e+01] [-3.52780806e-02 9.99377534e-01 -4.85181965e-05 -6.47389278e-02] [ 7.67283338e-03 3.19398415e-04 9.99970512e-01 -2.33292121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.865898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:33.68, Y:-0.07, Z:-0.02 [[ 9.99196330e-01 3.93411089e-02 -7.67932157e-03 3.36817186e+01] [-3.93426455e-02 9.99225777e-01 -4.90653154e-05 -6.95863878e-02] [ 7.67144578e-03 3.51150709e-04 9.99970512e-01 -2.37930125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.71, Y:-0.07, Z:-0.02 [[ 9.99115951e-01 4.13321323e-02 -7.67931804e-03 3.37082694e+01] [-4.13337317e-02 9.99145395e-01 -4.96120547e-05 -7.23678386e-02] [ 7.67070468e-03 3.66983066e-04 9.99970512e-01 -2.08049738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.74, Y:-0.08, Z:-0.02 [[ 9.99023674e-01 4.35054868e-02 -7.67931387e-03 3.37362287e+01] [-4.35071552e-02 9.99053114e-01 -5.02484376e-05 -7.58233109e-02] [ 7.66985636e-03 3.84304479e-04 9.99970512e-01 -2.11686324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.76, Y:-0.08, Z:-0.02 [[ 9.98847531e-01 4.73776050e-02 -7.67931022e-03 3.37635328e+01] [-4.73793916e-02 9.98876965e-01 -5.08005272e-05 -8.29104106e-02] [ 7.66827928e-03 4.14583028e-04 9.99970512e-01 -2.04267163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.79, Y:-0.09, Z:-0.02 [[ 9.98791027e-01 4.85542214e-02 -7.67930593e-03 3.37919835e+01] [-4.85560476e-02 9.98820458e-01 -5.14411442e-05 -8.63363337e-02] [ 7.66775018e-03 4.24255698e-04 9.99970512e-01 -2.08262114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.82, Y:-0.09, Z:-0.02 [[ 9.98748931e-01 4.94125663e-02 -7.67930214e-03 3.38199449e+01] [-4.94144221e-02 9.98778360e-01 -5.20004387e-05 -8.98282768e-02] [ 7.66735132e-03 4.31403660e-04 9.99970512e-01 -2.18771654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.85, Y:-0.10, Z:-0.02 [[ 9.98683730e-01 5.07132794e-02 -7.67929822e-03 3.38488383e+01] [-5.07151779e-02 9.98713156e-01 -5.25735114e-05 -9.82836659e-02] [ 7.66674998e-03 4.41961286e-04 9.99970512e-01 -2.29066611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.88, Y:-0.10, Z:-0.03 [[ 9.98654528e-01 5.12850910e-02 -7.67936068e-03 3.38765135e+01] [-5.12869366e-02 9.98683958e-01 -4.34617600e-05 -1.01623362e-01] [ 7.66702538e-03 4.37254168e-04 9.99970512e-01 -2.51672651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.105898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.90, Y:-0.10, Z:-0.03 [[ 9.98643339e-01 5.15025151e-02 -7.67929187e-03 3.39042264e+01] [-5.15044429e-02 9.98672764e-01 -5.33639363e-05 -1.03837089e-01] [ 7.66635126e-03 4.48809190e-04 9.99970512e-01 -2.77596301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.93, Y:-0.11, Z:-0.03 [[ 9.98602059e-01 5.22968068e-02 -7.67928791e-03 3.39314064e+01] [-5.22987624e-02 9.98631482e-01 -5.39286283e-05 -1.10660647e-01] [ 7.66595837e-03 4.55470493e-04 9.99970512e-01 -2.63304745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.96, Y:-0.11, Z:-0.03 [[ 9.98632476e-01 5.17127255e-02 -7.67928323e-03 3.39580822e+01] [-5.17146689e-02 9.98661900e-01 -5.45861912e-05 -1.13827227e-01] [ 7.66618478e-03 4.51643133e-04 9.99970512e-01 -2.50892420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.99, Y:-0.12, Z:-0.02 [[ 9.98686549e-01 5.06577228e-02 -7.67927857e-03 3.39861323e+01] [-5.06596400e-02 9.98715975e-01 -5.52348922e-05 -1.16525439e-01] [ 7.66662010e-03 4.44191832e-04 9.99970512e-01 -2.34115422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.01, Y:-0.12, Z:-0.02 [[ 9.98729003e-01 4.98137215e-02 -7.67927453e-03 3.40139570e+01] [-4.98156181e-02 9.98758430e-01 -5.57900283e-05 -1.19037142e-01] [ 7.66696107e-03 4.38266927e-04 9.99970512e-01 -2.28569535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.12, Z:-0.03 [[ 9.98784762e-01 4.86829426e-02 -7.67927048e-03 3.40412575e+01] [-4.86848102e-02 9.98814190e-01 -5.63427772e-05 -1.24626248e-01] [ 7.66742139e-03 4.30138133e-04 9.99970512e-01 -2.56033572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.285898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:34.07, Y:-0.13, Z:-0.03 [[ 9.98805426e-01 4.82571207e-02 -7.67926571e-03 3.40678158e+01] [-4.82589807e-02 9.98834855e-01 -5.69857324e-05 -1.27347994e-01] [ 7.66756828e-03 4.27511194e-04 9.99970512e-01 -2.89804786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.10, Y:-0.13, Z:-0.03 [[ 9.98836010e-01 4.76198837e-02 -7.67926093e-03 3.40961981e+01] [-4.76217298e-02 9.98865440e-01 -5.76218908e-05 -1.30277935e-01] [ 7.66780440e-03 4.23254509e-04 9.99970512e-01 -2.73249075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:-0.13, Z:-0.03 [[ 9.98943641e-01 4.53059697e-02 -7.67925656e-03 3.41228091e+01] [-4.53077520e-02 9.98973075e-01 -5.81987976e-05 -1.34614845e-01] [ 7.66873379e-03 4.06067170e-04 9.99970512e-01 -2.57601764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.15, Y:-0.14, Z:-0.03 [[ 9.98976684e-01 4.45714547e-02 -7.67925143e-03 3.41507899e+01] [-4.45732205e-02 9.99006118e-01 -5.88676554e-05 -1.37171932e-01] [ 7.66899535e-03 4.01096383e-04 9.99970512e-01 -2.56397949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.405898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:34.18, Y:-0.14, Z:-0.03 [[ 9.99008430e-01 4.38541375e-02 -7.67924741e-03 3.41790288e+01] [-4.38558862e-02 9.99037866e-01 -5.93879750e-05 -1.39709456e-01] [ 7.66925454e-03 3.96109288e-04 9.99970512e-01 -2.73434056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.21, Y:-0.15, Z:-0.02 [[ 9.98996994e-01 4.41138785e-02 -7.67924310e-03 3.42074734e+01] [-4.41156390e-02 9.99026429e-01 -5.99400597e-05 -1.46844771e-01] [ 7.66912263e-03 3.98654656e-04 9.99970512e-01 -2.47221619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.23, Y:-0.15, Z:-0.02 [[ 9.98965187e-01 4.48283935e-02 -7.67923871e-03 3.42345050e+01] [-4.48301794e-02 9.98994620e-01 -6.04974417e-05 -1.49624917e-01] [ 7.66880616e-03 4.04696487e-04 9.99970512e-01 -2.32480418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.26, Y:-0.15, Z:-0.02 [[ 9.98917075e-01 4.58879862e-02 -7.67923355e-03 3.42621053e+01] [-4.58898083e-02 9.98946506e-01 -6.11457257e-05 -1.52163052e-01] [ 7.66833767e-03 4.13478065e-04 9.99970512e-01 -2.11526835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.29, Y:-0.16, Z:-0.02 [[ 9.98857295e-01 4.71713183e-02 -7.67922902e-03 3.42886110e+01] [-4.71731825e-02 9.98886724e-01 -6.17093578e-05 -1.55558722e-01] [ 7.66776900e-03 4.23892514e-04 9.99970512e-01 -1.98656920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.32, Y:-0.16, Z:-0.02 [[ 9.98706275e-01 5.02673504e-02 -7.67922370e-03 3.43162728e+01] [-5.02693108e-02 9.98735697e-01 -6.23636695e-05 -1.64440765e-01] [ 7.66637998e-03 4.48312271e-04 9.99970512e-01 -1.67556220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.17, Z:-0.02 [[ 9.98621046e-01 5.19329995e-02 -7.67921933e-03 3.43440393e+01] [-5.19350131e-02 9.98650465e-01 -6.28979930e-05 -1.67306806e-01] [ 7.66558947e-03 4.61631616e-04 9.99970512e-01 -1.57168655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.37, Y:-0.17, Z:-0.02 [[ 9.98566511e-01 5.29712361e-02 -7.67921474e-03 3.43730455e+01] [-5.29732845e-02 9.98595928e-01 -6.34529671e-05 -1.69147688e-01] [ 7.66507139e-03 4.70155235e-04 9.99970512e-01 -1.66708739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.40, Y:-0.17, Z:-0.01 [[ 9.98544300e-01 5.33883012e-02 -7.67917537e-03 3.44006809e+01] [-5.33903981e-02 9.98573713e-01 -6.81757910e-05 -1.72066706e-01] [ 7.66458287e-03 4.78070777e-04 9.99970512e-01 -1.43694627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.43, Y:-0.18, Z:-0.02 [[ 9.98522403e-01 5.37962922e-02 -7.67920659e-03 3.44288756e+01] [-5.37983726e-02 9.98551817e-01 -6.44567093e-05 -1.75730277e-01] [ 7.66461816e-03 4.77490285e-04 9.99970512e-01 -1.53595138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.705898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:34.46, Y:-0.18, Z:-0.02 [[ 9.98431005e-01 5.54667367e-02 -7.67920193e-03 3.44574021e+01] [-5.54688705e-02 9.98460415e-01 -6.50062757e-05 -1.81858736e-01] [ 7.66377346e-03 4.90860939e-04 9.99970512e-01 -1.92314852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.49, Y:-0.18, Z:-0.02 [[ 9.98341534e-01 5.70544582e-02 -7.67919720e-03 3.44852050e+01] [-5.70566430e-02 9.98370941e-01 -6.55603862e-05 -1.83941236e-01] [ 7.66294682e-03 5.03600870e-04 9.99970512e-01 -1.66096557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.765898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.51, Y:-0.18, Z:-0.02 [[ 9.98297858e-01 5.78136317e-02 -7.67919237e-03 3.45123228e+01] [-5.78158433e-02 9.98327263e-01 -6.61222781e-05 -1.84741727e-01] [ 7.66252433e-03 5.09988711e-04 9.99970512e-01 -1.71129883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.54, Y:-0.19, Z:-0.02 [[ 9.98283710e-01 5.80574290e-02 -7.67918671e-03 3.45392049e+01] [-5.80596527e-02 9.98313113e-01 -6.67723550e-05 -1.88220929e-01] [ 7.66235616e-03 5.12508668e-04 9.99970512e-01 -1.98594360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.57, Y:-0.19, Z:-0.02 [[ 9.98325604e-01 5.73325202e-02 -7.67917787e-03 3.45660392e+01] [-5.73347302e-02 9.98355009e-01 -6.77740677e-05 -1.91261799e-01] [ 7.66266004e-03 5.07944178e-04 9.99970512e-01 -2.28414201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.855898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:34.59, Y:-0.19, Z:-0.02 [[ 9.98422050e-01 5.56276969e-02 -7.67917235e-03 3.45944575e+01] [-5.56298615e-02 9.98451458e-01 -6.83945523e-05 -1.93617877e-01] [ 7.66347619e-03 4.95477923e-04 9.99970512e-01 -2.41471563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.62, Y:-0.20, Z:-0.02 [[ 9.98546335e-01 5.33502410e-02 -7.67916764e-03 3.46228376e+01] [-5.33523425e-02 9.98575747e-01 -6.89185162e-05 -1.95982237e-01] [ 7.66455375e-03 4.78519914e-04 9.99970512e-01 -1.94337228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.65, Y:-0.20, Z:-0.02 [[ 9.98818755e-01 4.79804737e-02 -7.67916259e-03 3.46502627e+01] [-4.79824212e-02 9.98848178e-01 -6.94765677e-05 -2.01622174e-01] [ 7.66698405e-03 4.37859313e-04 9.99970512e-01 -1.59796701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.945898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:34.68, Y:-0.21, Z:-0.02 [[ 9.98954444e-01 4.50671667e-02 -7.67915668e-03 3.46787448e+01] [-4.50690334e-02 9.98983872e-01 -7.01244325e-05 -2.05407896e-01] [ 7.66819337e-03 4.16143282e-04 9.99970512e-01 -2.03575164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.71, Y:-0.21, Z:-0.02 [[ 9.99025758e-01 4.34576188e-02 -7.67915149e-03 3.47056977e+01] [-4.34594424e-02 9.99055190e-01 -7.06883844e-05 -2.12131893e-01] [ 7.66882420e-03 4.04351159e-04 9.99970512e-01 -1.85154584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:-0.22, Z:-0.02 [[ 9.99083962e-01 4.20983184e-02 -7.67914541e-03 3.47327768e+01] [-4.21001070e-02 9.99113395e-01 -7.13429222e-05 -2.23770960e-01] [ 7.66933362e-03 3.94570412e-04 9.99970512e-01 -1.61315194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:-0.23, Z:-0.02 [[ 9.99060015e-01 4.26628284e-02 -7.67913721e-03 3.47598009e+01] [-4.26646403e-02 9.99089447e-01 -7.22149216e-05 -2.29108051e-01] [ 7.66906405e-03 3.99774667e-04 9.99970512e-01 -1.57730531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.79, Y:-0.23, Z:-0.02 [[ 9.99015336e-01 4.36965500e-02 -7.67913118e-03 3.47875288e+01] [-4.36983972e-02 9.99044766e-01 -7.28504947e-05 -2.34632348e-01] [ 7.66861249e-03 4.08344486e-04 9.99970512e-01 -1.67042204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.82, Y:-0.25, Z:-0.02 [[ 9.98840256e-01 4.75307655e-02 -7.67912583e-03 3.48157583e+01] [-4.75327299e-02 9.98869678e-01 -7.34097764e-05 -2.45687297e-01] [ 7.66695672e-03 4.38334454e-04 9.99970512e-01 -2.01181906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.84, Y:-0.25, Z:-0.02 [[ 9.98675604e-01 5.08730655e-02 -7.67912138e-03 3.48433954e+01] [-5.08751319e-02 9.98705019e-01 -7.38720971e-05 -2.49219565e-01] [ 7.66541897e-03 4.64450575e-04 9.99970512e-01 -1.94613249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:-0.25, Z:-0.02 [[ 9.98456331e-01 5.50089662e-02 -7.67911605e-03 3.48722288e+01] [-5.50111587e-02 9.98485737e-01 -7.44226978e-05 -2.51688359e-01] [ 7.66339393e-03 4.96744885e-04 9.99970512e-01 -1.72316860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.90, Y:-0.26, Z:-0.01 [[ 9.98050952e-01 6.19300354e-02 -7.67911242e-03 3.49005603e+01] [-6.19324346e-02 9.98080341e-01 -7.47944811e-05 -2.57175390e-01] [ 7.65973913e-03 5.50234831e-04 9.99970512e-01 -1.34982700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.215898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:34.93, Y:-0.26, Z:-0.01 [[ 9.97909866e-01 6.41633183e-02 -7.67910791e-03 3.49283322e+01] [-6.41657868e-02 9.97939250e-01 -7.52555598e-05 -2.60349726e-01] [ 7.65845454e-03 5.67834266e-04 9.99970512e-01 -1.47788652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.245898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:34.96, Y:-0.26, Z:-0.01 [[ 9.97914465e-01 6.40917495e-02 -7.67910246e-03 3.49568099e+01] [-6.40942201e-02 9.97943849e-01 -7.58071668e-05 -2.59938095e-01] [ 7.65845445e-03 5.67835151e-04 9.99970512e-01 -1.45600434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.98, Y:-0.26, Z:-0.01 [[ 9.97812747e-01 6.56563350e-02 -7.67909698e-03 3.49845721e+01] [-6.56588559e-02 9.97842126e-01 -7.63578843e-05 -2.63723127e-01] [ 7.65751308e-03 5.80391592e-04 9.99970512e-01 -1.24984926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.01, Y:-0.27, Z:-0.01 [[ 9.97779747e-01 6.61559355e-02 -7.67909149e-03 3.50116480e+01] [-6.61584752e-02 9.97809125e-01 -7.69066339e-05 -2.66392146e-01] [ 7.65717973e-03 5.84772866e-04 9.99970512e-01 -1.23707957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.04, Y:-0.27, Z:-0.01 [[ 9.97844956e-01 6.51649936e-02 -7.67908508e-03 3.50401236e+01] [-6.51675091e-02 9.97874336e-01 -7.75410992e-05 -2.71693385e-01] [ 7.65770896e-03 5.77800841e-04 9.99970512e-01 -1.34405949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.07, Y:-0.27, Z:-0.01 [[ 9.97910641e-01 6.41512646e-02 -7.67907951e-03 3.50668022e+01] [-6.41537544e-02 9.97940023e-01 -7.80893125e-05 -2.74734457e-01] [ 7.65825125e-03 5.70567936e-04 9.99970512e-01 -1.34102760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.10, Y:-0.28, Z:-0.01 [[ 9.97982710e-01 6.30201807e-02 -7.67907003e-03 3.50952128e+01] [-6.30226443e-02 9.98012094e-01 -7.90104304e-05 -2.78024221e-01] [ 7.65882551e-03 5.62806342e-04 9.99970512e-01 -1.32484974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.12, Y:-0.28, Z:-0.01 [[ 9.98161150e-01 6.01277784e-02 -7.67906449e-03 3.51217641e+01] [-6.01301608e-02 9.98190542e-01 -7.95453634e-05 -2.84379138e-01] [ 7.66038666e-03 5.41142474e-04 9.99970512e-01 -1.33544077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.15, Y:-0.29, Z:-0.01 [[ 9.98252808e-01 5.85863739e-02 -7.67905801e-03 3.51492780e+01] [-5.85887157e-02 9.98282203e-01 -8.01663460e-05 -2.87009130e-01] [ 7.66117028e-03 5.29932426e-04 9.99970512e-01 -1.31868896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.18, Y:-0.29, Z:-0.01 [[ 9.98335448e-01 5.71608735e-02 -7.67905247e-03 3.51775289e+01] [-5.71631774e-02 9.98364845e-01 -8.06931897e-05 -2.90486852e-01] [ 7.66188354e-03 5.19517910e-04 9.99970512e-01 -1.23931798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.21, Y:-0.29, Z:-0.01 [[ 9.98441814e-01 5.52718469e-02 -7.67904691e-03 3.52059992e+01] [-5.52740991e-02 9.98471215e-01 -8.12192895e-05 -2.94509838e-01] [ 7.66281815e-03 5.05545135e-04 9.99970512e-01 -1.13551931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.23, Y:-0.30, Z:-0.01 [[ 9.98758737e-01 4.92139947e-02 -7.67904130e-03 3.52329768e+01] [-4.92160726e-02 9.98788151e-01 -8.17462745e-05 -3.04269118e-01] [ 7.66571240e-03 4.59577060e-04 9.99970512e-01 -9.50567074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.26, Y:-0.31, Z:-0.01 [[ 9.98916000e-01 4.59114133e-02 -7.67903472e-03 3.52618094e+01] [-4.59133987e-02 9.98945420e-01 -8.23597154e-05 -3.08884194e-01] [ 7.66715531e-03 4.34841020e-04 9.99970512e-01 -9.52802949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.29, Y:-0.31, Z:-0.01 [[ 9.99045202e-01 4.30083339e-02 -7.67903071e-03 3.52900715e+01] [-4.30102365e-02 9.99074628e-01 -8.27318643e-05 -3.13570967e-01] [ 7.66836659e-03 4.12929799e-04 9.99970512e-01 -9.34868786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.32, Y:-0.32, Z:-0.01 [[ 9.99194842e-01 3.93789399e-02 -7.67902534e-03 3.53177132e+01] [-3.93807395e-02 9.99224274e-01 -8.32266563e-05 -3.24548904e-01] [ 7.66979115e-03 3.85565342e-04 9.99970512e-01 -8.48628495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.35, Y:-0.33, Z:-0.01 [[ 9.99194426e-01 3.93894868e-02 -7.67902041e-03 3.53457405e+01] [-3.93912901e-02 9.99223858e-01 -8.36791404e-05 -3.29834344e-01] [ 7.66976433e-03 3.86098252e-04 9.99970512e-01 -9.06247777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.37, Y:-0.33, Z:-0.01 [[ 9.99125222e-01 4.11074718e-02 -7.67901447e-03 3.53742546e+01] [-4.11093300e-02 9.99154651e-01 -8.42211326e-05 -3.34815364e-01] [ 7.66906090e-03 3.99826597e-04 9.99970512e-01 -1.00220602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.40, Y:-0.34, Z:-0.01 [[ 9.98795347e-01 4.84653331e-02 -7.67900829e-03 3.54023350e+01] [-4.84674122e-02 9.98824761e-01 -8.47804058e-05 -3.43478546e-01] [ 7.66587471e-03 4.56859935e-04 9.99970512e-01 -1.16504453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.43, Y:-0.35, Z:-0.01 [[ 9.98574007e-01 5.28297846e-02 -7.67900254e-03 3.54297074e+01] [-5.28319962e-02 9.98603411e-01 -8.52988000e-05 -3.46606677e-01] [ 7.66377181e-03 4.90874198e-04 9.99970512e-01 -1.22693321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.46, Y:-0.35, Z:-0.01 [[ 9.98320236e-01 5.74259484e-02 -7.67899744e-03 3.54577077e+01] [-5.74282988e-02 9.98349630e-01 -8.57549792e-05 -3.49453553e-01] [ 7.66139969e-03 5.26602691e-04 9.99970512e-01 -1.11668011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.49, Y:-0.35, Z:-0.01 [[ 9.98061970e-01 6.17522268e-02 -7.67899117e-03 3.54858866e+01] [-6.17547088e-02 9.98091353e-01 -8.63126995e-05 -3.52262552e-01] [ 7.65900469e-03 5.60359287e-04 9.99970512e-01 -1.03162567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.51, Y:-0.36, Z:-0.01 [[ 9.97801255e-01 6.58307646e-02 -7.67898594e-03 3.55127862e+01] [-6.58333702e-02 9.97830627e-01 -8.67756007e-05 -3.55625308e-01] [ 7.65661485e-03 5.92118328e-04 9.99970512e-01 -1.02192826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.54, Y:-0.36, Z:-0.01 [[ 9.97424506e-01 7.13119094e-02 -7.67897865e-03 3.55403730e+01] [-7.13146813e-02 9.97453863e-01 -8.74158304e-05 -3.60295899e-01] [ 7.65319313e-03 6.34814607e-04 9.99970512e-01 -1.06235689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.57, Y:-0.36, Z:-0.01 [[ 9.97292370e-01 7.31365933e-02 -7.67897369e-03 3.55682581e+01] [-7.31394223e-02 9.97321722e-01 -8.78500576e-05 -3.61593388e-01] [ 7.65198221e-03 6.49247891e-04 9.99970512e-01 -1.07353354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.60, Y:-0.36, Z:-0.01 [[ 9.97188603e-01 7.45380690e-02 -7.67896750e-03 3.55965574e+01] [-7.45409433e-02 9.97217950e-01 -8.83875500e-05 -3.62793664e-01] [ 7.65101599e-03 6.60536538e-04 9.99970512e-01 -1.07226485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.62, Y:-0.37, Z:-0.01 [[ 9.97043737e-01 7.64514241e-02 -7.67896121e-03 3.56240785e+01] [-7.64543588e-02 9.97073078e-01 -8.89303635e-05 -3.67453468e-01] [ 7.64968664e-03 6.75757518e-04 9.99970512e-01 -1.06627275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.65, Y:-0.37, Z:-0.01 [[ 9.97025163e-01 7.66932714e-02 -7.67895387e-03 3.56508673e+01] [-7.66962181e-02 9.97054503e-01 -8.95596689e-05 -3.70265962e-01] [ 7.64946691e-03 6.78239965e-04 9.99970512e-01 -1.17764761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.68, Y:-0.37, Z:-0.01 [[ 9.97044204e-01 7.64453338e-02 -7.67894659e-03 3.56784055e+01] [-7.64482780e-02 9.97073544e-01 -9.01801352e-05 -3.73337432e-01] [ 7.64958064e-03 6.76955824e-04 9.99970512e-01 -1.34895909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.71, Y:-0.38, Z:-0.01 [[ 9.97162367e-01 7.48882311e-02 -7.67894103e-03 3.57061191e+01] [-7.48911330e-02 9.97191712e-01 -9.06508131e-05 -3.78965784e-01] [ 7.65058767e-03 6.65478173e-04 9.99970512e-01 -1.19169251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.73, Y:-0.38, Z:-0.01 [[ 9.97220312e-01 7.41126375e-02 -7.67893611e-03 3.57346083e+01] [-7.41155198e-02 9.97249659e-01 -9.10657873e-05 -3.80793121e-01] [ 7.65106729e-03 6.59940994e-04 9.99970512e-01 -7.42502309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.76, Y:-0.38, Z:-0.01 [[ 9.97280070e-01 7.33041318e-02 -7.67893194e-03 3.57636731e+01] [-7.33069929e-02 9.97309419e-01 -9.14156619e-05 -3.82374083e-01] [ 7.65157001e-03 6.54086427e-04 9.99970512e-01 -5.42460797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.79, Y:-0.38, Z:-0.01 [[ 9.97367018e-01 7.21114856e-02 -7.67892774e-03 3.57923913e+01] [-7.21143143e-02 9.97396369e-01 -9.17675855e-05 -3.84199957e-01] [ 7.65231715e-03 6.45286572e-04 9.99970512e-01 -6.30453285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.82, Y:-0.39, Z:-0.01 [[ 9.97401526e-01 7.16326021e-02 -7.67892341e-03 3.58205703e+01] [-7.16354195e-02 9.97430879e-01 -9.21281511e-05 -3.87542626e-01] [ 7.65259595e-03 6.41971659e-04 9.99970512e-01 -1.12712418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.85, Y:-0.39, Z:-0.01 [[ 9.97337907e-01 7.25129944e-02 -7.67891800e-03 3.58494883e+01] [-7.25158411e-02 9.97367256e-01 -9.25772398e-05 -3.89048011e-01] [ 7.65198832e-03 6.49173988e-04 9.99970512e-01 -1.13596460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.88, Y:-0.39, Z:-0.01 [[ 9.97314926e-01 7.28283731e-02 -7.67891375e-03 3.58770716e+01] [-7.28312318e-02 9.97344275e-01 -9.29280519e-05 -3.91062259e-01] [ 7.65175287e-03 6.51943281e-04 9.99970512e-01 -9.77512285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.91, Y:-0.39, Z:-0.01 [[ 9.97492000e-01 7.03615293e-02 -7.67890845e-03 3.59063424e+01] [-7.03643187e-02 9.97521355e-01 -9.33645382e-05 -3.94642901e-01] [ 7.65330589e-03 6.33451541e-04 9.99970512e-01 -5.88162464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.93, Y:-0.40, Z:-0.01 [[ 9.97708134e-01 6.72273222e-02 -7.67890406e-03 3.59341761e+01] [-6.72300221e-02 9.97737498e-01 -9.37241117e-05 -3.96554676e-01] [ 7.65522970e-03 6.09762198e-04 9.99970512e-01 -5.86725973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.96, Y:-0.40, Z:-0.01 [[ 9.97935772e-01 6.37591580e-02 -7.67889968e-03 3.59622745e+01] [-6.37617586e-02 9.97965144e-01 -9.40814713e-05 -3.99427134e-01] [ 7.65727567e-03 5.83507413e-04 9.99970512e-01 -7.37480959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.99, Y:-0.41, Z:-0.01 [[ 9.98320564e-01 5.74202554e-02 -7.67889436e-03 3.59910907e+01] [-5.74226727e-02 9.98349953e-01 -9.45131981e-05 -4.08373068e-01] [ 7.66079685e-03 5.35297107e-04 9.99970512e-01 -1.02301131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.385898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.02, Y:-0.41, Z:-0.01 [[ 9.98431430e-01 5.54591234e-02 -7.67889002e-03 3.60188689e+01] [-5.54614857e-02 9.98460823e-01 -9.48650249e-05 -4.11820586e-01] [ 7.66180971e-03 5.20598871e-04 9.99970512e-01 -1.31123877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.05, Y:-0.42, Z:-0.01 [[ 9.98479078e-01 5.45945526e-02 -7.67888457e-03 3.60477957e+01] [-5.45968927e-02 9.98508473e-01 -9.53043266e-05 -4.16026029e-01] [ 7.66222820e-03 5.14402613e-04 9.99970512e-01 -1.14181566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.08, Y:-0.42, Z:-0.01 [[ 9.98509411e-01 5.40369443e-02 -7.67888021e-03 3.60767719e+01] [-5.40392707e-02 9.98538806e-01 -9.56541048e-05 -4.23367085e-01] [ 7.66249102e-03 5.10472610e-04 9.99970512e-01 -1.31510833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.10, Y:-0.43, Z:-0.02 [[ 9.98504427e-01 5.41289616e-02 -7.67887584e-03 3.61043663e+01] [-5.41312934e-02 9.98533822e-01 -9.60036726e-05 -4.27539765e-01] [ 7.66242066e-03 5.11527573e-04 9.99970512e-01 -1.52653904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.13, Y:-0.43, Z:-0.02 [[ 9.98502132e-01 5.41712696e-02 -7.67887038e-03 3.61334200e+01] [-5.41736060e-02 9.98531527e-01 -9.64380098e-05 -4.31447502e-01] [ 7.66237000e-03 5.12285657e-04 9.99970512e-01 -1.75992802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.16, Y:-0.44, Z:-0.02 [[ 9.98381628e-01 5.63485496e-02 -7.67886601e-03 3.61626659e+01] [-5.63509527e-02 9.98411018e-01 -9.67849775e-05 -4.37662862e-01] [ 7.66121074e-03 5.29339759e-04 9.99970512e-01 -1.54770901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.19, Y:-0.44, Z:-0.01 [[ 9.98335254e-01 5.71642864e-02 -7.67886135e-03 3.61906813e+01] [-5.71667164e-02 9.98364641e-01 -9.71535758e-05 -4.39230781e-01] [ 7.66074994e-03 5.35967128e-04 9.99970512e-01 -1.26286643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.22, Y:-0.44, Z:-0.01 [[ 9.98317673e-01 5.74705029e-02 -7.67885497e-03 3.62194933e+01] [-5.74729457e-02 9.98347059e-01 -9.76547079e-05 -4.41006239e-01] [ 7.66055002e-03 5.38816836e-04 9.99970512e-01 -1.05990910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.25, Y:-0.44, Z:-0.01 [[ 9.98335898e-01 5.71530431e-02 -7.67885046e-03 3.62484652e+01] [-5.71554793e-02 9.98365285e-01 -9.80082709e-05 -4.43423492e-01] [ 7.66069626e-03 5.36733554e-04 9.99970512e-01 -1.00696581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.28, Y:-0.45, Z:-0.01 [[ 9.98486400e-01 5.44604907e-02 -7.67884577e-03 3.62772611e+01] [-5.44628505e-02 9.98515793e-01 -9.83746457e-05 -4.50992250e-01] [ 7.66209124e-03 5.16437575e-04 9.99970512e-01 -1.25778107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.31, Y:-0.45, Z:-0.01 [[ 9.98621173e-01 5.19306089e-02 -7.67884329e-03 3.63059870e+01] [-5.19328957e-02 9.98650572e-01 -9.85677976e-05 -4.54928966e-01] [ 7.66336255e-03 4.97216457e-04 9.99970512e-01 -9.09667684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.34, Y:-0.46, Z:-0.00 [[ 9.98774535e-01 4.88923588e-02 -7.67884086e-03 3.63357086e+01] [-4.88945576e-02 9.98803941e-01 -9.87562155e-05 -4.59071812e-01] [ 7.66482809e-03 4.74088720e-04 9.99970512e-01 -3.33737749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.37, Y:-0.47, Z:0.00 [[ 9.99030802e-01 4.33415651e-02 -7.67883865e-03 3.63665241e+01] [-4.33436017e-02 9.99060220e-01 -9.89284026e-05 -4.70907622e-01] [ 7.66733451e-03 4.31661045e-04 9.99970512e-01 2.72180347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.775898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.40, Y:-0.48, Z:-0.00 [[ 9.99121745e-01 4.11919234e-02 -7.67883865e-03 3.63967711e+01] [-4.11938967e-02 9.99151166e-01 -9.89284026e-05 -4.77752791e-01] [ 7.66824554e-03 4.15162804e-04 9.99970512e-01 -2.13951267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.805898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.43, Y:-0.49, Z:-0.00 [[ 9.99179031e-01 3.97781226e-02 -7.67883628e-03 3.64261969e+01] [-3.97800557e-02 9.99208455e-01 -9.91120225e-05 -4.85001449e-01] [ 7.66881564e-03 4.04495190e-04 9.99970512e-01 -2.35759982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.835898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:36.46, Y:-0.50, Z:-0.00 [[ 9.99121281e-01 4.12031783e-02 -7.67883509e-03 3.64559442e+01] [-4.12051541e-02 9.99150702e-01 -9.92036447e-05 -4.96660289e-01] [ 7.66822597e-03 4.15524056e-04 9.99970512e-01 -7.54782725e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.49, Y:-0.50, Z:0.00 [[ 9.99007782e-01 4.38689860e-02 -7.67883282e-03 3.64862875e+01] [-4.38710416e-02 9.99037197e-01 -9.93794570e-05 -5.02245361e-01] [ 7.66707994e-03 4.36159245e-04 9.99970512e-01 4.23830930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.52, Y:-0.51, Z:0.00 [[ 9.98858736e-01 4.71408555e-02 -7.67883282e-03 3.65172025e+01] [-4.71430074e-02 9.98888145e-01 -9.93794570e-05 -5.07887544e-01] [ 7.66561024e-03 4.61269311e-04 9.99970512e-01 3.60449719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.925898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.55, Y:-0.51, Z:-0.00 [[ 9.98702959e-01 5.03332381e-02 -7.67883395e-03 3.65472028e+01] [-5.03354833e-02 9.98732361e-01 -9.92917623e-05 -5.13393831e-01] [ 7.66410229e-03 4.85680795e-04 9.99970512e-01 -9.37822743e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.58, Y:-0.52, Z:0.00 [[ 9.98435099e-01 5.53930327e-02 -7.67883508e-03 3.65789625e+01] [-5.53954263e-02 9.98464490e-01 -9.92044485e-05 -5.24359611e-01] [ 7.66154891e-03 5.24421546e-04 9.99970512e-01 3.54967461e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.61, Y:-0.53, Z:0.00 [[ 9.98294075e-01 5.78789741e-02 -7.67883744e-03 3.66090901e+01] [-5.78814394e-02 9.98323459e-01 -9.90216432e-05 -5.28964268e-01] [ 7.66023228e-03 5.43314883e-04 9.99970512e-01 8.51673076e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.64, Y:-0.53, Z:0.00 [[ 9.98102072e-01 6.11006465e-02 -7.67883860e-03 3.66414718e+01] [-6.11032060e-02 9.98131448e-01 -9.89310290e-05 -5.34264094e-01] [ 7.65844555e-03 5.67944922e-04 9.99970512e-01 7.07968826e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.67, Y:-0.54, Z:-0.00 [[ 9.97951214e-01 6.35169960e-02 -7.67885376e-03 3.66741539e+01] [-6.35196174e-02 9.97980585e-01 -9.77406407e-05 -5.38893905e-01] [ 7.65713877e-03 5.85298244e-04 9.99970512e-01 -5.66507227e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.71, Y:-0.54, Z:-0.01 [[ 9.97812680e-01 6.56573692e-02 -7.67886869e-03 3.67068200e+01] [-6.56600445e-02 9.97842046e-01 -9.65532634e-05 -5.44513036e-01] [ 7.65595861e-03 6.00536930e-04 9.99970512e-01 -5.33447582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.74, Y:-0.55, Z:-0.01 [[ 9.97763618e-01 6.63987695e-02 -7.67888581e-03 3.67397962e+01] [-6.64014561e-02 9.97792983e-01 -9.51712138e-05 -5.46356936e-01] [ 7.65561913e-03 6.04847574e-04 9.99970512e-01 -5.00268150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.77, Y:-0.55, Z:-0.00 [[ 9.97751575e-01 6.65794958e-02 -7.67890277e-03 3.67732891e+01] [-6.65821771e-02 9.97780940e-01 -9.37827573e-05 -5.46111315e-01] [ 7.65561882e-03 6.04849958e-04 9.99970512e-01 -4.74528231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.81, Y:-0.55, Z:-0.00 [[ 9.97650751e-01 6.80735799e-02 -7.67891951e-03 3.68052473e+01] [-6.80762945e-02 9.97680114e-01 -9.23918961e-05 -5.52398033e-01] [ 7.65481584e-03 6.14927230e-04 9.99970512e-01 -4.35564983e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.84, Y:-0.56, Z:0.00 [[ 9.97566648e-01 6.92951356e-02 -7.67893490e-03 3.68385396e+01] [-6.92978763e-02 9.97596008e-01 -9.10943707e-05 -5.55920520e-01] [ 7.65416241e-03 6.23006587e-04 9.99970512e-01 1.57356935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.87, Y:-0.56, Z:0.00 [[ 9.97491034e-01 7.03752106e-02 -7.67895120e-03 3.68716406e+01] [-7.03779724e-02 9.97520392e-01 -8.96991198e-05 -5.58272180e-01] [ 7.65359782e-03 6.29903084e-04 9.99970512e-01 1.06723297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.90, Y:-0.56, Z:-0.00 [[ 9.97434387e-01 7.11735671e-02 -7.67896727e-03 3.69048516e+01] [-7.11763417e-02 9.97463744e-01 -8.83014407e-05 -5.59288937e-01] [ 7.65320671e-03 6.34635692e-04 9.99970512e-01 -1.01283871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.94, Y:-0.56, Z:-0.00 [[ 9.97380722e-01 7.19216788e-02 -7.67898337e-03 3.69366121e+01] [-7.19244646e-02 9.97410078e-01 -8.68782379e-05 -5.59306620e-01] [ 7.65284698e-03 6.38957447e-04 9.99970512e-01 -2.68174490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.97, Y:-0.56, Z:-0.00 [[ 9.97199955e-01 7.43860341e-02 -7.67899815e-03 3.69694540e+01] [-7.43888823e-02 9.97229305e-01 -8.55521715e-05 -5.59661144e-01] [ 7.65135810e-03 6.56544711e-04 9.99970512e-01 -3.77171892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.00, Y:-0.56, Z:-0.00 [[ 9.97051576e-01 7.63491124e-02 -7.67901356e-03 3.70025961e+01] [-7.63520076e-02 9.97080921e-01 -8.41457034e-05 -5.60257842e-01] [ 7.65017346e-03 6.70205708e-04 9.99970512e-01 -4.38246706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.03, Y:-0.56, Z:-0.00 [[ 9.96940543e-01 7.77855145e-02 -7.67902920e-03 3.70345669e+01] [-7.77884409e-02 9.96969885e-01 -8.26935122e-05 -5.60996868e-01] [ 7.64932850e-03 6.79780223e-04 9.99970512e-01 -4.86768260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.56, Z:-0.00 [[ 9.97079636e-01 7.59817878e-02 -7.67903883e-03 3.70662558e+01] [-7.59846541e-02 9.97108984e-01 -8.17893606e-05 -5.61895279e-01] [ 7.65062410e-03 6.65039615e-04 9.99970512e-01 -4.59499392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.10, Y:-0.56, Z:-0.00 [[ 9.97326715e-01 7.26667445e-02 -7.67905225e-03 3.70988608e+01] [-7.26695034e-02 9.97356073e-01 -8.05089235e-05 -5.62547739e-01] [ 7.65289908e-03 6.38326614e-04 9.99970512e-01 -3.26347691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.56, Z:-0.00 [[ 9.97642128e-01 6.81998260e-02 -7.67906692e-03 3.71316452e+01] [-6.82024426e-02 9.97671499e-01 -7.90842131e-05 -5.64180061e-01] [ 7.65579268e-03 6.02628863e-04 9.99970512e-01 -2.66369503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.16, Y:-0.57, Z:0.00 [[ 9.98188261e-01 5.96760203e-02 -7.67908172e-03 3.71637831e+01] [-5.96783747e-02 9.98217654e-01 -7.76201135e-05 -5.70902930e-01] [ 7.66076288e-03 5.35754603e-04 9.99970512e-01 8.34671116e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.20, Y:-0.57, Z:0.00 [[ 9.98347015e-01 5.69584947e-02 -7.67909531e-03 3.71954413e+01] [-5.69607586e-02 9.98376415e-01 -7.62513230e-05 -5.74385102e-01] [ 7.66228449e-03 5.13532375e-04 9.99970512e-01 3.43928522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.23, Y:-0.58, Z:0.00 [[ 9.98425488e-01 5.55659630e-02 -7.67910823e-03 3.72278160e+01] [-5.55681757e-02 9.98454892e-01 -7.49275661e-05 -5.77109605e-01] [ 7.66307976e-03 5.01523627e-04 9.99970512e-01 4.29935140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.26, Y:-0.58, Z:0.00 [[ 9.98445123e-01 5.52120216e-02 -7.67912086e-03 3.72612601e+01] [-5.52142139e-02 9.98474529e-01 -7.36097946e-05 -5.79707929e-01] [ 7.66334244e-03 4.97491962e-04 9.99970512e-01 3.52143779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.615898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.29, Y:-0.59, Z:-0.00 [[ 9.98415929e-01 5.57374494e-02 -7.67913420e-03 3.72946737e+01] [-5.57396463e-02 9.98445335e-01 -7.21913546e-05 -5.87096191e-01] [ 7.66317195e-03 5.00109222e-04 9.99970512e-01 -2.44079661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.33, Y:-0.59, Z:0.00 [[ 9.98382141e-01 5.63394298e-02 -7.67914764e-03 3.73266618e+01] [-5.63416332e-02 9.98411546e-01 -7.07319593e-05 -5.91504225e-01] [ 7.66296467e-03 5.03273244e-04 9.99970512e-01 1.04953363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.36, Y:-0.60, Z:0.00 [[ 9.98347225e-01 5.69547950e-02 -7.67915988e-03 3.73584655e+01] [-5.69570061e-02 9.98376630e-01 -6.93764781e-05 -5.95375857e-01] [ 7.66274244e-03 5.06643771e-04 9.99970512e-01 2.93091449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.39, Y:-0.60, Z:0.01 [[ 9.98232796e-01 5.89263576e-02 -7.67917148e-03 3.73907997e+01] [-5.89286168e-02 9.98262197e-01 -6.80678479e-05 -6.03189767e-01] [ 7.66181560e-03 5.20470512e-04 9.99970512e-01 6.78117123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.42, Y:-0.61, Z:0.01 [[ 9.98091519e-01 6.12727460e-02 -7.67918224e-03 3.74240460e+01] [-6.12750648e-02 9.98120916e-01 -6.68317507e-05 -6.07475482e-01] [ 7.66065744e-03 5.37246593e-04 9.99970512e-01 6.66016924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.46, Y:-0.61, Z:0.00 [[ 9.97946766e-01 6.35868011e-02 -7.67919433e-03 3.74571418e+01] [-6.35891772e-02 9.97976158e-01 -6.54126108e-05 -6.11924518e-01] [ 7.65949348e-03 5.53591952e-04 9.99970512e-01 4.57448502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.49, Y:-0.62, Z:0.00 [[ 9.97739398e-01 6.67616923e-02 -7.67920616e-03 3.74902672e+01] [-6.67641511e-02 9.97768783e-01 -6.39931353e-05 -6.17828962e-01] [ 7.65779989e-03 5.76544152e-04 9.99970512e-01 7.75264313e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.52, Y:-0.62, Z:-0.00 [[ 9.97608309e-01 6.86927357e-02 -7.67924144e-03 3.75217748e+01] [-6.86952183e-02 9.97637691e-01 -5.96753701e-05 -6.18850537e-01] [ 7.65700144e-03 5.87059812e-04 9.99970512e-01 -2.86262062e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.855898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:37.55, Y:-0.62, Z:-0.00 [[ 9.97519940e-01 6.99642666e-02 -7.67922097e-03 3.75539861e+01] [-6.99668059e-02 9.97549318e-01 -6.22021883e-05 -6.21349737e-01] [ 7.65604971e-03 5.99338487e-04 9.99970512e-01 -2.80376856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.885898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:37.59, Y:-0.62, Z:-0.00 [[ 9.97573390e-01 6.91979871e-02 -7.67923131e-03 3.75872360e+01] [-6.92004939e-02 9.97602771e-01 -6.08990053e-05 -6.24066415e-01] [ 7.65660834e-03 5.92157826e-04 9.99970512e-01 -3.65713274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.915898227 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:37.62, Y:-0.63, Z:-0.00 [[ 9.97701304e-01 6.73285778e-02 -7.67924200e-03 3.76199736e+01] [-6.73310190e-02 9.97730690e-01 -5.95190458e-05 -6.27093828e-01] [ 7.65780809e-03 5.76433419e-04 9.99970512e-01 -4.11254751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.65, Y:-0.63, Z:-0.00 [[ 9.97910474e-01 6.41538309e-02 -7.67925265e-03 3.76520872e+01] [-6.41561678e-02 9.97939869e-01 -5.81123082e-05 -6.30750001e-01] [ 7.65970426e-03 5.50662303e-04 9.99970512e-01 -9.09668526e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.69, Y:-0.64, Z:0.00 [[ 9.98439831e-01 5.53076150e-02 -7.67925919e-03 3.76855598e+01] [-5.53096846e-02 9.98469246e-01 -5.72341967e-05 -6.39849274e-01] [ 7.66433865e-03 4.81882305e-04 9.99970512e-01 1.87109491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.72, Y:-0.65, Z:0.00 [[ 9.98687500e-01 5.06389819e-02 -7.67926378e-03 3.77173868e+01] [-5.06409092e-02 9.98716924e-01 -5.66113451e-05 -6.45197524e-01] [ 7.66654397e-03 4.45421942e-04 9.99970512e-01 4.47576999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.035898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:37.75, Y:-0.65, Z:0.00 [[ 9.98911442e-01 4.60104259e-02 -7.67927338e-03 3.77503496e+01] [-4.60122066e-02 9.98940876e-01 -5.52788149e-05 -6.49964419e-01] [ 7.66859667e-03 4.08558954e-04 9.99970512e-01 2.08560494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.78, Y:-0.66, Z:0.00 [[ 9.99072602e-01 4.23670250e-02 -7.67928328e-03 3.77834254e+01] [-4.23686875e-02 9.99102043e-01 -5.38673599e-05 -6.55139267e-01] [ 7.67010541e-03 3.79178557e-04 9.99970512e-01 4.17366431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.095898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:37.82, Y:-0.66, Z:-0.00 [[ 9.99322676e-01 3.59891232e-02 -7.67929304e-03 3.78153016e+01] [-3.59905868e-02 9.99352128e-01 -5.24375409e-05 -6.62954019e-01] [ 7.67243066e-03 3.28784286e-04 9.99970512e-01 -1.27572395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.85, Y:-0.67, Z:0.00 [[ 9.99397409e-01 3.38503736e-02 -7.67930250e-03 3.78481292e+01] [-3.38517632e-02 9.99426864e-01 -5.10138167e-05 -6.67410287e-01] [ 7.67317437e-03 3.10941006e-04 9.99970512e-01 3.95851569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.88, Y:-0.67, Z:0.01 [[ 9.99424691e-01 3.30350715e-02 -7.67931176e-03 3.78812022e+01] [-3.30364261e-02 9.99454147e-01 -4.95797016e-05 -6.71759556e-01] [ 7.67348211e-03 3.03248193e-04 9.99970512e-01 7.52411939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.185898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:37.91, Y:-0.68, Z:0.01 [[ 9.99374763e-01 3.45124835e-02 -7.67932081e-03 3.79121681e+01] [-3.45138706e-02 9.99404218e-01 -4.81359944e-05 -6.78897305e-01] [ 7.67308431e-03 3.13148983e-04 9.99970512e-01 9.59585842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.95, Y:-0.68, Z:0.01 [[ 9.99277625e-01 3.72190308e-02 -7.67932793e-03 3.79454963e+01] [-3.72204887e-02 9.99307076e-01 -4.69715963e-05 -6.82369722e-01] [ 7.67225850e-03 3.32766004e-04 9.99970512e-01 1.22459686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.98, Y:-0.68, Z:0.01 [[ 9.99172577e-01 3.99398251e-02 -7.67933643e-03 3.79783984e+01] [-3.99413522e-02 9.99202025e-01 -4.55377112e-05 -6.84493421e-01] [ 7.67138974e-03 3.52223114e-04 9.99970512e-01 1.07619512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.01, Y:-0.69, Z:0.01 [[ 9.98968709e-01 4.47498078e-02 -7.67934463e-03 3.80117141e+01] [-4.47514658e-02 9.98998150e-01 -4.41099556e-05 -6.89271589e-01] [ 7.66967717e-03 3.87726394e-04 9.99970512e-01 1.03437065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.04, Y:-0.69, Z:0.01 [[ 9.98864254e-01 4.70237219e-02 -7.67935254e-03 3.80437699e+01] [-4.70254359e-02 9.98893691e-01 -4.26874814e-05 -6.92281730e-01] [ 7.66884948e-03 4.03763900e-04 9.99970512e-01 1.22306873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.08, Y:-0.70, Z:0.01 [[ 9.98761223e-01 4.91634720e-02 -7.67935736e-03 3.80768796e+01] [-4.91652423e-02 9.98790657e-01 -4.18016198e-05 -6.95280463e-01] [ 7.66801527e-03 4.19307302e-04 9.99970512e-01 1.29565695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.11, Y:-0.70, Z:0.01 [[ 9.98535433e-01 5.35538652e-02 -7.67936454e-03 3.81102463e+01] [-5.35557545e-02 9.98564860e-01 -4.04386546e-05 -6.99771258e-01] [ 7.66617793e-03 4.51653591e-04 9.99970512e-01 1.10848670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.395898226999996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:38.14, Y:-0.70, Z:0.01 [[ 9.98390551e-01 5.61901740e-02 -7.67937158e-03 3.81436245e+01] [-5.61921304e-02 9.98419973e-01 -3.90548920e-05 -7.00661694e-01] [ 7.66504346e-03 4.70512284e-04 9.99970512e-01 5.92998613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.18, Y:-0.70, Z:0.01 [[ 9.98199402e-01 5.94893286e-02 -7.67937871e-03 3.81753823e+01] [-5.94913710e-02 9.98228819e-01 -3.75986900e-05 -7.01777597e-01] [ 7.66354042e-03 4.94387758e-04 9.99970512e-01 8.48621792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.21, Y:-0.70, Z:0.01 [[ 9.97724887e-01 6.69781860e-02 -7.67938512e-03 3.82081948e+01] [-6.69804387e-02 9.97754288e-01 -3.62397177e-05 -7.02150894e-01] [ 7.65971216e-03 5.50525852e-04 9.99970512e-01 5.96258820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.24, Y:-0.70, Z:0.00 [[ 9.97488554e-01 7.04103122e-02 -7.67939159e-03 3.82399615e+01] [-7.04126551e-02 9.97517948e-01 -3.48121859e-05 -7.01538466e-01] [ 7.65787981e-03 5.75451108e-04 9.99970512e-01 3.00008863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.27, Y:-0.70, Z:0.00 [[ 9.97287049e-01 7.32090824e-02 -7.67939736e-03 3.82727154e+01] [-7.32114976e-02 9.97316437e-01 -3.34887861e-05 -7.01330671e-01] [ 7.65633753e-03 5.95618114e-04 9.99970512e-01 1.38222948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.30, Y:-0.70, Z:0.00 [[ 9.97132283e-01 7.52876975e-02 -7.67940324e-03 3.83047751e+01] [-7.52901632e-02 9.97161667e-01 -3.20812415e-05 -7.03149138e-01] [ 7.65519122e-03 6.10172765e-04 9.99970512e-01 2.84315380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.34, Y:-0.70, Z:0.01 [[ 9.97190052e-01 7.45186318e-02 -7.67940680e-03 3.83375712e+01] [-7.45210682e-02 9.97219439e-01 -3.12061709e-05 -7.04721958e-01] [ 7.65572830e-03 6.03396081e-04 9.99970512e-01 5.85756127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.37, Y:-0.71, Z:0.01 [[ 9.97284116e-01 7.32490231e-02 -7.67941221e-03 3.83690953e+01] [-7.32514114e-02 9.97313506e-01 -2.98128104e-05 -7.07010470e-01] [ 7.65659776e-03 5.92259625e-04 9.99970512e-01 8.13134451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.40, Y:-0.71, Z:0.01 [[ 9.97423317e-01 7.13284943e-02 -7.67941704e-03 3.84014913e+01] [-7.13308160e-02 9.97452713e-01 -2.85120412e-05 -7.09541389e-01] [ 7.65782163e-03 5.76217658e-04 9.99970512e-01 9.81704588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.43, Y:-0.72, Z:0.01 [[ 9.97677152e-01 6.76854924e-02 -7.67942158e-03 3.84349584e+01] [-6.76876970e-02 9.97706558e-01 -2.72300725e-05 -7.17142702e-01] [ 7.65996619e-03 5.46969182e-04 9.99970512e-01 1.12907169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.47, Y:-0.72, Z:0.01 [[ 9.97760469e-01 6.64460154e-02 -7.67942619e-03 3.84684109e+01] [-6.64481729e-02 9.97789878e-01 -2.58608689e-05 -7.21434400e-01] [ 7.66073537e-03 5.36086792e-04 9.99970512e-01 1.16297831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.50, Y:-0.73, Z:0.01 [[ 9.97839532e-01 6.52479441e-02 -7.67943059e-03 3.85003617e+01] [-6.52500557e-02 9.97868944e-01 -2.44815269e-05 -7.25454459e-01] [ 7.66146793e-03 5.25511909e-04 9.99970512e-01 1.15902248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:-0.73, Z:0.01 [[ 9.97887313e-01 6.45130756e-02 -7.67943448e-03 3.85319477e+01] [-6.45151557e-02 9.97916727e-01 -2.31927898e-05 -7.32319831e-01] [ 7.66193989e-03 5.18583702e-04 9.99970512e-01 7.19779007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.56, Y:-0.74, Z:0.01 [[ 9.97854171e-01 6.50236818e-02 -7.67943811e-03 3.85636874e+01] [-6.50257672e-02 9.97883585e-01 -2.19203655e-05 -7.36071847e-01] [ 7.66175989e-03 5.21234683e-04 9.99970512e-01 6.84195336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.815898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:38.60, Y:-0.74, Z:0.00 [[ 9.97824367e-01 6.54794576e-02 -7.67944152e-03 3.85957820e+01] [-6.54815468e-02 9.97853780e-01 -2.06557846e-05 -7.39512586e-01] [ 7.66160722e-03 5.23472554e-04 9.99970512e-01 4.88703611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:-0.75, Z:0.01 [[ 9.97640793e-01 6.82193129e-02 -7.67944467e-03 3.86289594e+01] [-6.82214732e-02 9.97670201e-01 -1.94065521e-05 -7.46602459e-01] [ 7.66022921e-03 5.43263797e-04 9.99970512e-01 1.14747318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.66, Y:-0.75, Z:0.01 [[ 9.97497263e-01 7.02868184e-02 -7.67944780e-03 3.86618198e+01] [-7.02890295e-02 9.97526667e-01 -1.80804519e-05 -7.49197779e-01] [ 7.65918315e-03 5.57816134e-04 9.99970512e-01 1.13514411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.69, Y:-0.75, Z:0.01 [[ 9.97194080e-01 7.44647033e-02 -7.67945067e-03 3.86946043e+01] [-7.44670275e-02 9.97223476e-01 -1.67628430e-05 -7.53007260e-01] [ 7.65688025e-03 5.88581672e-04 9.99970512e-01 7.68563119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.73, Y:-0.75, Z:0.01 [[ 9.97032456e-01 7.65983567e-02 -7.67945331e-03 3.87274886e+01] [-7.66007338e-02 9.97061847e-01 -1.54502159e-05 -7.54959381e-01] [ 7.65570644e-03 6.03656126e-04 9.99970512e-01 6.68950511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.76, Y:-0.76, Z:0.01 [[ 9.96877470e-01 7.85896659e-02 -7.67945588e-03 3.87591375e+01] [-7.85920909e-02 9.96906858e-01 -1.40455713e-05 -7.56709940e-01] [ 7.65459840e-03 6.17546208e-04 9.99970512e-01 8.75602859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:-0.76, Z:0.01 [[ 9.96670003e-01 8.11783900e-02 -7.67945899e-03 3.87921808e+01] [-8.11808769e-02 9.96699386e-01 -1.21610301e-05 -7.60687453e-01] [ 7.65312484e-03 6.35545749e-04 9.99970512e-01 1.15688097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.83, Y:-0.76, Z:0.01 [[ 9.96641903e-01 8.15226520e-02 -7.67946039e-03 3.88251750e+01] [-8.15251417e-02 9.96671285e-01 -1.12055864e-05 -7.63595522e-01] [ 7.65298414e-03 6.37237053e-04 9.99970512e-01 1.37240997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.86, Y:-0.76, Z:0.01 [[ 9.96626796e-01 8.17071344e-02 -7.67946220e-03 3.88586270e+01] [-8.17096187e-02 9.96656178e-01 -9.78388797e-06 -7.63688308e-01] [ 7.65298403e-03 6.37236813e-04 9.99970512e-01 1.39814997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:-0.77, Z:0.01 [[ 9.96673633e-01 8.11338117e-02 -7.67946374e-03 3.88901179e+01] [-8.11362683e-02 9.96703018e-01 -8.36241975e-06 -7.66678421e-01] [ 7.65346622e-03 6.31417634e-04 9.99970512e-01 1.46317305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.115898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:38.92, Y:-0.77, Z:0.01 [[ 9.96775302e-01 7.98750429e-02 -7.67946496e-03 3.89220677e+01] [-7.98774521e-02 9.96804691e-01 -7.03647696e-06 -7.69847658e-01] [ 7.65436466e-03 6.20429881e-04 9.99970512e-01 1.12878026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.96, Y:-0.78, Z:0.01 [[ 9.96976659e-01 7.73211897e-02 -7.67946566e-03 3.89551918e+01] [-7.73235170e-02 9.97006055e-01 -6.16443624e-06 -7.76579259e-01] [ 7.65599712e-03 5.99949092e-04 9.99970512e-01 1.17771681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.99, Y:-0.78, Z:0.01 [[ 9.97039276e-01 7.65095265e-02 -7.67946653e-03 3.89873775e+01] [-7.65118190e-02 9.97068674e-01 -4.75856180e-06 -7.79223832e-01] [ 7.65659144e-03 5.92314426e-04 9.99970512e-01 1.13544727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.02, Y:-0.78, Z:0.01 [[ 9.97019958e-01 7.67608609e-02 -7.67946697e-03 3.90194629e+01] [-7.67631542e-02 9.97049356e-01 -3.88119295e-06 -7.82130426e-01] [ 7.65650968e-03 5.93369734e-04 9.99970512e-01 1.31769182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.05, Y:-0.79, Z:0.02 [[ 9.96927091e-01 7.79576911e-02 -7.67946731e-03 3.90519893e+01] [-7.79600131e-02 9.96956487e-01 -3.01590794e-06 -7.85341138e-01] [ 7.65585964e-03 6.01698012e-04 9.99970512e-01 1.60077326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:-0.79, Z:0.02 [[ 9.96594895e-01 8.20953196e-02 -7.67946761e-03 3.90838774e+01] [-8.20977528e-02 9.96624282e-01 -1.62221594e-06 -7.89776681e-01] [ 7.65341071e-03 6.32083726e-04 9.99970512e-01 1.76061232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.12, Y:-0.79, Z:0.02 [[ 9.96426714e-01 8.41119999e-02 -7.67946766e-03 3.91171117e+01] [-8.41144827e-02 9.96456097e-01 -3.20708676e-07 -7.91120976e-01] [ 7.65222540e-03 6.46274012e-04 9.99970512e-01 1.54152112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.15, Y:-0.79, Z:0.01 [[ 9.96229606e-01 8.64152643e-02 -7.67946747e-03 3.91486637e+01] [-8.64178044e-02 9.96258984e-01 1.06904980e-06 -7.92978231e-01] [ 7.65083084e-03 6.62577699e-04 9.99970512e-01 1.25537058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.18, Y:-0.80, Z:0.01 [[ 9.95939749e-01 8.96941595e-02 -7.67946707e-03 3.91815803e+01] [-8.96967863e-02 9.95969119e-01 2.36312902e-06 -7.96202044e-01] [ 7.64872401e-03 6.86469983e-04 9.99970512e-01 1.00650853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.21, Y:-0.80, Z:0.01 [[ 9.95840208e-01 9.07926543e-02 -7.67946640e-03 3.92149792e+01] [-9.07953030e-02 9.95869576e-01 3.74194576e-06 -7.97287121e-01] [ 7.64808669e-03 6.93533099e-04 9.99970512e-01 1.16877287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.415898227 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.25, Y:-0.80, Z:0.01 [[ 9.95858331e-01 9.05936509e-02 -7.67946546e-03 3.92477607e+01] [-9.05962831e-02 9.95887701e-01 5.13894680e-06 -7.97389182e-01] [ 7.64835076e-03 6.90613364e-04 9.99970512e-01 1.16323051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.28, Y:-0.80, Z:0.01 [[ 9.95956646e-01 8.95063456e-02 -7.67946420e-03 3.92792879e+01] [-8.95089344e-02 9.95986019e-01 6.60529947e-06 -7.99535961e-01] [ 7.64923020e-03 6.80802066e-04 9.99970512e-01 1.21690789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.31, Y:-0.80, Z:0.01 [[ 9.95989904e-01 8.91355033e-02 -7.67946278e-03 3.93117217e+01] [-8.91380708e-02 9.96019279e-01 7.97539933e-06 -8.00933865e-01] [ 7.64960387e-03 6.76589080e-04 9.99970512e-01 1.07450061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.34, Y:-0.80, Z:0.01 [[ 9.96027667e-01 8.87125282e-02 -7.67946117e-03 3.93433921e+01] [-8.87150730e-02 9.96057044e-01 9.30602199e-06 -8.01237385e-01] [ 7.65000695e-03 6.72014903e-04 9.99970512e-01 8.98857307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.38, Y:-0.80, Z:0.01 [[ 9.95953314e-01 8.95434055e-02 -7.67945939e-03 3.93755135e+01] [-8.95459650e-02 9.95982691e-01 1.05919875e-05 -7.99254267e-01] [ 7.64955707e-03 6.77115477e-04 9.99970512e-01 8.79895516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.41, Y:-0.80, Z:0.01 [[ 9.95829549e-01 9.09094892e-02 -7.67945815e-03 3.94084525e+01] [-9.09120826e-02 9.95858922e-01 1.14250036e-05 -7.97298526e-01] [ 7.64869556e-03 6.86778178e-04 9.99970512e-01 1.02117505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.595898227 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:39.44, Y:-0.80, Z:0.01 [[ 9.95697896e-01 9.23402669e-02 -7.67945595e-03 3.94418033e+01] [-9.23428923e-02 9.95727267e-01 1.27547970e-05 -7.95556466e-01] [ 7.64782146e-03 6.96443249e-04 9.99970512e-01 7.95213050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.47, Y:-0.79, Z:0.01 [[ 9.95558252e-01 9.38338605e-02 -7.67945347e-03 3.94739552e+01] [-9.38365197e-02 9.95587619e-01 1.41048878e-05 -7.94023781e-01] [ 7.64689231e-03 7.06570949e-04 9.99970512e-01 1.37851248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.51, Y:-0.79, Z:0.01 [[ 9.95628010e-01 9.30907688e-02 -7.67945095e-03 3.95067301e+01] [-9.30933964e-02 9.95657380e-01 1.53643736e-05 -7.92933936e-01] [ 7.64753229e-03 6.99608970e-04 9.99970512e-01 1.40363679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.685898227 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:39.54, Y:-0.79, Z:0.01 [[ 9.95869868e-01 9.04667433e-02 -7.67944789e-03 3.95392981e+01] [-9.04692828e-02 9.95899246e-01 1.67655700e-05 -7.91512495e-01] [ 7.64947309e-03 6.78057817e-04 9.99970512e-01 1.05385194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.57, Y:-0.79, Z:0.02 [[ 9.96602743e-01 8.19999951e-02 -7.67944455e-03 3.95712733e+01] [-8.20022740e-02 9.96632142e-01 1.81751369e-05 -7.92624782e-01] [ 7.65507163e-03 6.11618525e-04 9.99970512e-01 1.57434682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.745898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:39.60, Y:-0.79, Z:0.02 [[ 9.97052374e-01 7.63386548e-02 -7.67944120e-03 3.96039891e+01] [-7.63407566e-02 9.97081786e-01 1.94939142e-05 -7.93891519e-01] [ 7.65851909e-03 5.66817898e-04 9.99970512e-01 1.56491255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.64, Y:-0.80, Z:0.02 [[ 9.97387499e-01 7.18275929e-02 -7.67943742e-03 3.96356246e+01] [-7.18295509e-02 9.97416921e-01 2.08842074e-05 -7.95752895e-01] [ 7.66110090e-03 5.30780894e-04 9.99970512e-01 2.11189525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.67, Y:-0.80, Z:0.02 [[ 9.97681178e-01 6.76261279e-02 -7.67943366e-03 3.96672955e+01] [-6.76279521e-02 9.97710609e-01 2.21862994e-05 -7.96352129e-01] [ 7.66335281e-03 4.97209518e-04 9.99970512e-01 2.32866506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.70, Y:-0.80, Z:0.02 [[ 9.97649650e-01 6.80896689e-02 -7.67942988e-03 3.96993271e+01] [-6.80914973e-02 9.97679080e-01 2.34247298e-05 -7.96378471e-01] [ 7.66320153e-03 4.99534206e-04 9.99970512e-01 2.37712255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.73, Y:-0.80, Z:0.02 [[ 9.97539689e-01 6.96821079e-02 -7.67942594e-03 3.97320895e+01] [-6.96839738e-02 9.97569117e-01 2.46544232e-05 -7.96226323e-01] [ 7.66247612e-03 5.10539150e-04 9.99970512e-01 2.29135222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.895898226999996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:39.77, Y:-0.80, Z:0.02 [[ 9.97445048e-01 7.10239572e-02 -7.67942150e-03 3.97653819e+01] [-7.10258526e-02 9.97474475e-01 2.59670448e-05 -7.95176427e-01] [ 7.66187121e-03 5.19536759e-04 9.99970512e-01 1.86462840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.80, Y:-0.79, Z:0.02 [[ 9.97255087e-01 7.36431849e-02 -7.67941653e-03 3.97970935e+01] [-7.36451469e-02 9.97284509e-01 2.73604061e-05 -7.93703348e-01] [ 7.66057805e-03 5.38266455e-04 9.99970512e-01 1.96705197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.83, Y:-0.79, Z:0.02 [[ 9.97199695e-01 7.43894838e-02 -7.67941169e-03 3.98297931e+01] [-7.43914579e-02 9.97229116e-01 2.86580121e-05 -7.93340223e-01] [ 7.66026479e-03 5.42704871e-04 9.99970512e-01 1.93358849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.86, Y:-0.79, Z:0.02 [[ 9.97199398e-01 7.43934668e-02 -7.67940620e-03 3.98619047e+01] [-7.43954303e-02 9.97228820e-01 3.00616466e-05 -7.93878220e-01] [ 7.66036157e-03 5.41335272e-04 9.99970512e-01 1.80801845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.89, Y:-0.79, Z:0.02 [[ 9.97223677e-01 7.40672971e-02 -7.67940089e-03 3.98947055e+01] [-7.40692409e-02 9.97253101e-01 3.13620201e-05 -7.93860500e-01] [ 7.66062924e-03 5.37532445e-04 9.99970512e-01 1.84167482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.93, Y:-0.79, Z:0.02 [[ 9.97229058e-01 7.39948154e-02 -7.67939493e-03 3.99271849e+01] [-7.39967464e-02 9.97258482e-01 3.27587858e-05 -7.92104964e-01] [ 7.66076571e-03 5.35582226e-04 9.99970512e-01 1.97736942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.96, Y:-0.79, Z:0.02 [[ 9.97211194e-01 7.42351778e-02 -7.67938853e-03 3.99595673e+01] [-7.42371049e-02 9.97240618e-01 3.41954774e-05 -7.89018297e-01] [ 7.66073667e-03 5.35995459e-04 9.99970512e-01 2.01710754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.99, Y:-0.78, Z:0.02 [[ 9.97128377e-01 7.53394106e-02 -7.67938444e-03 3.99925040e+01] [-7.53413634e-02 9.97157800e-01 3.50900139e-05 -7.82357221e-01] [ 7.66020176e-03 5.43586046e-04 9.99970512e-01 1.98097352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.03, Y:-0.78, Z:0.02 [[ 9.97102172e-01 7.56854427e-02 -7.67937763e-03 4.00256945e+01] [-7.56873948e-02 9.97131595e-01 3.65223954e-05 -7.79766020e-01] [ 7.66011428e-03 5.44815527e-04 9.99970512e-01 1.89929584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.06, Y:-0.78, Z:0.02 [[ 9.97285421e-01 7.32312461e-02 -7.67937053e-03 4.00578258e+01] [-7.32331148e-02 9.97314850e-01 3.79593192e-05 -7.75750303e-01] [ 7.66153007e-03 5.24527948e-04 9.99970512e-01 1.64963240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:-0.77, Z:0.02 [[ 9.97469913e-01 7.06739061e-02 -7.67936368e-03 4.00903338e+01] [-7.06756890e-02 9.97499346e-01 3.92977795e-05 -7.74772832e-01] [ 7.66293757e-03 5.03545966e-04 9.99970512e-01 1.65969549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.12, Y:-0.77, Z:0.02 [[ 9.97739934e-01 6.67536709e-02 -7.67935616e-03 4.01224214e+01] [-6.67553272e-02 9.97769374e-01 4.07162605e-05 -7.74490662e-01] [ 7.66494435e-03 4.72013694e-04 9.99970512e-01 1.66871736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.255898226999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.16, Y:-0.78, Z:0.02 [[ 9.98050022e-01 6.19449889e-02 -7.67934890e-03 4.01554934e+01] [-6.19464932e-02 9.98079471e-01 4.20417750e-05 -7.75492243e-01] [ 7.66720476e-03 4.33748940e-04 9.99970512e-01 1.58583114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.285898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:40.19, Y:-0.78, Z:0.02 [[ 9.98504073e-01 5.41354134e-02 -7.67934066e-03 4.01874907e+01] [-5.41366761e-02 9.98533534e-01 4.34964113e-05 -7.79568629e-01] [ 7.67043386e-03 3.72302634e-04 9.99970512e-01 1.87590705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.315898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:40.22, Y:-0.78, Z:0.02 [[ 9.98570902e-01 5.28883871e-02 -7.67933272e-03 4.02207740e+01] [-5.28896026e-02 9.98600364e-01 4.48553742e-05 -7.80594836e-01] [ 7.67095678e-03 3.61365584e-04 9.99970512e-01 2.12555349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.25, Y:-0.78, Z:0.03 [[ 9.98444852e-01 5.52168961e-02 -7.67932420e-03 4.02527573e+01] [-5.52181695e-02 9.98474312e-01 4.62695466e-05 -7.79118357e-01] [ 7.67016281e-03 3.77840635e-04 9.99970512e-01 2.58512729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.375898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.29, Y:-0.78, Z:0.02 [[ 9.98277665e-01 5.81612572e-02 -7.67931878e-03 4.02856030e+01] [-5.81626107e-02 9.98307121e-01 4.71522919e-05 -7.77934657e-01] [ 7.66906106e-03 3.99578149e-04 9.99970512e-01 2.08368451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.405898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.32, Y:-0.78, Z:0.02 [[ 9.97961465e-01 6.33556873e-02 -7.67930993e-03 4.03182233e+01] [-6.33571833e-02 9.97990914e-01 4.85516958e-05 -7.78153094e-01] [ 7.66695757e-03 4.38086726e-04 9.99970512e-01 1.94024700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.35, Y:-0.78, Z:0.03 [[ 9.97229654e-01 7.39867903e-02 -7.67930068e-03 4.03511929e+01] [-7.39885891e-02 9.97259087e-01 4.99739296e-05 -7.77890572e-01] [ 7.66194979e-03 5.18345138e-04 9.99970512e-01 2.59389664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.38, Y:-0.78, Z:0.03 [[ 9.96997769e-01 7.70485371e-02 -7.67929116e-03 4.03831878e+01] [-7.70504154e-02 9.97027197e-01 5.13959311e-05 -7.76306416e-01] [ 7.66042212e-03 5.40450945e-04 9.99970512e-01 2.83214081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.41, Y:-0.77, Z:0.03 [[ 9.96829175e-01 7.91998996e-02 -7.67928212e-03 4.04149696e+01] [-7.92018313e-02 9.96858599e-01 5.27127809e-05 -7.74087551e-01] [ 7.65933327e-03 5.55667569e-04 9.99970512e-01 3.00545568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.525898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:40.45, Y:-0.77, Z:0.03 [[ 9.96782847e-01 7.97808601e-02 -7.67927298e-03 4.04480572e+01] [-7.97827990e-02 9.96812270e-01 5.40131328e-05 -7.72164311e-01] [ 7.65910274e-03 5.58834528e-04 9.99970512e-01 2.59509942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.48, Y:-0.77, Z:0.03 [[ 9.96936036e-01 7.78432399e-02 -7.67926283e-03 4.04798346e+01] [-7.78451108e-02 9.96965464e-01 5.54189699e-05 -7.70875599e-01] [ 7.66027382e-03 5.42543898e-04 9.99970512e-01 2.74677846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.51, Y:-0.77, Z:0.03 [[ 9.97149135e-01 7.50641853e-02 -7.67925642e-03 4.05121349e+01] [-7.50659675e-02 9.97178568e-01 5.62932623e-05 -7.70306306e-01] [ 7.66181553e-03 5.20318035e-04 9.99970512e-01 2.54859601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.54, Y:-0.77, Z:0.02 [[ 9.97367275e-01 7.21078838e-02 -7.67925323e-03 4.05446841e+01] [-7.21095754e-02 9.97396714e-01 5.67251850e-05 -7.69471489e-01] [ 7.66335228e-03 4.97171847e-04 9.99970512e-01 2.42930153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.58, Y:-0.77, Z:0.02 [[ 9.97750778e-01 6.65913963e-02 -7.67924250e-03 4.05764560e+01] [-6.65929142e-02 9.97780227e-01 5.81421660e-05 -7.66577204e-01] [ 7.66606809e-03 4.53371746e-04 9.99970512e-01 2.45207095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.61, Y:-0.77, Z:0.03 [[ 9.97898603e-01 6.43382203e-02 -7.67923225e-03 4.06088593e+01] [-6.43396616e-02 9.97928056e-01 5.94659442e-05 -7.65492169e-01] [ 7.66714724e-03 4.34738222e-04 9.99970512e-01 2.58009099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.64, Y:-0.77, Z:0.03 [[ 9.97990399e-01 6.28982712e-02 -7.67922192e-03 4.06421944e+01] [-6.28996599e-02 9.98019854e-01 6.07721172e-05 -7.65110826e-01] [ 7.66783840e-03 4.22370458e-04 9.99970512e-01 2.67938992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.68, Y:-0.76, Z:0.03 [[ 9.98056388e-01 6.18423536e-02 -7.67921065e-03 4.06752450e+01] [-6.18437005e-02 9.98085844e-01 6.21637931e-05 -7.63152552e-01] [ 7.66835580e-03 4.12867833e-04 9.99970512e-01 2.70417254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.71, Y:-0.76, Z:0.03 [[ 9.98039695e-01 6.21111726e-02 -7.67919889e-03 4.07074240e+01] [-6.21125165e-02 9.98069152e-01 6.35845213e-05 -7.61757071e-01] [ 7.66832083e-03 4.13514491e-04 9.99970512e-01 2.78305695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.74, Y:-0.76, Z:0.03 [[ 9.97895478e-01 6.43866827e-02 -7.67918763e-03 4.07402594e+01] [-6.43880836e-02 9.97924932e-01 6.49162718e-05 -7.57947263e-01] [ 7.66743254e-03 4.29668521e-04 9.99970512e-01 2.55799407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.77, Y:-0.76, Z:0.03 [[ 9.97768106e-01 6.63312617e-02 -7.67917502e-03 4.07722186e+01] [-6.63327088e-02 9.97797558e-01 6.63745917e-05 -7.56488382e-01] [ 7.66666480e-03 4.43154030e-04 9.99970512e-01 2.51986405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.80, Y:-0.76, Z:0.02 [[ 9.97622262e-01 6.84898021e-02 -7.67916309e-03 4.08046648e+01] [-6.84913026e-02 9.97651711e-01 6.77276406e-05 -7.55495776e-01] [ 7.66576885e-03 4.58389281e-04 9.99970512e-01 2.46160528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.84, Y:-0.75, Z:0.03 [[ 9.97429123e-01 7.12472787e-02 -7.67915515e-03 4.08375192e+01] [-7.12488538e-02 9.97458569e-01 6.86158271e-05 -7.52719401e-01] [ 7.66452780e-03 4.78691578e-04 9.99970512e-01 2.61294484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.87, Y:-0.75, Z:0.03 [[ 9.97346290e-01 7.23975794e-02 -7.67914232e-03 4.08696873e+01] [-7.23991776e-02 9.97375734e-01 7.00233239e-05 -7.51182827e-01] [ 7.66405972e-03 4.86126086e-04 9.99970513e-01 2.78557281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.90, Y:-0.75, Z:0.03 [[ 9.97246126e-01 7.37644516e-02 -7.67913014e-03 4.09024619e+01] [-7.37660801e-02 9.97275569e-01 7.13340230e-05 -7.49725513e-01] [ 7.66347080e-03 4.95321751e-04 9.99970513e-01 2.95407629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:-0.75, Z:0.03 [[ 9.97232895e-01 7.39431165e-02 -7.67911709e-03 4.09359187e+01] [-7.39447397e-02 9.97262338e-01 7.27121269e-05 -7.50195435e-01] [ 7.66347083e-03 4.95319390e-04 9.99970513e-01 2.97981649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.005898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.97, Y:-0.75, Z:0.03 [[ 9.97126589e-01 7.53631051e-02 -7.67910382e-03 4.09687399e+01] [-7.53647597e-02 9.97156030e-01 7.40878705e-05 -7.49260693e-01] [ 7.66284817e-03 5.04858829e-04 9.99970513e-01 3.09259087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:-0.75, Z:0.03 [[ 9.96905377e-01 7.82349037e-02 -7.67909015e-03 4.10017266e+01] [-7.82366324e-02 9.96934814e-01 7.54787626e-05 -7.47853634e-01] [ 7.66145739e-03 5.25540969e-04 9.99970513e-01 3.18484871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.03, Y:-0.75, Z:0.03 [[ 9.96806394e-01 7.94861239e-02 -7.67907601e-03 4.10348640e+01] [-7.94878788e-02 9.96835830e-01 7.68914193e-05 -7.47036192e-01] [ 7.66088990e-03 5.33747604e-04 9.99970513e-01 3.18116319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.07, Y:-0.75, Z:0.03 [[ 9.96723132e-01 8.05234746e-02 -7.67906165e-03 4.10668839e+01] [-8.05252493e-02 9.96752566e-01 7.82991273e-05 -7.45919043e-01] [ 7.66042932e-03 5.40315803e-04 9.99970513e-01 3.16305938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.10, Y:-0.74, Z:0.03 [[ 9.96546026e-01 8.26864611e-02 -7.67904809e-03 4.11002181e+01] [-8.26882896e-02 9.96575456e-01 7.96073388e-05 -7.44440007e-01] [ 7.65933330e-03 5.55634975e-04 9.99970513e-01 3.28996881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:-0.74, Z:0.03 [[ 9.96442851e-01 8.39206586e-02 -7.67903314e-03 4.11320829e+01] [-8.39225128e-02 9.96472280e-01 8.10237200e-05 -7.44665502e-01] [ 7.65874323e-03 5.63708250e-04 9.99970513e-01 3.37896817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.16, Y:-0.74, Z:0.03 [[ 9.96376378e-01 8.47062345e-02 -7.67901896e-03 4.11646112e+01] [-8.47081017e-02 9.96405806e-01 8.23460971e-05 -7.44524973e-01] [ 7.65839431e-03 5.68427413e-04 9.99970513e-01 3.38302333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.20, Y:-0.74, Z:0.03 [[ 9.96298375e-01 8.56188106e-02 -7.67900451e-03 4.11968870e+01] [-8.56206946e-02 9.96327802e-01 8.36727229e-05 -7.43316384e-01] [ 7.65796965e-03 5.74118702e-04 9.99970513e-01 3.08735376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.23, Y:-0.74, Z:0.03 [[ 9.96258961e-01 8.60762157e-02 -7.67899541e-03 4.12295252e+01] [-8.60781069e-02 9.96288388e-01 8.44995223e-05 -7.43670367e-01] [ 7.65776736e-03 5.76809981e-04 9.99970513e-01 3.04790045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.26, Y:-0.74, Z:0.03 [[ 9.96260385e-01 8.60597387e-02 -7.67898060e-03 4.12629253e+01] [-8.60616192e-02 9.96289812e-01 8.58248501e-05 -7.44201842e-01] [ 7.65787620e-03 5.75361606e-04 9.99970513e-01 3.10620866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.30, Y:-0.74, Z:0.03 [[ 9.96299172e-01 8.56095374e-02 -7.67896489e-03 4.12951473e+01] [-8.56113940e-02 9.96328601e-01 8.72078844e-05 -7.44643317e-01] [ 7.65823818e-03 5.70521746e-04 9.99970513e-01 3.40367066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.33, Y:-0.74, Z:0.03 [[ 9.96322791e-01 8.53342274e-02 -7.67895002e-03 4.13272562e+01] [-8.53360660e-02 9.96352221e-01 8.84983599e-05 -7.44935504e-01] [ 7.65849084e-03 5.67118453e-04 9.99970513e-01 3.45781927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.36, Y:-0.75, Z:0.03 [[ 9.96396037e-01 8.44746753e-02 -7.67894045e-03 4.13601003e+01] [-8.44764822e-02 9.96425469e-01 8.93210928e-05 -7.45081049e-01] [ 7.65903721e-03 5.59690693e-04 9.99970513e-01 3.23327520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.39, Y:-0.75, Z:0.03 [[ 9.96386664e-01 8.45851655e-02 -7.67892404e-03 4.13922287e+01] [-8.45869650e-02 9.96416096e-01 9.07105327e-05 -7.46479092e-01] [ 7.65907628e-03 5.59154113e-04 9.99970513e-01 3.31675340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.42, Y:-0.75, Z:0.03 [[ 9.96379056e-01 8.46747385e-02 -7.67891368e-03 4.14249717e+01] [-8.46765339e-02 9.96408489e-01 9.15787448e-05 -7.48661353e-01] [ 7.65908918e-03 5.58976652e-04 9.99970513e-01 3.42258206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:-0.75, Z:0.04 [[ 9.96382288e-01 8.46366973e-02 -7.67889651e-03 4.14567917e+01] [-8.46384808e-02 9.96411722e-01 9.29969114e-05 -7.51765206e-01] [ 7.65921344e-03 5.57269659e-04 9.99970513e-01 3.67264817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.49, Y:-0.76, Z:0.04 [[ 9.96579579e-01 8.22810945e-02 -7.67888025e-03 4.14896803e+01] [-8.22827982e-02 9.96609017e-01 9.43202220e-05 -7.57062169e-01] [ 7.66060207e-03 5.37842147e-04 9.99970513e-01 3.80249782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.52, Y:-0.76, Z:0.04 [[ 9.96654550e-01 8.13679530e-02 -7.67886301e-03 4.15213359e+01] [-8.13696192e-02 9.96683990e-01 9.57036746e-05 -7.60067707e-01] [ 7.66118704e-03 5.29442656e-04 9.99970513e-01 3.63436766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.55, Y:-0.77, Z:0.03 [[ 9.96708589e-01 8.07033135e-02 -7.67884667e-03 4.15532357e+01] [-8.07049502e-02 9.96738031e-01 9.69974548e-05 -7.66946693e-01] [ 7.66162652e-03 5.23042741e-04 9.99970513e-01 3.37411692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:-0.77, Z:0.03 [[ 9.96653124e-01 8.13854207e-02 -7.67883047e-03 4.15865633e+01] [-8.13870678e-02 9.96682565e-01 9.82631825e-05 -7.71417702e-01] [ 7.66135364e-03 5.27023188e-04 9.99970513e-01 3.34874614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.62, Y:-0.78, Z:0.03 [[ 9.96550540e-01 8.26320612e-02 -7.67881304e-03 4.16181857e+01] [-8.26337348e-02 9.96579980e-01 9.96066941e-05 -7.76092930e-01] [ 7.66078205e-03 5.35265896e-04 9.99970513e-01 3.39581040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.65, Y:-0.78, Z:0.03 [[ 9.96383094e-01 8.46272198e-02 -7.67879655e-03 4.16499503e+01] [-8.46289427e-02 9.96412531e-01 1.00862062e-04 -7.80457613e-01] [ 7.65978478e-03 5.49351180e-04 9.99970513e-01 3.47184760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:-0.79, Z:0.04 [[ 9.95860870e-01 9.05657963e-02 -7.67877994e-03 4.16825598e+01] [-9.05676851e-02 9.95890297e-01 1.02111677e-04 -7.85500000e-01] [ 7.65647026e-03 5.93760299e-04 9.99970513e-01 3.51813981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:-0.79, Z:0.03 [[ 9.95468702e-01 9.47792175e-02 -7.67876220e-03 4.17147436e+01] [-9.47812207e-02 9.95498121e-01 1.03428090e-04 -7.86529014e-01] [ 7.65399618e-03 6.24843029e-04 9.99970513e-01 3.39459888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.75, Y:-0.79, Z:0.03 [[ 9.95025672e-01 9.93224457e-02 -7.67874549e-03 4.17472543e+01] [-9.93245738e-02 9.95055083e-01 1.04654324e-04 -7.87134286e-01] [ 7.65116926e-03 6.58554385e-04 9.99970513e-01 3.19655975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.755898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.78, Y:-0.79, Z:0.03 [[ 9.94082874e-01 1.08352558e-01 -7.67872750e-03 4.17801267e+01] [-1.08354943e-01 9.94112265e-01 1.05958119e-04 -7.85820970e-01] [ 7.64499802e-03 7.26696927e-04 9.99970513e-01 2.96455431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.81, Y:-0.79, Z:0.03 [[ 9.93707783e-01 1.11740236e-01 -7.67870824e-03 4.18117673e+01] [-1.11742711e-01 9.93737166e-01 1.07336366e-04 -7.85035867e-01] [ 7.64261155e-03 7.51378694e-04 9.99970513e-01 2.91650995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:-0.78, Z:0.03 [[ 9.93524817e-01 1.13355524e-01 -7.67869619e-03 4.18451315e+01] [-1.13358040e-01 9.93554197e-01 1.08191261e-04 -7.83595842e-01] [ 7.64146491e-03 7.62951248e-04 9.99970513e-01 2.96581260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:-0.78, Z:0.03 [[ 9.93476652e-01 1.13776885e-01 -7.67867674e-03 4.18780935e+01] [-1.13779403e-01 9.93506032e-01 1.09554740e-04 -7.82080031e-01] [ 7.64127645e-03 7.64835180e-04 9.99970513e-01 3.00678093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.91, Y:-0.78, Z:0.03 [[ 9.93654039e-01 1.12217155e-01 -7.67865620e-03 4.19100630e+01] [-1.12219616e-01 9.93683423e-01 1.10976059e-04 -7.78435159e-01] [ 7.64260679e-03 7.51424038e-04 9.99970513e-01 3.18631270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:-0.78, Z:0.03 [[ 9.93797516e-01 1.10939330e-01 -7.67863679e-03 4.19426658e+01] [-1.10941743e-01 9.93826905e-01 1.12302617e-04 -7.76759498e-01] [ 7.64369462e-03 7.40275286e-04 9.99970513e-01 3.49888912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.97, Y:-0.77, Z:0.04 [[ 9.93970496e-01 1.09378661e-01 -7.67861651e-03 4.19737635e+01] [-1.09381018e-01 9.93999889e-01 1.13672843e-04 -7.74962332e-01] [ 7.64497734e-03 7.26907437e-04 9.99970513e-01 3.85163059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.01, Y:-0.77, Z:0.04 [[ 9.94178809e-01 1.07468765e-01 -7.67859994e-03 4.20066045e+01] [-1.07471057e-01 9.94208207e-01 1.14781502e-04 -7.73302487e-01] [ 7.64646250e-03 7.11113912e-04 9.99970513e-01 4.12370009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.04, Y:-0.77, Z:0.04 [[ 9.94706275e-01 1.02471784e-01 -7.67857934e-03 4.20389081e+01] [-1.02473917e-01 9.94735685e-01 1.16143174e-04 -7.69722751e-01] [ 7.65005828e-03 6.71325756e-04 9.99970513e-01 3.97969324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.07, Y:-0.77, Z:0.04 [[ 9.94907234e-01 1.00501915e-01 -7.67856641e-03 4.20722975e+01] [-1.00503984e-01 9.94936649e-01 1.16991560e-04 -7.68999391e-01] [ 7.65144501e-03 6.55330763e-04 9.99970513e-01 3.72979324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:-0.77, Z:0.04 [[ 9.95103249e-01 9.85421963e-02 -7.67854551e-03 4.21054925e+01] [-9.85441964e-02 9.95132668e-01 1.18347696e-04 -7.67794623e-01] [ 7.65283373e-03 6.38907921e-04 9.99970513e-01 3.59503935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.14, Y:-0.77, Z:0.04 [[ 9.95141333e-01 9.81568486e-02 -7.67852386e-03 4.21377405e+01] [-9.81588267e-02 9.95170754e-01 1.19736084e-04 -7.67492971e-01] [ 7.65319530e-03 6.34560567e-04 9.99970513e-01 3.70940859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.17, Y:-0.77, Z:0.04 [[ 9.95196176e-01 9.75992423e-02 -7.67850343e-03 4.21707218e+01] [-9.76011939e-02 9.95225599e-01 1.21032225e-04 -7.67572429e-01] [ 7.65365583e-03 6.28980295e-04 9.99970513e-01 3.84292829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.20, Y:-0.77, Z:0.04 [[ 9.95241034e-01 9.71407523e-02 -7.67848087e-03 4.22026519e+01] [-9.71426795e-02 9.95270458e-01 1.22446802e-04 -7.67611748e-01] [ 7.65405975e-03 6.24044125e-04 9.99970513e-01 3.96178159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.24, Y:-0.77, Z:0.04 [[ 9.95214169e-01 9.74155994e-02 -7.67845949e-03 4.22359593e+01] [-9.74175246e-02 9.95243594e-01 1.23773329e-04 -7.66834962e-01] [ 7.65399507e-03 6.24835546e-04 9.99970513e-01 3.96029722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.27, Y:-0.77, Z:0.04 [[ 9.95129429e-01 9.82774718e-02 -7.67843682e-03 4.22685002e+01] [-9.82794118e-02 9.95158852e-01 1.25164423e-04 -7.66993100e-01] [ 7.65356521e-03 6.30077453e-04 9.99970513e-01 3.85604842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.30, Y:-0.77, Z:0.04 [[ 9.95035529e-01 9.92236764e-02 -7.67841382e-03 4.23003389e+01] [-9.92256337e-02 9.95064951e-01 1.26559798e-04 -7.67285389e-01] [ 7.65307820e-03 6.35963981e-04 9.99970513e-01 3.54532317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.33, Y:-0.77, Z:0.03 [[ 9.94840981e-01 1.01155653e-01 -7.67824812e-03 4.23311341e+01] [-1.01157591e-01 9.94870405e-01 1.36482752e-04 -7.68063101e-01] [ 7.65266782e-03 6.40934452e-04 9.99970513e-01 3.11696385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:-0.77, Z:0.03 [[ 9.94675927e-01 1.02765960e-01 -7.67837051e-03 4.23638449e+01] [-1.02768002e-01 9.94705344e-01 1.29209862e-04 -7.66709219e-01] [ 7.65099456e-03 6.60568854e-04 9.99970513e-01 2.77788446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.40, Y:-0.77, Z:0.03 [[ 9.94473344e-01 1.04708216e-01 -7.67836314e-03 4.23964909e+01] [-1.04710312e-01 9.94502757e-01 1.29646235e-04 -7.65453615e-01] [ 7.64972834e-03 6.75074078e-04 9.99970513e-01 2.97138756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.43, Y:-0.76, Z:0.03 [[ 9.94245320e-01 1.06851702e-01 -7.67833958e-03 4.24287792e+01] [-1.06853850e-01 9.94274729e-01 1.31026999e-04 -7.64263237e-01] [ 7.64837947e-03 6.90187167e-04 9.99970513e-01 3.37672904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.46, Y:-0.76, Z:0.04 [[ 9.93972222e-01 1.09362987e-01 -7.67842553e-03 4.24620105e+01] [-1.09365248e-01 9.94001623e-01 1.26013241e-04 -7.60772193e-01] [ 7.64614863e-03 7.14499254e-04 9.99970513e-01 3.81635868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.49, Y:-0.76, Z:0.04 [[ 9.93893113e-01 1.10079619e-01 -7.67831228e-03 4.24936002e+01] [-1.10081851e-01 9.93922516e-01 1.32572718e-04 -7.58892107e-01] [ 7.64624102e-03 7.13479718e-04 9.99970513e-01 3.80975847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.53, Y:-0.76, Z:0.04 [[ 9.93877290e-01 1.10222395e-01 -7.67829690e-03 4.25268263e+01] [-1.10224625e-01 9.93906693e-01 1.33457677e-04 -7.56395799e-01] [ 7.64622070e-03 7.13696840e-04 9.99970513e-01 3.83416310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.56, Y:-0.75, Z:0.04 [[ 9.93956120e-01 1.09509247e-01 -7.67827257e-03 4.25595897e+01] [-1.09511445e-01 9.93985526e-01 1.34842751e-04 -7.50934847e-01] [ 7.64685833e-03 7.06830950e-04 9.99970513e-01 3.91650640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.505898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.59, Y:-0.75, Z:0.04 [[ 9.94051659e-01 1.08638589e-01 -7.67824799e-03 4.25921795e+01] [-1.08640751e-01 9.94081068e-01 1.36228258e-04 -7.49365704e-01] [ 7.64760061e-03 6.98752699e-04 9.99970513e-01 3.99637280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:-0.75, Z:0.04 [[ 9.94473223e-01 1.04709376e-01 -7.67822299e-03 4.26253600e+01] [-1.04711410e-01 9.94502640e-01 1.37623376e-04 -7.45721572e-01] [ 7.65042349e-03 6.67134796e-04 9.99970513e-01 4.22186503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.66, Y:-0.75, Z:0.04 [[ 9.94682476e-01 1.02702569e-01 -7.67819756e-03 4.26574831e+01] [-1.02704533e-01 9.94711898e-01 1.39027464e-04 -7.45267053e-01] [ 7.65187295e-03 6.50297515e-04 9.99970513e-01 4.36546963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.69, Y:-0.75, Z:0.04 [[ 9.94836044e-01 1.01204202e-01 -7.67817356e-03 4.26890670e+01] [-1.01206113e-01 9.94865470e-01 1.40340483e-04 -7.46499570e-01] [ 7.65295280e-03 6.37462328e-04 9.99970513e-01 4.41187683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.72, Y:-0.75, Z:0.04 [[ 9.95147926e-01 9.80900162e-02 -7.67814994e-03 4.27218617e+01] [-9.80918245e-02 9.95177358e-01 1.41620960e-04 -7.50108423e-01] [ 7.65501258e-03 6.12229932e-04 9.99970513e-01 4.38057889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.75, Y:-0.75, Z:0.04 [[ 9.95283676e-01 9.67028957e-02 -7.67812412e-03 4.27537004e+01] [-9.67046524e-02 9.95313111e-01 1.43007420e-04 -7.51651568e-01] [ 7.65596684e-03 6.00177374e-04 9.99970513e-01 4.33963520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.79, Y:-0.75, Z:0.04 [[ 9.95344147e-01 9.60784854e-02 -7.67809972e-03 4.27859671e+01] [-9.60802137e-02 9.95373584e-01 1.44305530e-04 -7.52730067e-01] [ 7.65644230e-03 5.94079798e-04 9.99970513e-01 4.32645027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.82, Y:-0.75, Z:0.04 [[ 9.95346424e-01 9.60548983e-02 -7.67807527e-03 4.28188505e+01] [-9.60566160e-02 9.95375861e-01 1.45595141e-04 -7.53982629e-01] [ 7.65655591e-03 5.92612324e-04 9.99970513e-01 4.14231712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.85, Y:-0.76, Z:0.04 [[ 9.95313076e-01 9.63998333e-02 -7.67804883e-03 4.28508959e+01] [-9.64015506e-02 9.95342514e-01 1.46976605e-04 -7.56930585e-01] [ 7.65645694e-03 5.93888076e-04 9.99970513e-01 3.78878683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.88, Y:-0.76, Z:0.04 [[ 9.95234438e-01 9.72083355e-02 -7.67802402e-03 4.28825448e+01] [-9.72100668e-02 9.95263875e-01 1.48261426e-04 -7.58817703e-01] [ 7.65607218e-03 5.98826351e-04 9.99970513e-01 3.73271254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.92, Y:-0.76, Z:0.04 [[ 9.95073227e-01 9.88449339e-02 -7.67800786e-03 4.29152790e+01] [-9.88467073e-02 9.95102661e-01 1.49093595e-04 -7.60220093e-01] [ 7.65514320e-03 6.10586750e-04 9.99970513e-01 3.74429866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.95, Y:-0.76, Z:0.04 [[ 9.94613691e-01 1.03366603e-01 -7.67798050e-03 4.29487298e+01] [-1.03368499e-01 9.94643117e-01 1.50489114e-04 -7.61891235e-01] [ 7.65240601e-03 6.43982790e-04 9.99970513e-01 3.83585782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.98, Y:-0.76, Z:0.04 [[ 9.94397016e-01 1.05430654e-01 -7.67796841e-03 4.29820313e+01] [-1.05432607e-01 9.94426439e-01 1.51103657e-04 -7.62296994e-01] [ 7.65110574e-03 6.59251198e-04 9.99970513e-01 3.89364198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.02, Y:-0.76, Z:0.04 [[ 9.94377624e-01 1.05613399e-01 -7.67794035e-03 4.30154849e+01] [-1.05615346e-01 9.94407047e-01 1.52516333e-04 -7.63099854e-01] [ 7.65110576e-03 6.59249498e-04 9.99970513e-01 3.91938197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.05, Y:-0.76, Z:0.04 [[ 9.94261203e-01 1.06703847e-01 -7.67791206e-03 4.30487650e+01] [-1.06705815e-01 9.94290624e-01 1.53927309e-04 -7.62462092e-01] [ 7.65050061e-03 6.66233916e-04 9.99970513e-01 3.94119854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.08, Y:-0.76, Z:0.04 [[ 9.94197167e-01 1.07298847e-01 -7.67788272e-03 4.30805818e+01] [-1.07300822e-01 9.94226589e-01 1.55377253e-04 -7.58342030e-01] [ 7.65022694e-03 6.69367503e-04 9.99970513e-01 3.86541945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.11, Y:-0.76, Z:0.04 [[ 9.94198671e-01 1.07284915e-01 -7.67785510e-03 4.31122494e+01] [-1.07286880e-01 9.94228093e-01 1.56730072e-04 -7.56782059e-01] [ 7.65035401e-03 6.67912286e-04 9.99970513e-01 4.15831938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.14, Y:-0.76, Z:0.04 [[ 9.94258422e-01 1.06729755e-01 -7.67782834e-03 4.31443556e+01] [-1.06731693e-01 9.94287846e-01 1.58030375e-04 -7.55873631e-01] [ 7.65083794e-03 6.62344588e-04 9.99970513e-01 4.39483110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.045898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.18, Y:-0.75, Z:0.04 [[ 9.94605872e-01 1.03441812e-01 -7.67790780e-03 4.31776548e+01] [-1.03443682e-01 9.94635300e-01 1.54180486e-04 -7.54140764e-01] [ 7.65266684e-03 6.40882238e-04 9.99970513e-01 4.39552276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.21, Y:-0.75, Z:0.05 [[ 9.94812889e-01 1.01431585e-01 -7.67779695e-03 4.32096256e+01] [-1.01433355e-01 9.94842324e-01 1.59515853e-04 -7.54673764e-01] [ 7.65437731e-03 6.20096274e-04 9.99970513e-01 4.50518722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.24, Y:-0.75, Z:0.05 [[ 9.94999253e-01 9.95868385e-02 -7.67776933e-03 4.32424193e+01] [-9.95885439e-02 9.95028691e-01 1.60834344e-04 -7.54832818e-01] [ 7.65561775e-03 6.04587816e-04 9.99970513e-01 4.54269985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.135898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.27, Y:-0.75, Z:0.05 [[ 9.95225669e-01 9.72981021e-02 -7.67773907e-03 4.32736401e+01] [-9.72997288e-02 9.95255111e-01 1.62266420e-04 -7.54536112e-01] [ 7.65709726e-03 5.85550223e-04 9.99970513e-01 5.00381854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.30, Y:-0.75, Z:0.05 [[ 9.95282241e-01 9.67176982e-02 -7.67771436e-03 4.33045324e+01] [-9.67192988e-02 9.95311685e-01 1.63427309e-04 -7.54993123e-01] [ 7.65752513e-03 5.79926850e-04 9.99970513e-01 5.16632707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.34, Y:-0.76, Z:0.05 [[ 9.95290850e-01 9.66290708e-02 -7.67769949e-03 4.33368237e+01] [-9.66306634e-02 9.95320294e-01 1.64122784e-04 -7.55995579e-01] [ 7.65762915e-03 5.78551290e-04 9.99970513e-01 5.13356651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:-0.76, Z:0.05 [[ 9.95249425e-01 9.70548075e-02 -7.67767138e-03 4.33702410e+01] [-9.70564027e-02 9.95278869e-01 1.65427563e-04 -7.57536041e-01] [ 7.65747963e-03 5.80525478e-04 9.99970513e-01 5.01301860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.255898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.40, Y:-0.76, Z:0.05 [[ 9.95125544e-01 9.83168675e-02 -7.67764094e-03 4.34017956e+01] [-9.83184893e-02 9.95154986e-01 1.66828206e-04 -7.59832030e-01] [ 7.65684469e-03 5.88839050e-04 9.99970513e-01 4.80984570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:-0.76, Z:0.05 [[ 9.94993591e-01 9.96433999e-02 -7.67761232e-03 4.34335548e+01] [-9.96450510e-02 9.95023033e-01 1.68135039e-04 -7.60542250e-01] [ 7.65615464e-03 5.97742785e-04 9.99970513e-01 4.82538508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.47, Y:-0.76, Z:0.05 [[ 9.94852333e-01 1.01044004e-01 -7.67758387e-03 4.34660543e+01] [-1.01045687e-01 9.94881772e-01 1.69424374e-04 -7.60359437e-01] [ 7.65540756e-03 6.07234503e-04 9.99970513e-01 4.71038723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:-0.76, Z:0.04 [[ 9.94402654e-01 1.05377501e-01 -7.67755181e-03 4.34978748e+01] [-1.05379301e-01 9.94432086e-01 1.70864819e-04 -7.61941049e-01] [ 7.65280917e-03 6.39146612e-04 9.99970513e-01 4.45836309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.53, Y:-0.76, Z:0.04 [[ 9.94209333e-01 1.07186092e-01 -7.67752173e-03 4.35308741e+01] [-1.07187935e-01 9.94238763e-01 1.72205964e-04 -7.63827692e-01] [ 7.65174779e-03 6.51728924e-04 9.99970513e-01 4.34932109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.56, Y:-0.77, Z:0.04 [[ 9.94054407e-01 1.08613503e-01 -7.67748992e-03 4.35641846e+01] [-1.08615377e-01 9.94083834e-01 1.73612707e-04 -7.65502513e-01] [ 7.65092530e-03 6.61312989e-04 9.99970513e-01 4.22112917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.435898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:43.60, Y:-0.77, Z:0.04 [[ 9.93956023e-01 1.09510186e-01 -7.67745744e-03 4.35959489e+01] [-1.09512076e-01 9.93985450e-01 1.75037350e-04 -7.66442654e-01] [ 7.65044936e-03 6.66794874e-04 9.99970513e-01 4.11492542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.63, Y:-0.77, Z:0.04 [[ 9.93919029e-01 1.09845439e-01 -7.67742692e-03 4.36282143e+01] [-1.09847329e-01 9.93948456e-01 1.76366037e-04 -7.67096429e-01] [ 7.65033964e-03 6.68051279e-04 9.99970513e-01 3.67908168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.495898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.66, Y:-0.77, Z:0.03 [[ 9.93963893e-01 1.09438732e-01 -7.67739973e-03 4.36604941e+01] [-1.09440601e-01 9.93993322e-01 1.77541776e-04 -7.68591593e-01] [ 7.65071400e-03 6.63749128e-04 9.99970513e-01 3.48645590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.69, Y:-0.77, Z:0.03 [[ 9.93996869e-01 1.09138825e-01 -7.67737154e-03 4.36926393e+01] [-1.09140675e-01 9.94026298e-01 1.78752590e-04 -7.69809299e-01] [ 7.65101805e-03 6.60233999e-04 9.99970513e-01 3.42030636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.73, Y:-0.77, Z:0.04 [[ 9.93669313e-01 1.12081911e-01 -7.67734107e-03 4.37252300e+01] [-1.12083839e-01 9.93698737e-01 1.80051494e-04 -7.67945112e-01] [ 7.64914465e-03 6.81594217e-04 9.99970513e-01 3.91594066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.585898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:43.76, Y:-0.77, Z:0.04 [[ 9.93292811e-01 1.15370923e-01 -7.67731225e-03 4.37571977e+01] [-1.15372939e-01 9.93322230e-01 1.81272278e-04 -7.65410028e-01] [ 7.64695847e-03 7.05697625e-04 9.99970513e-01 4.02580062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.79, Y:-0.76, Z:0.04 [[ 9.92787959e-01 1.19637482e-01 -7.67728125e-03 4.37903415e+01] [-1.19639614e-01 9.92817370e-01 1.82575665e-04 -7.63583780e-01] [ 7.64398107e-03 7.37248042e-04 9.99970513e-01 4.36769482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.82, Y:-0.76, Z:0.04 [[ 9.91891046e-01 1.26859027e-01 -7.67724801e-03 4.38228715e+01] [-1.26861363e-01 9.91920441e-01 1.83963163e-04 -7.56348492e-01] [ 7.63855661e-03 7.91474732e-04 9.99970513e-01 4.33569681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.86, Y:-0.75, Z:0.04 [[ 9.91560146e-01 1.29420003e-01 -7.67721687e-03 4.38563128e+01] [-1.29422405e-01 9.91589535e-01 1.85253540e-04 -7.52159544e-01] [ 7.63662342e-03 8.09913843e-04 9.99970513e-01 4.35160846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.89, Y:-0.74, Z:0.05 [[ 9.91408824e-01 1.30574134e-01 -7.67718377e-03 4.38891770e+01] [-1.30576559e-01 9.91438212e-01 1.86615388e-04 -7.41670735e-01] [ 7.63582049e-03 8.17448100e-04 9.99970513e-01 4.59593375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.735898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:43.92, Y:-0.74, Z:0.04 [[ 9.91585603e-01 1.29224820e-01 -7.67714853e-03 4.39214144e+01] [-1.29227195e-01 9.91614994e-01 1.88053759e-04 -7.36785072e-01] [ 7.63707681e-03 8.05624969e-04 9.99970513e-01 4.46195706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.95, Y:-0.73, Z:0.05 [[ 9.91865848e-01 1.27055897e-01 -7.67711537e-03 4.39536810e+01] [-1.27058197e-01 9.91895246e-01 1.89397793e-04 -7.34090947e-01] [ 7.63895835e-03 7.87583235e-04 9.99970513e-01 4.85432297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.99, Y:-0.73, Z:0.05 [[ 9.92822832e-01 1.19347752e-01 -7.67709383e-03 4.39865057e+01] [-1.19349816e-01 9.92852247e-01 1.90267301e-04 -7.27413607e-01] [ 7.64492783e-03 7.27358017e-04 9.99970513e-01 4.89644471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.02, Y:-0.72, Z:0.05 [[ 9.93310926e-01 1.15214873e-01 -7.67707889e-03 4.40198987e+01] [-1.15216811e-01 9.93340350e-01 1.90868168e-04 -7.24747584e-01] [ 7.64794308e-03 6.94937110e-04 9.99970513e-01 4.83894447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.05, Y:-0.72, Z:0.05 [[ 9.93743529e-01 1.11421993e-01 -7.67706373e-03 4.40532886e+01] [-1.11423814e-01 9.93772960e-01 1.91475740e-04 -7.22673038e-01] [ 7.65059296e-03 6.65129945e-04 9.99970513e-01 4.83633317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.09, Y:-0.72, Z:0.05 [[ 9.94111207e-01 1.08092419e-01 -7.67702853e-03 4.40857161e+01] [-1.08094131e-01 9.94140645e-01 1.92876943e-04 -7.21424801e-01] [ 7.65289463e-03 6.38100596e-04 9.99970513e-01 4.93536256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:-0.72, Z:0.05 [[ 9.94613582e-01 1.03367722e-01 -7.67699545e-03 4.41184029e+01] [-1.03369283e-01 9.94643028e-01 1.94184804e-04 -7.19265026e-01] [ 7.65594244e-03 6.00426671e-04 9.99970513e-01 5.06325948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.945898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.15, Y:-0.72, Z:0.05 [[ 9.94699084e-01 1.02541687e-01 -7.67695975e-03 4.41514784e+01] [-1.02543213e-01 9.94728531e-01 1.95585995e-04 -7.17664521e-01] [ 7.65654662e-03 5.92670909e-04 9.99970513e-01 4.83099732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.18, Y:-0.72, Z:0.05 [[ 9.94581503e-01 1.03675933e-01 -7.67692228e-03 4.41837757e+01] [-1.03677481e-01 9.94610950e-01 1.97045939e-04 -7.16105277e-01] [ 7.65597988e-03 5.99945719e-04 9.99970513e-01 4.97204108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.005898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.22, Y:-0.71, Z:0.05 [[ 9.94019518e-01 1.08932375e-01 -7.67688699e-03 4.42160755e+01] [-1.08934069e-01 9.94048957e-01 1.98411269e-04 -7.09799978e-01] [ 7.65281492e-03 6.39049861e-04 9.99970513e-01 4.79393938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.25, Y:-0.71, Z:0.05 [[ 9.93621119e-01 1.12508391e-01 -7.67686418e-03 4.42488234e+01] [-1.12510184e-01 9.93650552e-01 1.99289874e-04 -7.07054640e-01] [ 7.65054211e-03 6.65706773e-04 9.99970513e-01 4.68018012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.28, Y:-0.70, Z:0.05 [[ 9.92887897e-01 1.18805264e-01 -7.67682759e-03 4.42824069e+01] [-1.18807233e-01 9.92917318e-01 2.00689596e-04 -7.00423683e-01] [ 7.64629804e-03 7.12800370e-04 9.99970513e-01 4.50366338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.31, Y:-0.70, Z:0.05 [[ 9.92658848e-01 1.20704097e-01 -7.67679091e-03 4.43145202e+01] [-1.20706111e-01 9.92688266e-01 2.02083024e-04 -6.97422518e-01] [ 7.64505251e-03 7.26036074e-04 9.99970513e-01 4.66454463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.35, Y:-0.69, Z:0.05 [[ 9.92508028e-01 1.21938023e-01 -7.67675646e-03 4.43471823e+01] [-1.21940064e-01 9.92537445e-01 2.03383343e-04 -6.94136808e-01] [ 7.64426840e-03 7.34244575e-04 9.99970513e-01 5.00829591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.38, Y:-0.69, Z:0.05 [[ 9.92377863e-01 1.22992869e-01 -7.67671993e-03 4.43800116e+01] [-1.22994931e-01 9.92407278e-01 2.04753016e-04 -6.90293123e-01] [ 7.64361589e-03 7.41005275e-04 9.99970513e-01 5.30516334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.41, Y:-0.68, Z:0.05 [[ 9.92106258e-01 1.25164860e-01 -7.67668259e-03 4.44125068e+01] [-1.25166975e-01 9.92135669e-01 2.06143251e-04 -6.82319778e-01] [ 7.64211251e-03 7.56351130e-04 9.99970513e-01 5.25483496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.45, Y:-0.68, Z:0.05 [[ 9.91957239e-01 1.26340435e-01 -7.67664765e-03 4.44459027e+01] [-1.26342576e-01 9.91986648e-01 2.07436467e-04 -6.79058807e-01] [ 7.64133959e-03 7.64119334e-04 9.99970513e-01 5.11436192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.48, Y:-0.68, Z:0.05 [[ 9.91810806e-01 1.27484883e-01 -7.67660967e-03 4.44792150e+01] [-1.27487046e-01 9.91840214e-01 2.08832503e-04 -6.75958701e-01] [ 7.64059316e-03 7.71545961e-04 9.99970513e-01 5.08657865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.51, Y:-0.67, Z:0.05 [[ 9.91717668e-01 1.28207403e-01 -7.67657037e-03 4.45108582e+01] [-1.28209577e-01 9.91747075e-01 2.10267386e-04 -6.72565630e-01] [ 7.64017404e-03 7.75683956e-04 9.99970513e-01 5.16035040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.54, Y:-0.67, Z:0.06 [[ 9.91850752e-01 1.27173724e-01 -7.67653341e-03 4.45435489e+01] [-1.27175857e-01 9.91880162e-01 2.11608150e-04 -6.65428733e-01] [ 7.64111220e-03 7.66386014e-04 9.99970513e-01 5.59615946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:-0.66, Z:0.06 [[ 9.92081849e-01 1.25358189e-01 -7.67649346e-03 4.45752328e+01] [-1.25360257e-01 9.92111264e-01 2.13047686e-04 -6.63236229e-01] [ 7.64264290e-03 7.50966453e-04 9.99970513e-01 5.76673198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:-0.66, Z:0.06 [[ 9.92329785e-01 1.23380187e-01 -7.67645596e-03 4.46081744e+01] [-1.23382186e-01 9.92359204e-01 2.14390407e-04 -6.61284982e-01] [ 7.64425325e-03 7.34391934e-04 9.99970513e-01 5.80135437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.64, Y:-0.66, Z:0.06 [[ 9.92815914e-01 1.19405330e-01 -7.67641659e-03 4.46415081e+01] [-1.19407201e-01 9.92845342e-01 2.15790827e-04 -6.57226874e-01] [ 7.64726103e-03 7.02378854e-04 9.99970513e-01 5.52873835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.67, Y:-0.66, Z:0.06 [[ 9.92968013e-01 1.18133812e-01 -7.67637593e-03 4.46736096e+01] [-1.18135634e-01 9.92997445e-01 2.17227768e-04 -6.55947656e-01] [ 7.64828363e-03 6.91153311e-04 9.99970513e-01 5.54728116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.71, Y:-0.65, Z:0.06 [[ 9.92964786e-01 1.18160941e-01 -7.67635045e-03 4.47064323e+01] [-1.18162757e-01 9.92994217e-01 2.18124344e-04 -6.54769300e-01] [ 7.64834539e-03 6.90468940e-04 9.99970513e-01 5.67313311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.74, Y:-0.65, Z:0.06 [[ 9.92782252e-01 1.19684899e-01 -7.67630902e-03 4.47388855e+01] [-1.19686749e-01 9.92811681e-01 2.19572686e-04 -6.50363001e-01] [ 7.64740880e-03 7.00764608e-04 9.99970513e-01 5.95327014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.77, Y:-0.65, Z:0.06 [[ 9.92702930e-01 1.20341046e-01 -7.67627016e-03 4.47711630e+01] [-1.20342905e-01 9.92732359e-01 2.20923014e-04 -6.48668070e-01] [ 7.64706789e-03 7.04473729e-04 9.99970513e-01 6.05870490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.80, Y:-0.65, Z:0.06 [[ 9.92659641e-01 1.20697610e-01 -7.67623302e-03 4.48039877e+01] [-1.20699469e-01 9.92689069e-01 2.22206250e-04 -6.47117279e-01] [ 7.64693237e-03 7.05942076e-04 9.99970513e-01 6.15175139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.84, Y:-0.65, Z:0.06 [[ 9.92658147e-01 1.20709895e-01 -7.67619245e-03 4.48362256e+01] [-1.20711744e-01 9.92687577e-01 2.23599027e-04 -6.46523403e-01] [ 7.64705149e-03 7.04649184e-04 9.99970513e-01 6.39203205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.87, Y:-0.65, Z:0.07 [[ 9.92740226e-01 1.20032996e-01 -7.67615438e-03 4.48673974e+01] [-1.20034815e-01 9.92769657e-01 2.24898318e-04 -6.46130671e-01] [ 7.64764837e-03 6.98140165e-04 9.99970513e-01 6.69329946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.90, Y:-0.65, Z:0.07 [[ 9.92762276e-01 1.19850493e-01 -7.67612266e-03 4.49008298e+01] [-1.19852299e-01 9.92791708e-01 2.25975818e-04 -6.47093629e-01] [ 7.64787424e-03 6.95660682e-04 9.99970513e-01 6.57194801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.93, Y:-0.65, Z:0.06 [[ 9.92780501e-01 1.19699435e-01 -7.67608363e-03 4.49326172e+01] [-1.19701227e-01 9.92809934e-01 2.27293929e-04 -6.48496260e-01] [ 7.64809903e-03 6.93183646e-04 9.99970513e-01 6.27803051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:-0.65, Z:0.06 [[ 9.92901102e-01 1.18694903e-01 -7.67604922e-03 4.49649765e+01] [-1.18696656e-01 9.92930537e-01 2.28449979e-04 -6.50259007e-01] [ 7.64889953e-03 6.84293135e-04 9.99970513e-01 5.77123985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.725898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:45.00, Y:-0.65, Z:0.05 [[ 9.92918020e-01 1.18553298e-01 -7.67601191e-03 4.49967262e+01] [-1.18555037e-01 9.92947456e-01 2.29696887e-04 -6.50858377e-01] [ 7.64910782e-03 6.81959696e-04 9.99970513e-01 5.47434719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.755898226999996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:45.03, Y:-0.65, Z:0.06 [[ 9.92897339e-01 1.18726383e-01 -7.67596911e-03 4.50302012e+01] [-1.18728116e-01 9.92926775e-01 2.31118273e-04 -6.52037355e-01] [ 7.64911510e-03 6.81876633e-04 9.99970513e-01 5.50008813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.06, Y:-0.65, Z:0.06 [[ 9.92833519e-01 1.19258897e-01 -7.67592859e-03 4.50629350e+01] [-1.19260636e-01 9.92862955e-01 2.32456306e-04 -6.53766655e-01] [ 7.64886762e-03 6.84645714e-04 9.99970513e-01 5.76302480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.10, Y:-0.65, Z:0.06 [[ 9.92733382e-01 1.20089608e-01 -7.67588616e-03 4.50957016e+01] [-1.20091360e-01 9.92762817e-01 2.33849027e-04 -6.54912156e-01] [ 7.64841721e-03 6.89657875e-04 9.99970513e-01 5.81391565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:-0.66, Z:0.05 [[ 9.92375869e-01 1.23009006e-01 -7.67584328e-03 4.51290111e+01] [-1.23010835e-01 9.92405300e-01 2.35248123e-04 -6.56453243e-01] [ 7.64648519e-03 7.10757328e-04 9.99970513e-01 5.43931985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:-0.66, Z:0.05 [[ 9.92175254e-01 1.24616804e-01 -7.67579870e-03 4.51602330e+01] [-1.24618669e-01 9.92204682e-01 2.36694002e-04 -6.56679004e-01] [ 7.64545946e-03 7.21705884e-04 9.99970513e-01 5.07302470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:-0.66, Z:0.05 [[ 9.91972422e-01 1.26221219e-01 -7.67577669e-03 4.51926798e+01] [-1.26223127e-01 9.92001848e-01 2.37405401e-04 -6.57002606e-01] [ 7.64435026e-03 7.33360924e-04 9.99970513e-01 4.72223013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.23, Y:-0.66, Z:0.05 [[ 9.91749624e-01 1.27960022e-01 -7.67573938e-03 4.52254359e+01] [-1.27961972e-01 9.91779046e-01 2.38605798e-04 -6.56579002e-01] [ 7.64316949e-03 7.45565534e-04 9.99970513e-01 4.82896379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.26, Y:-0.66, Z:0.05 [[ 9.91685499e-01 1.28456044e-01 -7.67569637e-03 4.52561989e+01] [-1.28457997e-01 9.91714921e-01 2.39981579e-04 -6.56649236e-01] [ 7.64292970e-03 7.48018331e-04 9.99970513e-01 5.11584384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.29, Y:-0.66, Z:0.05 [[ 9.91599407e-01 1.29118935e-01 -7.67567592e-03 4.52896514e+01] [-1.29120903e-01 9.91628829e-01 2.40633809e-04 -6.56316446e-01] [ 7.64249190e-03 7.52477863e-04 9.99970513e-01 5.36461950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.32, Y:-0.66, Z:0.05 [[ 9.91521717e-01 1.29714180e-01 -7.67563061e-03 4.53220077e+01] [-1.29716155e-01 9.91551139e-01 2.42070610e-04 -6.55518482e-01] [ 7.64218026e-03 7.55635023e-04 9.99970513e-01 5.30423330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:-0.65, Z:0.05 [[ 9.91522210e-01 1.29710415e-01 -7.67558809e-03 4.53541842e+01] [-1.29712380e-01 9.91551632e-01 2.43411209e-04 -6.52907708e-01] [ 7.64231487e-03 7.54271177e-04 9.99970513e-01 4.89800354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.39, Y:-0.65, Z:0.05 [[ 9.91615493e-01 1.28995345e-01 -7.67554919e-03 4.53865166e+01] [-1.28997280e-01 9.91644917e-01 2.44631712e-04 -6.51833811e-01] [ 7.64297570e-03 7.47544369e-04 9.99970513e-01 4.72723383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.115898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:45.42, Y:-0.65, Z:0.05 [[ 9.91768508e-01 1.27813589e-01 -7.67550746e-03 4.54187347e+01] [-1.27815478e-01 9.91797935e-01 2.45934066e-04 -6.50383423e-01] [ 7.64398616e-03 7.37138990e-04 9.99970513e-01 4.74892426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.45, Y:-0.65, Z:0.06 [[ 9.92087815e-01 1.25311030e-01 -7.67546811e-03 4.54494985e+01] [-1.25312836e-01 9.92117247e-01 2.47156326e-04 -6.47954442e-01] [ 7.64593570e-03 7.16633894e-04 9.99970513e-01 5.71173468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.48, Y:-0.65, Z:0.06 [[ 9.92184847e-01 1.24540423e-01 -7.67543145e-03 4.54811627e+01] [-1.24542197e-01 9.92214281e-01 2.48289375e-04 -6.46629200e-01] [ 7.64659476e-03 7.09566141e-04 9.99970513e-01 5.86627015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.51, Y:-0.65, Z:0.06 [[ 9.92236564e-01 1.24127708e-01 -7.67542585e-03 4.55125985e+01] [-1.24129468e-01 9.92265999e-01 2.48462588e-04 -6.45295185e-01] [ 7.64690519e-03 7.06212865e-04 9.99970513e-01 5.88977133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.54, Y:-0.64, Z:0.06 [[ 9.92292105e-01 1.23682926e-01 -7.67542022e-03 4.55432336e+01] [-1.23684672e-01 9.92321541e-01 2.48636400e-04 -6.40043773e-01] [ 7.64723689e-03 7.02611894e-04 9.99970513e-01 5.60643995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:-0.64, Z:0.06 [[ 9.92411657e-01 1.22719973e-01 -7.67541741e-03 4.55747659e+01] [-1.22721689e-01 9.92441094e-01 2.48722969e-04 -6.37918601e-01] [ 7.64792293e-03 6.95104616e-04 9.99970513e-01 5.60912466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.61, Y:-0.63, Z:0.06 [[ 9.92681556e-01 1.20517284e-01 -7.67541159e-03 4.56054094e+01] [-1.20518934e-01 9.92710998e-01 2.48902578e-04 -6.34563044e-01] [ 7.64946255e-03 6.77951421e-04 9.99970513e-01 6.04514005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.64, Y:-0.63, Z:0.06 [[ 9.92759589e-01 1.19872789e-01 -7.67540870e-03 4.56364478e+01] [-1.19874419e-01 9.92789032e-01 2.48991577e-04 -6.33588051e-01] [ 7.64990888e-03 6.72896386e-04 9.99970513e-01 6.24861661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.67, Y:-0.63, Z:0.06 [[ 9.92795419e-01 1.19575681e-01 -7.67540294e-03 4.56671387e+01] [-1.19577300e-01 9.92824862e-01 2.49168966e-04 -6.32511148e-01] [ 7.65012541e-03 6.70430155e-04 9.99970513e-01 6.30557968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:-0.63, Z:0.06 [[ 9.92827032e-01 1.19312918e-01 -7.67540007e-03 4.56968101e+01] [-1.19314529e-01 9.92856476e-01 2.49257417e-04 -6.30507231e-01] [ 7.65031029e-03 6.68317246e-04 9.99970513e-01 6.19778211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:-0.63, Z:0.06 [[ 9.93010073e-01 1.17779811e-01 -7.67540291e-03 4.57264726e+01] [-1.17781378e-01 9.93039518e-01 2.49169877e-04 -6.26359640e-01] [ 7.65132559e-03 6.56591334e-04 9.99970513e-01 6.08323973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:-0.63, Z:0.06 [[ 9.93216944e-01 1.16022369e-01 -7.67540575e-03 4.57568970e+01] [-1.16023885e-01 9.93246392e-01 2.49082293e-04 -6.25748587e-01] [ 7.65246819e-03 6.43137637e-04 9.99970513e-01 5.94686904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.79, Y:-0.63, Z:0.06 [[ 9.93435246e-01 1.14138078e-01 -7.67540575e-03 4.57867364e+01] [-1.14139537e-01 9.93464697e-01 2.49082293e-04 -6.25394020e-01] [ 7.65367442e-03 6.28620130e-04 9.99970513e-01 5.82144850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.505898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.82, Y:-0.62, Z:0.06 [[ 9.93706968e-01 1.11747704e-01 -7.67540575e-03 4.58153646e+01] [-1.11749092e-01 9.93736423e-01 2.49082293e-04 -6.23757589e-01] [ 7.65516463e-03 6.10204816e-04 9.99970513e-01 5.69418726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:-0.62, Z:0.06 [[ 9.93783548e-01 1.11064615e-01 -7.67541411e-03 4.58445644e+01] [-1.11065985e-01 9.93813003e-01 2.48824487e-04 -6.23344023e-01] [ 7.65556194e-03 6.05199744e-04 9.99970513e-01 5.90316781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.87, Y:-0.62, Z:0.06 [[ 9.93795965e-01 1.10953449e-01 -7.67541980e-03 4.58738054e+01] [-1.10954817e-01 9.93825421e-01 2.48648907e-04 -6.23593502e-01] [ 7.65561576e-03 6.04518520e-04 9.99970513e-01 6.17317134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.90, Y:-0.62, Z:0.06 [[ 9.93760024e-01 1.11274893e-01 -7.67542549e-03 4.59046695e+01] [-1.11276272e-01 9.93789480e-01 2.48472923e-04 -6.24763188e-01] [ 7.65540590e-03 6.07170274e-04 9.99970513e-01 6.35128274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.93, Y:-0.63, Z:0.06 [[ 9.93713648e-01 1.11688287e-01 -7.67542549e-03 4.59341818e+01] [-1.11689678e-01 9.93743103e-01 2.48472923e-04 -6.26119775e-01] [ 7.65515266e-03 6.10354868e-04 9.99970513e-01 6.37830907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.96, Y:-0.63, Z:0.06 [[ 9.93633464e-01 1.12399411e-01 -7.67542846e-03 4.59642569e+01] [-1.12400824e-01 9.93662917e-01 2.48381175e-04 -6.27287250e-01] [ 7.65470653e-03 6.15924641e-04 9.99970513e-01 6.32271351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.685898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:45.99, Y:-0.63, Z:0.06 [[ 9.93574105e-01 1.12922921e-01 -7.67543427e-03 4.59926899e+01] [-1.12924351e-01 9.93603557e-01 2.48201512e-04 -6.27727453e-01] [ 7.65436644e-03 6.20136836e-04 9.99970513e-01 6.00330245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.02, Y:-0.63, Z:0.06 [[ 9.93560050e-01 1.13046516e-01 -7.67544293e-03 4.60222384e+01] [-1.13047952e-01 9.93589502e-01 2.47933384e-04 -6.29564394e-01] [ 7.65426753e-03 6.21356395e-04 9.99970513e-01 6.16198751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.05, Y:-0.63, Z:0.06 [[ 9.93656273e-01 1.12197590e-01 -7.67544580e-03 4.60517778e+01] [-1.12199002e-01 9.93685726e-01 2.47844531e-04 -6.28902290e-01] [ 7.65478850e-03 6.14905083e-04 9.99970513e-01 5.95455942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.08, Y:-0.63, Z:0.06 [[ 9.93593437e-01 1.12752695e-01 -7.67545163e-03 4.60800949e+01] [-1.12754124e-01 9.93622889e-01 2.47663861e-04 -6.27549829e-01] [ 7.65442920e-03 6.19361636e-04 9.99970513e-01 5.86645698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:-0.63, Z:0.06 [[ 9.93472624e-01 1.13812268e-01 -7.67546036e-03 4.61098674e+01] [-1.13813731e-01 9.93502075e-01 2.47392990e-04 -6.25910836e-01] [ 7.65374216e-03 6.27794618e-04 9.99970513e-01 5.94857570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:-0.62, Z:0.06 [[ 9.93107479e-01 1.16955641e-01 -7.67546597e-03 4.61395196e+01] [-1.16957198e-01 9.93136925e-01 2.47218941e-04 -6.23898049e-01] [ 7.65170232e-03 6.52186017e-04 9.99970513e-01 6.27424442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.865898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:46.17, Y:-0.62, Z:0.06 [[ 9.92987310e-01 1.17971566e-01 -7.67547156e-03 4.61683534e+01] [-1.17973154e-01 9.93016754e-01 2.47045146e-04 -6.23498606e-01] [ 7.65101616e-03 6.60186896e-04 9.99970513e-01 6.21194063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.20, Y:-0.62, Z:0.07 [[ 9.92978582e-01 1.18045002e-01 -7.67547749e-03 4.61983545e+01] [-1.18046594e-01 9.93008026e-01 2.46860804e-04 -6.23745841e-01] [ 7.65095144e-03 6.60936486e-04 9.99970513e-01 6.50087507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.23, Y:-0.62, Z:0.06 [[ 9.93305334e-01 1.15263179e-01 -7.67548322e-03 4.62274792e+01] [-1.15264690e-01 9.93334783e-01 2.46682683e-04 -6.22414156e-01] [ 7.65275788e-03 6.39680968e-04 9.99970513e-01 6.26023201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.26, Y:-0.62, Z:0.06 [[ 9.93575536e-01 1.12910323e-01 -7.67549172e-03 4.62571951e+01] [-1.12911766e-01 9.93604988e-01 2.46417852e-04 -6.23392676e-01] [ 7.65422998e-03 6.21818574e-04 9.99970513e-01 6.15847020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.29, Y:-0.62, Z:0.06 [[ 9.93805434e-01 1.10868598e-01 -7.67549750e-03 4.62855837e+01] [-1.10869982e-01 9.93834889e-01 2.46237493e-04 -6.24811214e-01] [ 7.65547722e-03 6.06270113e-04 9.99970513e-01 6.14200537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.32, Y:-0.62, Z:0.06 [[ 9.93977174e-01 1.09318178e-01 -7.67550367e-03 4.63154190e+01] [-1.09319517e-01 9.94006631e-01 2.46045246e-04 -6.24947323e-01] [ 7.65639876e-03 5.94518999e-04 9.99970513e-01 6.18087218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.34, Y:-0.62, Z:0.06 [[ 9.93850312e-01 1.10465579e-01 -7.67550924e-03 4.63447414e+01] [-1.10466954e-01 9.93879767e-01 2.45871148e-04 -6.21239434e-01] [ 7.65569364e-03 6.03531012e-04 9.99970513e-01 6.16283161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:-0.62, Z:0.06 [[ 9.93562309e-01 1.13026656e-01 -7.67552078e-03 4.63731045e+01] [-1.13028109e-01 9.93591760e-01 2.45510543e-04 -6.19734643e-01] [ 7.65408344e-03 6.23619580e-04 9.99970513e-01 6.19259709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.40, Y:-0.62, Z:0.06 [[ 9.92838454e-01 1.19217824e-01 -7.67553506e-03 4.64025660e+01] [-1.19219464e-01 9.92867896e-01 2.45063374e-04 -6.15142067e-01] [ 7.65000827e-03 6.71764838e-04 9.99970513e-01 6.36718389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.135898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:46.43, Y:-0.61, Z:0.06 [[ 9.92537573e-01 1.21697381e-01 -7.67554599e-03 4.64314156e+01] [-1.21699098e-01 9.92567010e-01 2.44720292e-04 -6.12355615e-01] [ 7.64827556e-03 6.91212942e-04 9.99970513e-01 6.20653146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.46, Y:-0.61, Z:0.06 [[ 9.92281904e-01 1.23764732e-01 -7.67555744e-03 4.64589754e+01] [-1.23766513e-01 9.92311338e-01 2.44360653e-04 -6.10491473e-01] [ 7.64678590e-03 7.07502326e-04 9.99970513e-01 6.34246733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.49, Y:-0.61, Z:0.06 [[ 9.91973436e-01 1.26213264e-01 -7.67557161e-03 4.64870045e+01] [-1.26215121e-01 9.92002865e-01 2.43914795e-04 -6.05936632e-01] [ 7.64497431e-03 7.26816200e-04 9.99970513e-01 6.08839578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.52, Y:-0.60, Z:0.06 [[ 9.92001883e-01 1.25989478e-01 -7.67558529e-03 4.65159459e+01] [-1.25991332e-01 9.92031313e-01 2.43483739e-04 -6.04449452e-01] [ 7.64509734e-03 7.25520884e-04 9.99970513e-01 6.01000435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.255898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.55, Y:-0.60, Z:0.06 [[ 9.92099573e-01 1.25217903e-01 -7.67559624e-03 4.65451691e+01] [-1.25219737e-01 9.92129003e-01 2.43137906e-04 -6.03053869e-01] [ 7.64562686e-03 7.19919128e-04 9.99970513e-01 6.00293582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.57, Y:-0.60, Z:0.06 [[ 9.92488678e-01 1.22095493e-01 -7.67560716e-03 4.65743285e+01] [-1.22097237e-01 9.92518114e-01 2.42792872e-04 -5.98768147e-01] [ 7.64782305e-03 6.96201246e-04 9.99970513e-01 6.35949725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.60, Y:-0.60, Z:0.07 [[ 9.92755283e-01 1.19908435e-01 -7.67561842e-03 4.66035208e+01] [-1.19910116e-01 9.92784723e-01 2.42436081e-04 -5.97591366e-01] [ 7.64930684e-03 6.79704597e-04 9.99970513e-01 6.51649765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.345898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:46.63, Y:-0.60, Z:0.06 [[ 9.92992888e-01 1.17924592e-01 -7.67562984e-03 4.66312373e+01] [-1.17926217e-01 9.93022330e-01 2.42074147e-04 -5.96953607e-01] [ 7.65061833e-03 6.64780083e-04 9.99970513e-01 6.22122406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.66, Y:-0.60, Z:0.06 [[ 9.93233668e-01 1.15879096e-01 -7.67564403e-03 4.66596741e+01] [-1.15880664e-01 9.93263114e-01 2.41623235e-04 -5.97417851e-01] [ 7.65193318e-03 6.49470398e-04 9.99970513e-01 6.11276890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.69, Y:-0.60, Z:0.06 [[ 9.93632145e-01 1.12411052e-01 -7.67565536e-03 4.66889838e+01] [-1.12412520e-01 9.93661596e-01 2.41262923e-04 -5.95579164e-01] [ 7.65412457e-03 6.23113163e-04 9.99970513e-01 5.99573569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.72, Y:-0.59, Z:0.06 [[ 9.93663297e-01 1.12135347e-01 -7.67566668e-03 4.67174544e+01] [-1.12136810e-01 9.93692748e-01 2.40902186e-04 -5.93645205e-01] [ 7.65426797e-03 6.21349117e-04 9.99970513e-01 6.23410668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.75, Y:-0.59, Z:0.06 [[ 9.93559695e-01 1.13049618e-01 -7.67567813e-03 4.67457251e+01] [-1.13051110e-01 9.93589145e-01 2.40536756e-04 -5.91100931e-01] [ 7.65366306e-03 6.28756307e-04 9.99970513e-01 6.43725747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.77, Y:-0.58, Z:0.07 [[ 9.93058814e-01 1.17368122e-01 -7.67569232e-03 4.67742851e+01] [-1.17369746e-01 9.93088256e-01 2.40083243e-04 -5.83896494e-01] [ 7.65081802e-03 6.62477277e-04 9.99970513e-01 6.58650045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.525898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:46.80, Y:-0.58, Z:0.06 [[ 9.92692967e-01 1.20423237e-01 -7.67570847e-03 4.68021640e+01] [-1.20424955e-01 9.92722405e-01 2.39565809e-04 -5.79385538e-01] [ 7.64869706e-03 6.86531556e-04 9.99970513e-01 6.25500050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.83, Y:-0.58, Z:0.06 [[ 9.92314077e-01 1.23506497e-01 -7.67572532e-03 4.68299655e+01] [-1.23508312e-01 9.92343509e-01 2.39024535e-04 -5.75102531e-01] [ 7.64647728e-03 7.10828465e-04 9.99970513e-01 6.28950222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.86, Y:-0.57, Z:0.06 [[ 9.91817440e-01 1.27433310e-01 -7.67574217e-03 4.68569598e+01] [-1.27435245e-01 9.91846864e-01 2.38482136e-04 -5.65906023e-01] [ 7.64355137e-03 7.41629341e-04 9.99970513e-01 6.21750134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.89, Y:-0.56, Z:0.06 [[ 9.91852896e-01 1.27157046e-01 -7.67576168e-03 4.68851898e+01] [-1.27158978e-01 9.91882321e-01 2.37852703e-04 -5.62213150e-01] [ 7.64369695e-03 7.40127116e-04 9.99970513e-01 6.35288962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.91, Y:-0.56, Z:0.06 [[ 9.92044321e-01 1.25654875e-01 -7.67577795e-03 4.69127911e+01] [-1.25656766e-01 9.92073748e-01 2.37326402e-04 -5.59034045e-01] [ 7.64475902e-03 7.29075121e-04 9.99970513e-01 6.43145507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.94, Y:-0.56, Z:0.06 [[ 9.92053182e-01 1.25584896e-01 -7.67579457e-03 4.69412727e+01] [-1.25586789e-01 9.92082609e-01 2.36787840e-04 -5.59790338e-01] [ 7.64475927e-03 7.29072264e-04 9.99970513e-01 6.45333703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.97, Y:-0.55, Z:0.06 [[ 9.92574315e-01 1.21397329e-01 -7.67581123e-03 4.69687601e+01] [-1.21399102e-01 9.92603749e-01 2.36246410e-04 -5.52945805e-01] [ 7.64771869e-03 6.97344469e-04 9.99970513e-01 6.47074077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.00, Y:-0.55, Z:0.06 [[ 9.92847030e-01 1.19146366e-01 -7.67583052e-03 4.69968570e+01] [-1.19148077e-01 9.92876468e-01 2.35618096e-04 -5.49994486e-01] [ 7.64922453e-03 6.80627720e-04 9.99970513e-01 6.42578994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:-0.55, Z:0.06 [[ 9.93046232e-01 1.17474516e-01 -7.67584687e-03 4.70240359e+01] [-1.17476181e-01 9.93075673e-01 2.35084153e-04 -5.46598479e-01] [ 7.65031319e-03 6.68279746e-04 9.99970513e-01 6.42107196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.05, Y:-0.54, Z:0.07 [[ 9.93129747e-01 1.16766380e-01 -7.67586590e-03 4.70519370e+01] [-1.16768030e-01 9.93159188e-01 2.34461189e-04 -5.42627562e-01] [ 7.65073393e-03 6.63445356e-04 9.99970513e-01 6.54463771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.08, Y:-0.53, Z:0.07 [[ 9.92938915e-01 1.18378170e-01 -7.67588200e-03 4.70805949e+01] [-1.18379872e-01 9.92968354e-01 2.33932894e-04 -5.34319556e-01] [ 7.64960046e-03 6.76388852e-04 9.99970513e-01 6.63828505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.11, Y:-0.53, Z:0.06 [[ 9.92732602e-01 1.20096052e-01 -7.67589813e-03 4.71081660e+01] [-1.20097808e-01 9.92762037e-01 2.33402237e-04 -5.30874749e-01] [ 7.64837095e-03 6.90152529e-04 9.99970513e-01 6.47803841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:-0.53, Z:0.06 [[ 9.92525823e-01 1.21793145e-01 -7.67591150e-03 4.71368828e+01] [-1.21794955e-01 9.92555255e-01 2.32961951e-04 -5.27111211e-01] [ 7.64713946e-03 7.03666544e-04 9.99970513e-01 6.27861563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.16, Y:-0.52, Z:0.06 [[ 9.92246018e-01 1.24052083e-01 -7.67592249e-03 4.71646061e+01] [-1.24053963e-01 9.92275446e-01 2.32599023e-04 -5.16623855e-01] [ 7.64548381e-03 7.21433150e-04 9.99970513e-01 6.12637444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.19, Y:-0.51, Z:0.06 [[ 9.92283192e-01 1.23754381e-01 -7.67594158e-03 4.71928012e+01] [-1.23756257e-01 9.92312620e-01 2.31967314e-04 -5.11473850e-01] [ 7.64564067e-03 7.19768530e-04 9.99970513e-01 6.35010209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.22, Y:-0.51, Z:0.07 [[ 9.92470186e-01 1.22245690e-01 -7.67595456e-03 4.72214900e+01] [-1.22247524e-01 9.92499617e-01 2.31537203e-04 -5.06867417e-01] [ 7.64668638e-03 7.08572670e-04 9.99970513e-01 6.70936126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.005898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.25, Y:-0.50, Z:0.07 [[ 9.93351095e-01 1.14868106e-01 -7.67596551e-03 4.72508550e+01] [-1.14869725e-01 9.93380538e-01 2.31173616e-04 -5.00651184e-01] [ 7.65170922e-03 6.52099481e-04 9.99970513e-01 7.40953494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.28, Y:-0.50, Z:0.07 [[ 9.93952234e-01 1.09544680e-01 -7.67597369e-03 4.72777861e+01] [-1.09546143e-01 9.93981685e-01 2.30901688e-04 -4.99254774e-01] [ 7.65507131e-03 6.11368060e-04 9.99970513e-01 7.40860461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:-0.50, Z:0.07 [[ 9.94420139e-01 1.05212484e-01 -7.67599273e-03 4.73070411e+01] [-1.05213823e-01 9.94449596e-01 2.30266906e-04 -4.98083518e-01] [ 7.65761482e-03 5.78638492e-04 9.99970513e-01 7.09720242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.33, Y:-0.50, Z:0.07 [[ 9.94759016e-01 1.01958717e-01 -7.67600375e-03 4.73338919e+01] [-1.01959962e-01 9.94788477e-01 2.29898886e-04 -4.97056667e-01] [ 7.65944028e-03 5.53951064e-04 9.99970513e-01 6.71766652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:-0.50, Z:0.06 [[ 9.95076976e-01 9.88073397e-02 -7.67602291e-03 4.73629728e+01] [-9.88084969e-02 9.95106441e-01 2.29257555e-04 -4.95793093e-01] [ 7.66111216e-03 5.30327371e-04 9.99970513e-01 6.42932727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:-0.50, Z:0.07 [[ 9.95097472e-01 9.86007035e-02 -7.67603370e-03 4.73911717e+01] [-9.86018574e-02 9.95126937e-01 2.28895727e-04 -4.96128413e-01] [ 7.66119718e-03 5.29097621e-04 9.99970513e-01 6.58586775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:-0.50, Z:0.07 [[ 9.94957662e-01 1.00001650e-01 -7.67605029e-03 4.74180455e+01] [-1.00002849e-01 9.94987125e-01 2.28338061e-04 -4.95996658e-01] [ 7.66040538e-03 5.40440197e-04 9.99970513e-01 6.67752012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:-0.50, Z:0.07 [[ 9.94868569e-01 1.00884132e-01 -7.67607944e-03 4.74472206e+01] [-1.00885365e-01 9.94898031e-01 2.27353902e-04 -4.96191366e-01] [ 7.65985271e-03 5.48216827e-04 9.99970513e-01 6.56106310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:-0.50, Z:0.07 [[ 9.94782894e-01 1.01725473e-01 -7.67608995e-03 4.74755056e+01] [-1.01726734e-01 9.94812354e-01 2.26998277e-04 -4.95582556e-01] [ 7.65936062e-03 5.55049558e-04 9.99970513e-01 6.58306255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.50, Y:-0.49, Z:0.07 [[ 9.94690595e-01 1.02624056e-01 -7.67610613e-03 4.75032917e+01] [-1.02625348e-01 9.94720054e-01 2.26449741e-04 -4.94992396e-01] [ 7.65881590e-03 5.62515633e-04 9.99970513e-01 6.73944586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.53, Y:-0.49, Z:0.07 [[ 9.94601461e-01 1.03484349e-01 -7.67611952e-03 4.75326021e+01] [-1.03485670e-01 9.94630919e-01 2.25994971e-04 -4.94376140e-01] [ 7.65829276e-03 5.69593443e-04 9.99970513e-01 6.92640353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:-0.49, Z:0.07 [[ 9.94370146e-01 1.05683917e-01 -7.67613013e-03 4.75609822e+01] [-1.05685306e-01 9.94399600e-01 2.25634213e-04 -4.91095584e-01] [ 7.65698664e-03 5.86890237e-04 9.99970513e-01 6.73906185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.59, Y:-0.49, Z:0.07 [[ 9.94293020e-01 1.06407086e-01 -7.67614601e-03 4.75885913e+01] [-1.06408501e-01 9.94322473e-01 2.25092573e-04 -4.89089997e-01] [ 7.65651593e-03 5.92999214e-04 9.99970513e-01 6.55943324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:-0.49, Z:0.07 [[ 9.94289008e-01 1.06444565e-01 -7.67615915e-03 4.76167323e+01] [-1.06445984e-01 9.94318461e-01 2.24643492e-04 -4.86328369e-01] [ 7.65645883e-03 5.93735759e-04 9.99970513e-01 6.52852290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.64, Y:-0.48, Z:0.07 [[ 9.94337807e-01 1.05987743e-01 -7.67617520e-03 4.76433336e+01] [-1.05989153e-01 9.94367261e-01 2.24093796e-04 -4.81738300e-01] [ 7.65668850e-03 5.90766370e-04 9.99970513e-01 6.80403943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.455898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:47.67, Y:-0.48, Z:0.07 [[ 9.94474626e-01 1.04696197e-01 -7.67620618e-03 4.76699232e+01] [-1.04697576e-01 9.94504081e-01 2.23027616e-04 -4.80757113e-01] [ 7.65736852e-03 5.81884878e-04 9.99970513e-01 6.57250848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.70, Y:-0.48, Z:0.07 [[ 9.94653367e-01 1.02984249e-01 -7.67623486e-03 4.76970260e+01] [-1.02985585e-01 9.94682824e-01 2.22036086e-04 -4.80324893e-01] [ 7.65828518e-03 5.69692598e-04 9.99970513e-01 6.77280677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.72, Y:-0.48, Z:0.07 [[ 9.95181301e-01 9.77509735e-02 -7.67625296e-03 4.77237141e+01] [-9.77521597e-02 9.95210765e-01 2.21408644e-04 -4.76953624e-01] [ 7.66113248e-03 5.30028562e-04 9.99970513e-01 6.79294443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:-0.48, Z:0.07 [[ 9.95381115e-01 9.56948879e-02 -7.67627087e-03 4.77514604e+01] [-9.56960180e-02 9.95410580e-01 2.20785858e-04 -4.75977953e-01] [ 7.66216932e-03 5.14822481e-04 9.99970513e-01 6.88489210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.78, Y:-0.47, Z:0.07 [[ 9.95519608e-01 9.42432220e-02 -7.67628642e-03 4.77782608e+01] [-9.42443133e-02 9.95549075e-01 2.20243722e-04 -4.72476193e-01] [ 7.66287633e-03 5.04189399e-04 9.99970513e-01 6.99758160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:-0.47, Z:0.07 [[ 9.95517146e-01 9.42691872e-02 -7.67680051e-03 4.78073086e+01] [-9.42704176e-02 9.95546607e-01 2.02228059e-04 -4.70696523e-01] [ 7.66167657e-03 5.22373690e-04 9.99970512e-01 7.15309622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.83, Y:-0.47, Z:0.07 [[ 9.95445884e-01 9.50187663e-02 -7.67631485e-03 4.78340225e+01] [-9.50198883e-02 9.95475350e-01 2.19233064e-04 -4.67994301e-01] [ 7.66241347e-03 5.11167928e-04 9.99970513e-01 7.27914051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.86, Y:-0.47, Z:0.07 [[ 9.95330638e-01 9.62184722e-02 -7.67633248e-03 4.78619535e+01] [-9.62196345e-02 9.95360103e-01 2.18614109e-04 -4.65365101e-01] [ 7.66174980e-03 5.21020584e-04 9.99970513e-01 7.34672603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.89, Y:-0.46, Z:0.07 [[ 9.95171121e-01 9.78545529e-02 -7.67634818e-03 4.78887725e+01] [-9.78557678e-02 9.95200583e-01 2.18061183e-04 -4.60199771e-01] [ 7.66084447e-03 5.34166754e-04 9.99970513e-01 7.01763601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.92, Y:-0.46, Z:0.07 [[ 9.95154528e-01 9.80231497e-02 -7.67636644e-03 4.79174600e+01] [-9.80243746e-02 9.95183990e-01 2.17416522e-04 -4.57583869e-01] [ 7.66070884e-03 5.36107984e-04 9.99970513e-01 6.79438261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.755898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.95, Y:-0.45, Z:0.07 [[ 9.95178739e-01 9.77770496e-02 -7.67637664e-03 4.79453767e+01] [-9.77782700e-02 9.95208201e-01 2.17055976e-04 -4.54167547e-01] [ 7.66081607e-03 5.34573335e-04 9.99970513e-01 6.59459483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.97, Y:-0.45, Z:0.07 [[ 9.95255331e-01 9.69943266e-02 -7.67638926e-03 4.79738681e+01] [-9.69955273e-02 9.95284794e-01 2.16608482e-04 -4.50148424e-01] [ 7.66120330e-03 5.28994678e-04 9.99970513e-01 6.58241199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.00, Y:-0.44, Z:0.07 [[ 9.95486596e-01 9.45912819e-02 -7.67639963e-03 4.80033294e+01] [-9.45924142e-02 9.95516061e-01 2.16240443e-04 -4.43650391e-01] [ 7.66243359e-03 5.10864711e-04 9.99970513e-01 6.76374623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.03, Y:-0.44, Z:0.07 [[ 9.95590264e-01 9.34938465e-02 -7.67641013e-03 4.80312774e+01] [-9.34949492e-02 9.95619731e-01 2.15867171e-04 -4.41549160e-01] [ 7.66296764e-03 5.02790321e-04 9.99970513e-01 6.86086460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.875898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.06, Y:-0.44, Z:0.07 [[ 9.95691210e-01 9.24125913e-02 -7.67642316e-03 4.80600509e+01] [-9.24136656e-02 9.95720678e-01 2.15402877e-04 -4.37610011e-01] [ 7.66347921e-03 4.94931651e-04 9.99970513e-01 7.06360393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.09, Y:-0.44, Z:0.07 [[ 9.95740729e-01 9.18774887e-02 -7.67643351e-03 4.80881663e+01] [-9.18785500e-02 9.95770197e-01 2.15033144e-04 -4.36516288e-01] [ 7.66372042e-03 4.91182321e-04 9.99970513e-01 7.34132822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.12, Y:-0.44, Z:0.08 [[ 9.95839123e-01 9.08048076e-02 -7.67644632e-03 4.81173151e+01] [-9.08058407e-02 9.95868592e-01 2.14574909e-04 -4.35845954e-01] [ 7.66421623e-03 4.83384073e-04 9.99970513e-01 7.57993813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.965898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:48.15, Y:-0.43, Z:0.08 [[ 9.95979129e-01 8.92560713e-02 -7.67645661e-03 4.81452589e+01] [-8.92570614e-02 9.96008600e-01 2.14206426e-04 -4.34978744e-01] [ 7.66493602e-03 4.71832829e-04 9.99970513e-01 7.66494164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.17, Y:-0.44, Z:0.08 [[ 9.96094625e-01 8.79577705e-02 -7.67647220e-03 4.81722854e+01] [-8.79587265e-02 9.96124097e-01 2.13646176e-04 -4.37127444e-01] [ 7.66551078e-03 4.62400911e-04 9.99970513e-01 7.85269115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.20, Y:-0.44, Z:0.08 [[ 9.96118169e-01 8.76907383e-02 -7.67650040e-03 4.82000836e+01] [-8.76916942e-02 9.96147640e-01 2.12628041e-04 -4.40975473e-01] [ 7.66557327e-03 4.61362670e-04 9.99970513e-01 7.55521991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.23, Y:-0.44, Z:0.07 [[ 9.96103489e-01 8.78573349e-02 -7.67651548e-03 4.82290638e+01] [-8.78582999e-02 9.96132960e-01 2.12082113e-04 -4.44673888e-01] [ 7.66546306e-03 4.63189867e-04 9.99970513e-01 7.22984650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.26, Y:-0.45, Z:0.07 [[ 9.96025628e-01 8.87356669e-02 -7.67652552e-03 4.82566335e+01] [-8.87366607e-02 9.96055099e-01 2.11718194e-04 -4.46908829e-01] [ 7.66502934e-03 4.70312493e-04 9.99970513e-01 7.02142120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.29, Y:-0.45, Z:0.07 [[ 9.95578717e-01 9.36167152e-02 -7.67653798e-03 4.82853953e+01] [-9.36178569e-02 9.95608182e-01 2.11265449e-04 -4.49208854e-01] [ 7.66260200e-03 5.08329649e-04 9.99970513e-01 7.40112822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.31, Y:-0.45, Z:0.08 [[ 9.95226842e-01 9.72861963e-02 -7.67654799e-03 4.83134719e+01] [-9.72874494e-02 9.95256303e-01 2.10901200e-04 -4.50999009e-01] [ 7.66065054e-03 5.36937239e-04 9.99970513e-01 7.72723523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.34, Y:-0.45, Z:0.08 [[ 9.94823188e-01 1.01330622e-01 -7.67658855e-03 4.83403393e+01] [-1.01332006e-01 9.94852643e-01 2.09414372e-04 -4.52838187e-01] [ 7.65829449e-03 5.69553846e-04 9.99970513e-01 7.81461529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.37, Y:-0.46, Z:0.08 [[ 9.94077670e-01 1.08400437e-01 -7.67660609e-03 4.83686729e+01] [-1.08402036e-01 9.94107114e-01 2.08769099e-04 -4.55216005e-01] [ 7.65399939e-03 6.24627031e-04 9.99970513e-01 7.53805236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:-0.46, Z:0.07 [[ 9.93816074e-01 1.10773099e-01 -7.67664581e-03 4.83954789e+01] [-1.10774779e-01 9.93845514e-01 2.07298333e-04 -4.56376532e-01] [ 7.65236308e-03 6.44362324e-04 9.99970513e-01 7.24070516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.42, Y:-0.46, Z:0.07 [[ 9.93670490e-01 1.12071527e-01 -7.67666299e-03 4.84242483e+01] [-1.12073250e-01 9.93699926e-01 2.06660082e-04 -4.57632201e-01] [ 7.65146016e-03 6.54996546e-04 9.99970513e-01 7.03820016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.45, Y:-0.46, Z:0.07 [[ 9.93895853e-01 1.10054996e-01 -7.67667241e-03 4.84529153e+01] [-1.10056662e-01 9.93925293e-01 2.06309467e-04 -4.61243069e-01] [ 7.65274427e-03 6.39818820e-04 9.99970513e-01 6.70270091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.48, Y:-0.46, Z:0.07 [[ 9.94201268e-01 1.07260931e-01 -7.67668180e-03 4.84810574e+01] [-1.07262517e-01 9.94230713e-01 2.05959766e-04 -4.63546619e-01] [ 7.65448425e-03 6.18654753e-04 9.99970513e-01 6.85254529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.51, Y:-0.47, Z:0.07 [[ 9.94513348e-01 1.04327702e-01 -7.67669620e-03 4.85094741e+01] [-1.04329206e-01 9.94542797e-01 2.05421473e-04 -4.65467569e-01] [ 7.65623406e-03 5.96609220e-04 9.99970513e-01 7.25998191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.54, Y:-0.47, Z:0.08 [[ 9.94966347e-01 9.99151490e-02 -7.67670596e-03 4.85367844e+01] [-9.99165248e-02 9.94995802e-01 2.05056199e-04 -4.69071415e-01] [ 7.65877842e-03 5.63005764e-04 9.99970513e-01 7.96651728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.57, Y:-0.47, Z:0.08 [[ 9.95099586e-01 9.85793207e-02 -7.67671811e-03 4.85650028e+01] [-9.85806605e-02 9.95129043e-01 2.04600442e-04 -4.71269205e-01] [ 7.65949451e-03 5.53178127e-04 9.99970513e-01 8.12294098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.59, Y:-0.47, Z:0.08 [[ 9.95103754e-01 9.85372303e-02 -7.67675331e-03 4.85934104e+01] [-9.85385790e-02 9.95133211e-01 2.03270722e-04 -4.73589411e-01] [ 7.65942191e-03 5.54180905e-04 9.99970513e-01 8.14358906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.62, Y:-0.47, Z:0.08 [[ 9.94791893e-01 1.01637380e-01 -7.67676829e-03 4.86205564e+01] [-1.01638825e-01 9.94821345e-01 2.02703599e-04 -4.74637497e-01] [ 7.65761522e-03 5.78609811e-04 9.99970513e-01 7.77317784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.505898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:-0.47, Z:0.08 [[ 9.94533306e-01 1.04137266e-01 -7.67678555e-03 4.86496383e+01] [-1.04138790e-01 9.94562754e-01 2.02047854e-04 -4.74408089e-01] [ 7.65608569e-03 5.98507837e-04 9.99970513e-01 7.63516079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.68, Y:-0.47, Z:0.08 [[ 9.94266869e-01 1.06651115e-01 -7.67679518e-03 4.86770540e+01] [-1.06652716e-01 9.94296313e-01 2.01681036e-04 -4.73693997e-01] [ 7.65451865e-03 6.18226284e-04 9.99970513e-01 7.60172528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.71, Y:-0.47, Z:0.08 [[ 9.94274423e-01 1.06580663e-01 -7.67681191e-03 4.87055297e+01] [-1.06582267e-01 9.94303867e-01 2.01042372e-04 -4.74309905e-01] [ 7.65451100e-03 6.18320725e-04 9.99970513e-01 7.62360863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:-0.47, Z:0.08 [[ 9.93880245e-01 1.10195846e-01 -7.67682612e-03 4.87331361e+01] [-1.10197562e-01 9.93909683e-01 2.00498428e-04 -4.71663883e-01] [ 7.65216590e-03 6.46696092e-04 9.99970513e-01 7.72199331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.76, Y:-0.47, Z:0.08 [[ 9.93757536e-01 1.11297016e-01 -7.67683787e-03 4.87609112e+01] [-1.11298767e-01 9.93786971e-01 2.00047571e-04 -4.70133830e-01] [ 7.65140615e-03 6.55623807e-04 9.99970513e-01 7.72593260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.79, Y:-0.47, Z:0.07 [[ 9.93652256e-01 1.12233063e-01 -7.67685200e-03 4.87874721e+01] [-1.12234846e-01 9.93681689e-01 1.99503625e-04 -4.68209816e-01] [ 7.65073817e-03 6.63373075e-04 9.99970513e-01 7.49731843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.685898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.82, Y:-0.47, Z:0.07 [[ 9.93550217e-01 1.13132807e-01 -7.67687756e-03 4.88164503e+01] [-1.13134625e-01 9.93579648e-01 1.98515235e-04 -4.65663049e-01] [ 7.65004789e-03 6.71285807e-04 9.99970513e-01 7.29333860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.84, Y:-0.46, Z:0.07 [[ 9.93549208e-01 1.13141664e-01 -7.67688689e-03 4.88446188e+01] [-1.13143484e-01 9.93578639e-01 1.98153592e-04 -4.58655394e-01] [ 7.65001026e-03 6.71714386e-04 9.99970513e-01 7.38983611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.745898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.87, Y:-0.46, Z:0.07 [[ 9.93629051e-01 1.12438310e-01 -7.67690091e-03 4.88721724e+01] [-1.12440113e-01 9.93658484e-01 1.97609115e-04 -4.55230701e-01] [ 7.65043655e-03 6.66841450e-04 9.99970513e-01 7.45910304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.90, Y:-0.45, Z:0.08 [[ 9.93907762e-01 1.09947375e-01 -7.67691251e-03 4.88999338e+01] [-1.09949109e-01 9.93937199e-01 1.97157318e-04 -4.48011227e-01] [ 7.65204585e-03 6.48113501e-04 9.99970513e-01 7.62823807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.93, Y:-0.44, Z:0.08 [[ 9.94120036e-01 1.08011197e-01 -7.67694930e-03 4.89284497e+01] [-1.08012884e-01 9.94149475e-01 1.95714455e-04 -4.44964808e-01] [ 7.65317447e-03 6.34645772e-04 9.99970513e-01 7.52960062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.96, Y:-0.44, Z:0.07 [[ 9.94311265e-01 1.06236394e-01 -7.67698615e-03 4.89555291e+01] [-1.06238040e-01 9.94340707e-01 1.94258035e-04 -4.42079100e-01] [ 7.65417711e-03 6.22435010e-04 9.99970513e-01 7.40133677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.98, Y:-0.44, Z:0.08 [[ 9.94711969e-01 1.02416613e-01 -7.67700209e-03 4.89840082e+01] [-1.02418151e-01 9.94741416e-01 1.93626064e-04 -4.36917220e-01] [ 7.65646246e-03 5.93662193e-04 9.99970513e-01 7.51505795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.01, Y:-0.44, Z:0.08 [[ 9.94930531e-01 1.00271144e-01 -7.67701120e-03 4.90132784e+01] [-1.00272621e-01 9.94959981e-01 1.93264290e-04 -4.35061199e-01] [ 7.65769775e-03 5.77509493e-04 9.99970513e-01 7.75378636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.925898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:49.04, Y:-0.43, Z:0.08 [[ 9.95145035e-01 9.81194271e-02 -7.67702028e-03 4.90402198e+01] [-9.81208430e-02 9.95174489e-01 1.92902841e-04 -4.33102952e-01] [ 7.65890225e-03 5.61309397e-04 9.99970513e-01 7.69749992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:-0.43, Z:0.08 [[ 9.95396162e-01 9.55381783e-02 -7.67704501e-03 4.90684669e+01] [-9.55395254e-02 9.95425619e-01 1.91913630e-04 -4.31422283e-01] [ 7.66026235e-03 5.42431146e-04 9.99970513e-01 7.96253730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.10, Y:-0.43, Z:0.08 [[ 9.95500659e-01 9.44431093e-02 -7.67705793e-03 4.90960468e+01] [-9.44444280e-02 9.95530117e-01 1.91395353e-04 -4.30698063e-01] [ 7.66081835e-03 5.34521145e-04 9.99970513e-01 7.99039988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.12, Y:-0.43, Z:0.08 [[ 9.95560533e-01 9.38098458e-02 -7.67707148e-03 4.91235192e+01] [-9.38111499e-02 9.95589992e-01 1.90850067e-04 -4.30429944e-01] [ 7.66111915e-03 5.30192109e-04 9.99970513e-01 8.02805618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.15, Y:-0.43, Z:0.08 [[ 9.95615836e-01 9.32210738e-02 -7.67708718e-03 4.91517704e+01] [-9.32223654e-02 9.95645295e-01 1.90216733e-04 -4.30245327e-01] [ 7.66138794e-03 5.26293434e-04 9.99970513e-01 8.02943683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:-0.43, Z:0.08 [[ 9.95594687e-01 9.34466717e-02 -7.67710126e-03 4.91796338e+01] [-9.34479743e-02 9.95624146e-01 1.89646533e-04 -4.30207052e-01] [ 7.66122923e-03 5.28598481e-04 9.99970513e-01 7.80530954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.21, Y:-0.43, Z:0.08 [[ 9.95547298e-01 9.39501965e-02 -7.67711289e-03 4.92067618e+01] [-9.39515176e-02 9.95576756e-01 1.89174753e-04 -4.30504710e-01] [ 7.66092815e-03 5.32943992e-04 9.99970513e-01 7.65173296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.23, Y:-0.43, Z:0.08 [[ 9.95526285e-01 9.41725979e-02 -7.67712878e-03 4.92344249e+01] [-9.41739306e-02 9.95555742e-01 1.88527656e-04 -4.30900320e-01] [ 7.66076378e-03 5.35301156e-04 9.99970513e-01 7.73482771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.165898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:49.26, Y:-0.43, Z:0.08 [[ 9.95508706e-01 9.43582443e-02 -7.67714221e-03 4.92623223e+01] [-9.43595866e-02 9.95538163e-01 1.87979236e-04 -4.31717903e-01] [ 7.66062544e-03 5.37276999e-04 9.99970513e-01 7.86242201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.29, Y:-0.43, Z:0.08 [[ 9.95503018e-01 9.44182348e-02 -7.67717903e-03 4.92890510e+01] [-9.44195906e-02 9.95532474e-01 1.86463107e-04 -4.33126727e-01] [ 7.66048655e-03 5.39251516e-04 9.99970513e-01 8.17032339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.32, Y:-0.43, Z:0.08 [[ 9.95481651e-01 9.46432456e-02 -7.67719497e-03 4.93156482e+01] [-9.46446131e-02 9.95511106e-01 1.85804682e-04 -4.34992954e-01] [ 7.66031801e-03 5.41639996e-04 9.99970513e-01 8.22252603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.255898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.34, Y:-0.44, Z:0.08 [[ 9.95494642e-01 9.45064968e-02 -7.67721066e-03 4.93423823e+01] [-9.45078653e-02 9.95524098e-01 1.85153941e-04 -4.36722046e-01] [ 7.66034647e-03 5.41237034e-04 9.99970513e-01 8.21753343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.37, Y:-0.44, Z:0.08 [[ 9.95558743e-01 9.38288294e-02 -7.67722610e-03 4.93702535e+01] [-9.38301827e-02 9.95588199e-01 1.84511563e-04 -4.38942673e-01] [ 7.66066821e-03 5.36663428e-04 9.99970513e-01 8.14503220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.40, Y:-0.44, Z:0.08 [[ 9.95633737e-01 9.30296854e-02 -7.67723945e-03 4.93986494e+01] [-9.30310194e-02 9.95663194e-01 1.83954523e-04 -4.39882375e-01] [ 7.66105798e-03 5.31070083e-04 9.99970513e-01 8.27220987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.43, Y:-0.44, Z:0.08 [[ 9.95761386e-01 9.16532701e-02 -7.67725270e-03 4.94263302e+01] [-9.16545676e-02 9.95790845e-01 1.83399886e-04 -4.41152244e-01] [ 7.66174715e-03 5.21032752e-04 9.99970513e-01 8.34480906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.45, Y:-0.45, Z:0.08 [[ 9.96052212e-01 8.84367047e-02 -7.67726600e-03 4.94535250e+01] [-8.84379114e-02 9.96081675e-01 1.82841098e-04 -4.45016256e-01] [ 7.66335384e-03 4.96842091e-04 9.99970513e-01 8.27129659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.48, Y:-0.45, Z:0.08 [[ 9.96128482e-01 8.75734401e-02 -7.67729022e-03 4.94809818e+01] [-8.75746290e-02 9.96157945e-01 1.81818575e-04 -4.47230701e-01] [ 7.66371613e-03 4.91221182e-04 9.99970513e-01 8.21881017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.435898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.51, Y:-0.45, Z:0.08 [[ 9.96171832e-01 8.70789362e-02 -7.67730343e-03 4.95076396e+01] [-8.70801148e-02 9.96201295e-01 1.81259105e-04 -4.49211976e-01] [ 7.66392347e-03 4.87975249e-04 9.99970513e-01 8.15561325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.54, Y:-0.45, Z:0.08 [[ 9.96205916e-01 8.66881324e-02 -7.67731867e-03 4.95351353e+01] [-8.66893044e-02 9.96235380e-01 1.80611167e-04 -4.53415319e-01] [ 7.66407333e-03 4.85615502e-04 9.99970513e-01 8.02930853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.56, Y:-0.46, Z:0.08 [[ 9.96227649e-01 8.64380150e-02 -7.67732945e-03 4.95628270e+01] [-8.64391831e-02 9.96257113e-01 1.80151751e-04 -4.56104453e-01] [ 7.66416603e-03 4.84149931e-04 9.99970513e-01 8.07589051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:-0.46, Z:0.08 [[ 9.96221394e-01 8.65100673e-02 -7.67734228e-03 4.95919979e+01] [-8.65112418e-02 9.96250858e-01 1.79603317e-04 -4.58508934e-01] [ 7.66409633e-03 4.85251747e-04 9.99970513e-01 8.26427357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.62, Y:-0.46, Z:0.08 [[ 9.96169284e-01 8.71080666e-02 -7.67735090e-03 4.96195081e+01] [-8.71092617e-02 9.96198747e-01 1.79234349e-04 -4.60166630e-01] [ 7.66378010e-03 4.90220615e-04 9.99970513e-01 8.48227030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:-0.46, Z:0.08 [[ 9.95872060e-01 9.04427891e-02 -7.67736158e-03 4.96471589e+01] [-9.04440862e-02 9.95901519e-01 1.78775350e-04 -4.61126213e-01] [ 7.66206500e-03 5.16334577e-04 9.99970513e-01 8.43956451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.67, Y:-0.46, Z:0.08 [[ 9.95709396e-01 9.22163581e-02 -7.67739516e-03 4.96749341e+01] [-9.22177189e-02 9.95738852e-01 1.77321728e-04 -4.61685311e-01] [ 7.66103260e-03 5.31430958e-04 9.99970513e-01 8.14372326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.70, Y:-0.46, Z:0.08 [[ 9.95487480e-01 9.45818908e-02 -7.67742893e-03 4.97035080e+01] [-9.45833329e-02 9.95516932e-01 1.75847261e-04 -4.62195979e-01] [ 7.65964246e-03 5.51103070e-04 9.99970513e-01 7.88896878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.73, Y:-0.46, Z:0.08 [[ 9.95030861e-01 9.92705485e-02 -7.67745840e-03 4.97318017e+01] [-9.92721392e-02 9.95060306e-01 1.74551015e-04 -4.60428843e-01] [ 7.65686188e-03 5.88474072e-04 9.99970513e-01 7.91463937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.76, Y:-0.46, Z:0.08 [[ 9.94841467e-01 1.01150935e-01 -7.67749304e-03 4.97592871e+01] [-1.01152593e-01 9.94870908e-01 1.73014001e-04 -4.59197434e-01] [ 7.65561499e-03 6.04476828e-04 9.99970513e-01 7.98781292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:-0.46, Z:0.08 [[ 9.94682315e-01 1.02704173e-01 -7.67751643e-03 4.97878566e+01] [-1.02705886e-01 9.94711753e-01 1.71969490e-04 -4.58504883e-01] [ 7.65457781e-03 6.17471114e-04 9.99970513e-01 8.16991072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.82, Y:-0.46, Z:0.08 [[ 9.94477645e-01 1.04667421e-01 -7.67752451e-03 4.98160463e+01] [-1.04669194e-01 9.94507079e-01 1.71608118e-04 -4.58478506e-01] [ 7.65331426e-03 6.32939867e-04 9.99970513e-01 8.26981224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.84, Y:-0.46, Z:0.08 [[ 9.94498035e-01 1.04473510e-01 -7.67753662e-03 4.98445168e+01] [-1.04475281e-01 9.94527469e-01 1.71064765e-04 -4.59005755e-01] [ 7.65339280e-03 6.31989223e-04 9.99970513e-01 8.43418442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:-0.46, Z:0.09 [[ 9.94641027e-01 1.03103259e-01 -7.67754477e-03 4.98719415e+01] [-1.03104993e-01 9.94670464e-01 1.70698246e-04 -4.59424999e-01] [ 7.65422656e-03 6.21809719e-04 9.99970513e-01 8.61342608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.90, Y:-0.46, Z:0.09 [[ 9.95096200e-01 9.86134291e-02 -7.67755487e-03 4.99005261e+01] [-9.86150335e-02 9.95125643e-01 1.70242694e-04 -4.61627120e-01] [ 7.65691994e-03 5.87714473e-04 9.99970513e-01 9.03111058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.93, Y:-0.46, Z:0.09 [[ 9.95317020e-01 9.63591440e-02 -7.67756320e-03 4.99273092e+01] [-9.63606845e-02 9.95346467e-01 1.69866111e-04 -4.64166677e-01] [ 7.65820356e-03 5.70744614e-04 9.99970513e-01 9.05020071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.95, Y:-0.47, Z:0.09 [[ 9.95515945e-01 9.42818058e-02 -7.67757760e-03 4.99547497e+01] [-9.42832899e-02 9.95545395e-01 1.69212734e-04 -4.67195614e-01] [ 7.65933070e-03 5.55413300e-04 9.99970513e-01 8.88930647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.98, Y:-0.47, Z:0.09 [[ 9.95652964e-01 9.28236502e-02 -7.67758918e-03 4.99827689e+01] [-9.28250952e-02 9.95682416e-01 1.68685815e-04 -4.72779488e-01] [ 7.66009857e-03 5.44720415e-04 9.99970513e-01 8.78156822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.01, Y:-0.47, Z:0.09 [[ 9.95624167e-01 9.31320166e-02 -7.67760110e-03 5.00092593e+01] [-9.31334749e-02 9.95653618e-01 1.68141289e-04 -4.74536047e-01] [ 7.65989065e-03 5.47636139e-04 9.99970513e-01 8.94913629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.005898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.04, Y:-0.48, Z:0.09 [[ 9.95533297e-01 9.40983974e-02 -7.67762269e-03 5.00374160e+01] [-9.40998919e-02 9.95562747e-01 1.67149580e-04 -4.76101156e-01] [ 7.65928364e-03 5.56060493e-04 9.99970513e-01 9.07823466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.07, Y:-0.48, Z:0.09 [[ 9.95303116e-01 9.65026496e-02 -7.67763462e-03 5.00656508e+01] [-9.65042195e-02 9.95332561e-01 1.66599934e-04 -4.78972043e-01] [ 7.65787707e-03 5.75106703e-04 9.99970513e-01 8.59592177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.09, Y:-0.48, Z:0.08 [[ 9.95250214e-01 9.70467121e-02 -7.67764936e-03 5.00941588e+01] [-9.70483033e-02 9.95279659e-01 1.65918021e-04 -4.81274913e-01] [ 7.65751003e-03 5.79972897e-04 9.99970513e-01 8.47620274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:-0.48, Z:0.09 [[ 9.95254473e-01 9.70030263e-02 -7.67765717e-03 5.01215185e+01] [-9.70046190e-02 9.95283918e-01 1.65555790e-04 -4.83845455e-01] [ 7.65750812e-03 5.79998067e-04 9.99970513e-01 8.55251878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.125898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:50.15, Y:-0.49, Z:0.09 [[ 9.95452671e-01 9.49475304e-02 -7.67766684e-03 5.01505494e+01] [-9.49490657e-02 9.95482118e-01 1.65106095e-04 -4.87056075e-01] [ 7.65865646e-03 5.64631990e-04 9.99970513e-01 8.81993661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.18, Y:-0.49, Z:0.09 [[ 9.95681112e-01 9.25212170e-02 -7.67767463e-03 5.01777675e+01] [-9.25226833e-02 9.95710563e-01 1.64742983e-04 -4.88527850e-01] [ 7.65998395e-03 5.46327582e-04 9.99970513e-01 9.09091745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.185898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.21, Y:-0.49, Z:0.09 [[ 9.96377331e-01 8.46951451e-02 -7.67768818e-03 5.02057058e+01] [-8.46963848e-02 9.96406792e-01 1.64109247e-04 -4.93043046e-01] [ 7.66399990e-03 4.86757699e-04 9.99970513e-01 8.87621044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.23, Y:-0.50, Z:0.09 [[ 9.96836147e-01 7.91122521e-02 -7.67769979e-03 5.02321287e+01] [-7.91133310e-02 9.96865615e-01 1.63563916e-04 -4.97229813e-01] [ 7.66657483e-03 4.44361981e-04 9.99970513e-01 8.99780175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.26, Y:-0.50, Z:0.09 [[ 9.97348208e-01 7.23712951e-02 -7.67771322e-03 5.02609818e+01] [-7.23721796e-02 9.97377682e-01 1.62931100e-04 -5.02368842e-01] [ 7.66937135e-03 3.93153799e-04 9.99970513e-01 9.28881860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.29, Y:-0.51, Z:0.10 [[ 9.97835780e-01 6.53055022e-02 -7.67771882e-03 5.02889898e+01] [-6.53061799e-02 9.97865260e-01 1.62666670e-04 -5.07872819e-01] [ 7.67195192e-03 3.39087863e-04 9.99970513e-01 9.55616903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.32, Y:-0.52, Z:0.10 [[ 9.98583648e-01 5.26474186e-02 -7.67773069e-03 5.03154314e+01] [-5.26477268e-02 9.98613134e-01 1.62104762e-04 -5.17527996e-01] [ 7.67561710e-03 2.42339903e-04 9.99970513e-01 9.55472147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.34, Y:-0.52, Z:0.09 [[ 9.98789080e-01 4.85945145e-02 -7.67774245e-03 5.03429588e+01] [-4.85947073e-02 9.98818566e-01 1.61545977e-04 -5.22727059e-01] [ 7.67652195e-03 2.11747289e-04 9.99970513e-01 9.37965555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.37, Y:-0.53, Z:0.09 [[ 9.98896182e-01 4.63408050e-02 -7.67775427e-03 5.03703048e+01] [-4.63409356e-02 9.98925669e-01 1.60982089e-04 -5.27807300e-01] [ 7.67696586e-03 1.94989922e-04 9.99970513e-01 9.25025370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.40, Y:-0.53, Z:0.09 [[ 9.98909693e-01 4.60486302e-02 -7.67776402e-03 5.03980332e+01] [-4.60487558e-02 9.98939180e-01 1.60515559e-04 -5.32041061e-01] [ 7.67701082e-03 1.93210933e-04 9.99970513e-01 9.29355065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.43, Y:-0.54, Z:0.10 [[ 9.98720384e-01 4.99864526e-02 -7.67777553e-03 5.04256954e+01] [-4.99866987e-02 9.98749871e-01 1.59963036e-04 -5.37223970e-01] [ 7.67617331e-03 2.24028307e-04 9.99970513e-01 9.77340190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.45, Y:-0.54, Z:0.10 [[ 9.98554420e-01 5.31988936e-02 -7.67778502e-03 5.04540718e+01] [-5.31992381e-02 9.98583905e-01 1.59506228e-04 -5.39689967e-01] [ 7.67539811e-03 2.49176665e-04 9.99970513e-01 9.90129435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.48, Y:-0.54, Z:0.10 [[ 9.98558289e-01 5.31262118e-02 -7.67779658e-03 5.04825527e+01] [-5.31265584e-02 9.98587775e-01 1.58947957e-04 -5.40145243e-01] [ 7.67539811e-03 2.49176109e-04 9.99970513e-01 9.92317623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.51, Y:-0.54, Z:0.10 [[ 9.98369166e-01 5.65690645e-02 -7.67780811e-03 5.05095514e+01] [-5.65695170e-02 9.98398650e-01 1.58389129e-04 -5.43263632e-01] [ 7.67447318e-03 2.76199074e-04 9.99970513e-01 9.88073414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.54, Y:-0.55, Z:0.10 [[ 9.98152197e-01 6.02763939e-02 -7.67782143e-03 5.05369925e+01] [-6.02769609e-02 9.98181678e-01 1.57740736e-04 -5.50642522e-01] [ 7.67336873e-03 3.05346480e-04 9.99970513e-01 9.59871326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.57, Y:-0.55, Z:0.09 [[ 9.98144214e-01 6.04084394e-02 -7.67783293e-03 5.05653059e+01] [-6.04090146e-02 9.98173695e-01 1.57178944e-04 -5.54662385e-01] [ 7.67330581e-03 3.06923069e-04 9.99970513e-01 9.40366287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.59, Y:-0.56, Z:0.09 [[ 9.98185251e-01 5.97265003e-02 -7.67784062e-03 5.05921160e+01] [-5.97270583e-02 9.98214733e-01 1.56802455e-04 -5.58691954e-01] [ 7.67349889e-03 3.02056936e-04 9.99970513e-01 9.23963027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.62, Y:-0.57, Z:0.09 [[ 9.98263905e-01 5.83971473e-02 -7.67785392e-03 5.06196111e+01] [-5.83976710e-02 9.98293388e-01 1.56148636e-04 -5.67620047e-01] [ 7.67386943e-03 2.92491240e-04 9.99970513e-01 9.14441422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.65, Y:-0.57, Z:0.09 [[ 9.98240801e-01 5.87907657e-02 -7.67786302e-03 5.06485554e+01] [-5.87913045e-02 9.98270283e-01 1.55700010e-04 -5.71718831e-01] [ 7.67373621e-03 2.95965480e-04 9.99970513e-01 9.22887141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.68, Y:-0.57, Z:0.09 [[ 9.98139799e-01 6.04813399e-02 -7.67787062e-03 5.06764293e+01] [-6.04819315e-02 9.98169280e-01 1.55324007e-04 -5.74610542e-01] [ 7.67320880e-03 3.09337372e-04 9.99970513e-01 9.12482033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.725898227 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:50.71, Y:-0.57, Z:0.09 [[ 9.97626555e-01 6.84273802e-02 -7.67788003e-03 5.07052035e+01] [-6.84282101e-02 9.97656031e-01 1.54857437e-04 -5.73729338e-01] [ 7.67047981e-03 3.70893696e-04 9.99970513e-01 8.88911067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.755898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.73, Y:-0.57, Z:0.09 [[ 9.97244296e-01 7.37893185e-02 -7.67788766e-03 5.07329599e+01] [-7.37903098e-02 9.97273767e-01 1.54478599e-04 -5.71151321e-01] [ 7.66835481e-03 4.12500807e-04 9.99970513e-01 8.93956240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.76, Y:-0.57, Z:0.09 [[ 9.96822044e-01 7.92897377e-02 -7.67789706e-03 5.07616178e+01] [-7.92908951e-02 9.96851509e-01 1.54009582e-04 -5.68240331e-01] [ 7.66593465e-03 4.55267185e-04 9.99970513e-01 8.85563914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.79, Y:-0.56, Z:0.09 [[ 9.96083029e-01 8.80888656e-02 -7.67790452e-03 5.07894621e+01] [-8.80902861e-02 9.96112483e-01 1.53637036e-04 -5.60122628e-01] [ 7.66159024e-03 5.23313561e-04 9.99970513e-01 8.55430531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.845898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:50.82, Y:-0.56, Z:0.08 [[ 9.95853261e-01 9.06495042e-02 -7.67791373e-03 5.08171701e+01] [-9.06510039e-02 9.95882710e-01 1.53175051e-04 -5.55061626e-01] [ 7.66018678e-03 5.43470714e-04 9.99970513e-01 8.46926576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.875898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:50.85, Y:-0.55, Z:0.09 [[ 9.95771042e-01 9.15482482e-02 -7.67792243e-03 5.08459369e+01] [-9.15497778e-02 9.95800489e-01 1.52737861e-04 -5.49649881e-01] [ 7.65966180e-03 5.50820154e-04 9.99970513e-01 8.80726820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.87, Y:-0.54, Z:0.09 [[ 9.96073982e-01 8.81911084e-02 -7.67792945e-03 5.08744484e+01] [-8.81925414e-02 9.96103435e-01 1.52384436e-04 -5.39170543e-01] [ 7.66145084e-03 5.25349938e-04 9.99970513e-01 9.42946685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.935898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.90, Y:-0.53, Z:0.10 [[ 9.96377870e-01 8.46887767e-02 -7.67793830e-03 5.09032630e+01] [-8.46901097e-02 9.96407327e-01 1.51936975e-04 -5.34962768e-01] [ 7.66322134e-03 4.98858797e-04 9.99970513e-01 9.65738861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.93, Y:-0.53, Z:0.10 [[ 9.96653317e-01 8.13831313e-02 -7.67794369e-03 5.09321803e+01] [-8.13843686e-02 9.96682779e-01 1.51664333e-04 -5.31704771e-01] [ 7.66481717e-03 4.73707839e-04 9.99970513e-01 9.88358729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.96, Y:-0.53, Z:0.10 [[ 9.97127737e-01 7.53480221e-02 -7.67795087e-03 5.09587663e+01] [-7.53490838e-02 9.97157206e-01 1.51300017e-04 -5.26670992e-01] [ 7.66752419e-03 4.27661120e-04 9.99970513e-01 9.88817239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.99, Y:-0.53, Z:0.10 [[ 9.97324392e-01 7.26987386e-02 -7.67796969e-03 5.09879345e+01] [-7.26997295e-02 9.97353862e-01 1.50338548e-04 -5.25684271e-01] [ 7.66858215e-03 4.08250019e-04 9.99970513e-01 9.65313437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.02, Y:-0.52, Z:0.09 [[ 9.97668269e-01 6.78164777e-02 -7.67797690e-03 5.10152053e+01] [-6.78173271e-02 9.97697744e-01 1.49969524e-04 -5.24915903e-01] [ 7.67047063e-03 3.71080035e-04 9.99970513e-01 9.48544512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.04, Y:-0.53, Z:0.10 [[ 9.97807251e-01 6.57399220e-02 -7.67798939e-03 5.10425804e+01] [-6.57407150e-02 9.97836728e-01 1.49327082e-04 -5.25826540e-01] [ 7.67119657e-03 3.55756867e-04 9.99970513e-01 9.63393494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.115898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:51.07, Y:-0.53, Z:0.10 [[ 9.97885820e-01 6.45363322e-02 -7.67799817e-03 5.10711175e+01] [-6.45370931e-02 9.97915298e-01 1.48874376e-04 -5.27393227e-01] [ 7.67159964e-03 3.46956054e-04 9.99970513e-01 9.63023672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.10, Y:-0.53, Z:0.10 [[ 9.97894689e-01 6.43990472e-02 -7.67800538e-03 5.10985170e+01] [-6.43998070e-02 9.97924167e-01 1.48501480e-04 -5.28999277e-01] [ 7.67163048e-03 3.46273226e-04 9.99970513e-01 9.93478451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.13, Y:-0.53, Z:0.10 [[ 9.97728532e-01 6.69240143e-02 -7.67802363e-03 5.11266885e+01] [-6.69248559e-02 9.97758008e-01 1.47551884e-04 -5.30924413e-01] [ 7.67068433e-03 3.66633900e-04 9.99970513e-01 1.01622913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.15, Y:-0.53, Z:0.10 [[ 9.97593785e-01 6.89034613e-02 -7.67803416e-03 5.11543324e+01] [-6.89043656e-02 9.97623259e-01 1.47001863e-04 -5.31782396e-01] [ 7.66991440e-03 3.82401929e-04 9.99970513e-01 1.00578189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.18, Y:-0.53, Z:0.10 [[ 9.97308223e-01 7.29202032e-02 -7.67804466e-03 5.11817631e+01] [-7.29212304e-02 9.97337692e-01 1.46451723e-04 -5.33000876e-01] [ 7.66828263e-03 4.13834956e-04 9.99970513e-01 9.75286631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.21, Y:-0.53, Z:0.10 [[ 9.97139211e-01 7.51960201e-02 -7.67805336e-03 5.12098297e+01] [-7.51971181e-02 9.97168678e-01 1.45993809e-04 -5.33844583e-01] [ 7.66729247e-03 4.31791334e-04 9.99970513e-01 9.67149273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.24, Y:-0.53, Z:0.09 [[ 9.96885989e-01 7.84816690e-02 -7.67806377e-03 5.12385102e+01] [-7.84828683e-02 9.96915452e-01 1.45444633e-04 -5.33870311e-01] [ 7.66579515e-03 4.57604751e-04 9.99970513e-01 9.47057195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.27, Y:-0.53, Z:0.09 [[ 9.96800007e-01 7.95662791e-02 -7.67807089e-03 5.12667060e+01] [-7.95675133e-02 9.96829469e-01 1.45067536e-04 -5.34805224e-01] [ 7.66526981e-03 4.66321687e-04 9.99970513e-01 9.26701490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.30, Y:-0.54, Z:0.09 [[ 9.96748365e-01 8.02106276e-02 -7.67807972e-03 5.12955451e+01] [-8.02118845e-02 9.96777825e-01 1.44598946e-04 -5.36292136e-01] [ 7.66493797e-03 4.71744480e-04 9.99970513e-01 9.20561255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.32, Y:-0.54, Z:0.09 [[ 9.96745472e-01 8.02465663e-02 -7.67808663e-03 5.13239178e+01] [-8.02478271e-02 9.96774932e-01 1.44231059e-04 -5.39712852e-01] [ 7.66489832e-03 4.72388113e-04 9.99970513e-01 9.47195780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.35, Y:-0.54, Z:0.10 [[ 9.96798435e-01 7.95859742e-02 -7.67809358e-03 5.13518765e+01] [-7.95872183e-02 9.96827896e-01 1.43859880e-04 -5.40345421e-01] [ 7.66518710e-03 4.67678806e-04 9.99970513e-01 9.74466925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.38, Y:-0.54, Z:0.10 [[ 9.96831814e-01 7.91667984e-02 -7.67810220e-03 5.13785995e+01] [-7.91680337e-02 9.96861275e-01 1.43398470e-04 -5.40890334e-01] [ 7.66535515e-03 4.64916097e-04 9.99970513e-01 9.71831217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.41, Y:-0.54, Z:0.10 [[ 9.96877690e-01 7.85870083e-02 -7.67811897e-03 5.14073058e+01] [-7.85882333e-02 9.96907152e-01 1.42494711e-04 -5.42011776e-01] [ 7.66556995e-03 4.61360007e-04 9.99970513e-01 9.60197079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.505898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.43, Y:-0.55, Z:0.09 [[ 9.96943836e-01 7.77433821e-02 -7.67812588e-03 5.14346612e+01] [-7.77445851e-02 9.96973299e-01 1.42121223e-04 -5.45739551e-01] [ 7.66593548e-03 4.55245834e-04 9.99970513e-01 9.13841176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.46, Y:-0.55, Z:0.10 [[ 9.96978827e-01 7.72933687e-02 -7.67813447e-03 5.14637006e+01] [-7.72945620e-02 9.97008290e-01 1.41655934e-04 -5.46555826e-01] [ 7.66611278e-03 4.52250073e-04 9.99970513e-01 9.50487614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.49, Y:-0.55, Z:0.10 [[ 9.97044394e-01 7.64429365e-02 -7.67814115e-03 5.14924933e+01] [-7.64441074e-02 9.97073858e-01 1.41292824e-04 -5.46824094e-01] [ 7.66647466e-03 4.46073428e-04 9.99970513e-01 1.02171092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.52, Y:-0.55, Z:0.10 [[ 9.97113918e-01 7.55306586e-02 -7.67814809e-03 5.15197749e+01] [-7.55318055e-02 9.97143383e-01 1.40914686e-04 -5.48569879e-01] [ 7.66685794e-03 4.39436394e-04 9.99970513e-01 1.02593896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.55, Y:-0.55, Z:0.10 [[ 9.97234418e-01 7.39226665e-02 -7.67816008e-03 5.15471270e+01] [-7.39237709e-02 9.97263885e-01 1.40258446e-04 -5.50879571e-01] [ 7.66752003e-03 4.27727997e-04 9.99970513e-01 1.01383228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.58, Y:-0.55, Z:0.10 [[ 9.97415832e-01 7.14332172e-02 -7.67817174e-03 5.15750397e+01] [-7.14342529e-02 9.97445301e-01 1.39617159e-04 -5.52659113e-01] [ 7.66852962e-03 4.09228097e-04 9.99970513e-01 1.00749658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.685898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.60, Y:-0.55, Z:0.10 [[ 9.97781732e-01 6.61260963e-02 -7.67818179e-03 5.16036882e+01] [-6.61269795e-02 9.97811206e-01 1.39062455e-04 -5.54361875e-01] [ 7.67057149e-03 3.68980993e-04 9.99970513e-01 1.02340469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.63, Y:-0.56, Z:0.10 [[ 9.97937123e-01 6.37380911e-02 -7.67818849e-03 5.16316917e+01] [-6.37389066e-02 9.97966599e-01 1.38691297e-04 -5.55753292e-01] [ 7.67141557e-03 3.50994146e-04 9.99970513e-01 1.04858781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.66, Y:-0.56, Z:0.11 [[ 9.98176405e-01 5.98741215e-02 -7.67819999e-03 5.16607036e+01] [-5.98748278e-02 9.98205884e-01 1.38051569e-04 -5.58605407e-01] [ 7.67269012e-03 3.21931084e-04 9.99970513e-01 1.08498956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.69, Y:-0.56, Z:0.11 [[ 9.98281622e-01 5.80934394e-02 -7.67820654e-03 5.16881307e+01] [-5.80940960e-02 9.98311102e-01 1.37686580e-04 -5.59328570e-01] [ 7.67323752e-03 3.08608485e-04 9.99970513e-01 1.10568461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.72, Y:-0.56, Z:0.11 [[ 9.98320932e-01 5.74139564e-02 -7.67821787e-03 5.17157956e+01] [-5.74145977e-02 9.98350412e-01 1.37051656e-04 -5.59662873e-01] [ 7.67342065e-03 3.04020254e-04 9.99970513e-01 1.11028246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.74, Y:-0.56, Z:0.11 [[ 9.98294072e-01 5.78791001e-02 -7.67822763e-03 5.17422837e+01] [-5.78797594e-02 9.98323552e-01 1.36502659e-04 -5.60761893e-01] [ 7.67325613e-03 3.08144173e-04 9.99970513e-01 1.09061938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.77, Y:-0.56, Z:0.11 [[ 9.98078889e-01 6.14782521e-02 -7.67823887e-03 5.17700703e+01] [-6.14790226e-02 9.98108367e-01 1.35867691e-04 -5.63364742e-01] [ 7.67206736e-03 3.36443946e-04 9.99970513e-01 1.06913867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.80, Y:-0.56, Z:0.11 [[ 9.97914127e-01 6.40971179e-02 -7.67824850e-03 5.17971458e+01] [-6.40979699e-02 9.97943602e-01 1.35320839e-04 -5.64297716e-01] [ 7.67113264e-03 3.57121565e-04 9.99970513e-01 1.08320120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.83, Y:-0.56, Z:0.11 [[ 9.97737329e-01 6.67927147e-02 -7.67825958e-03 5.18250188e+01] [-6.67936512e-02 9.97766801e-01 1.34689289e-04 -5.64352823e-01] [ 7.67010877e-03 3.78474461e-04 9.99970513e-01 1.10371416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.85, Y:-0.57, Z:0.11 [[ 9.97459694e-01 7.08181014e-02 -7.67826907e-03 5.18534784e+01] [-7.08191610e-02 9.97489162e-01 1.34146222e-04 -5.65179817e-01] [ 7.66849016e-03 4.09963123e-04 9.99970513e-01 1.08060912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.88, Y:-0.57, Z:0.11 [[ 9.97380261e-01 7.19281542e-02 -7.67827563e-03 5.18821450e+01] [-7.19292494e-02 9.97409728e-01 1.33769495e-04 -5.66973668e-01] [ 7.66800860e-03 4.18873549e-04 9.99970513e-01 1.06048006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.91, Y:-0.57, Z:0.10 [[ 9.97236206e-01 7.38985398e-02 -7.67828218e-03 5.19085964e+01] [-7.38996961e-02 9.97265670e-01 1.33392523e-04 -5.70258253e-01] [ 7.66714474e-03 4.34398866e-04 9.99970513e-01 1.04125083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.94, Y:-0.57, Z:0.10 [[ 9.97138710e-01 7.52026410e-02 -7.67829355e-03 5.19356682e+01] [-7.52038410e-02 9.97168173e-01 1.32735000e-04 -5.71117184e-01] [ 7.66653197e-03 4.45081961e-04 9.99970513e-01 1.04825670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.96, Y:-0.57, Z:0.10 [[ 9.97030488e-01 7.66240769e-02 -7.67830405e-03 5.19641546e+01] [-7.66253235e-02 9.97059949e-01 1.32124646e-04 -5.70845576e-01] [ 7.66585338e-03 4.56620232e-04 9.99970513e-01 1.04833487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.99, Y:-0.57, Z:0.10 [[ 9.96917379e-01 7.80818998e-02 -7.67831313e-03 5.19930710e+01] [-7.80831936e-02 9.96946838e-01 1.31594899e-04 -5.70202497e-01] [ 7.66514518e-03 4.68357969e-04 9.99970513e-01 1.04234789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.02, Y:-0.57, Z:0.10 [[ 9.96756107e-01 8.01143339e-02 -7.67831949e-03 5.20208344e+01] [-8.01156906e-02 9.96785563e-01 1.31222916e-04 -5.70509394e-01] [ 7.66415085e-03 4.84356625e-04 9.99970513e-01 9.89380101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.05, Y:-0.57, Z:0.10 [[ 9.96732225e-01 8.04109164e-02 -7.67832735e-03 5.20491516e+01] [-8.04122854e-02 9.96761680e-01 1.30761330e-04 -5.71913491e-01] [ 7.66397711e-03 4.87097819e-04 9.99970513e-01 9.96375093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.08, Y:-0.57, Z:0.10 [[ 9.96730225e-01 8.04357012e-02 -7.67833665e-03 5.20765226e+01] [-8.04370752e-02 9.96759680e-01 1.30213133e-04 -5.73618548e-01] [ 7.66393016e-03 4.87835576e-04 9.99970513e-01 9.89464238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.10, Y:-0.57, Z:0.10 [[ 9.96715590e-01 8.06168437e-02 -7.67834430e-03 5.21048379e+01] [-8.06182265e-02 9.96745045e-01 1.29760155e-04 -5.74802730e-01] [ 7.66381249e-03 4.89680530e-04 9.99970513e-01 1.02756668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.255898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.13, Y:-0.57, Z:0.10 [[ 9.96699570e-01 8.08146654e-02 -7.67835041e-03 5.21331664e+01] [-8.08160568e-02 9.96729024e-01 1.29397767e-04 -5.74780673e-01] [ 7.66369195e-03 4.91563304e-04 9.99970513e-01 1.04465168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.16, Y:-0.57, Z:0.11 [[ 9.96664600e-01 8.12448083e-02 -7.67835999e-03 5.21609021e+01] [-8.12462168e-02 9.96694053e-01 1.28826767e-04 -5.73874796e-01] [ 7.66344224e-03 4.95440622e-04 9.99970513e-01 1.07410615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.19, Y:-0.57, Z:0.11 [[ 9.96552394e-01 8.26097246e-02 -7.67846585e-03 5.21883808e+01] [-8.26112222e-02 9.96581844e-01 1.22462527e-04 -5.70403367e-01] [ 7.66233625e-03 5.12287124e-04 9.99970513e-01 1.06993513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.345898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:52.22, Y:-0.57, Z:0.11 [[ 9.96555216e-01 8.25756839e-02 -7.67837866e-03 5.22176051e+01] [-8.25771403e-02 9.96584668e-01 1.27704966e-04 -5.70589494e-01] [ 7.66269977e-03 5.06793502e-04 9.99970513e-01 1.06878198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.375898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:52.25, Y:-0.57, Z:0.11 [[ 9.96560881e-01 8.25072886e-02 -7.67838448e-03 5.22460882e+01] [-8.25087457e-02 9.96590332e-01 1.27353660e-04 -5.70928968e-01] [ 7.66271135e-03 5.06618198e-04 9.99970513e-01 1.07096994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.27, Y:-0.57, Z:0.11 [[ 9.96818320e-01 7.93364872e-02 -7.67839319e-03 5.22741709e+01] [-7.93378547e-02 9.96847776e-01 1.26826685e-04 -5.72040549e-01] [ 7.66425116e-03 4.82764079e-04 9.99970513e-01 1.09648208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.435898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:-0.57, Z:0.11 [[ 9.97044216e-01 7.64452321e-02 -7.67840227e-03 5.23029566e+01] [-7.64465184e-02 9.97073675e-01 1.26274468e-04 -5.72473589e-01] [ 7.66558585e-03 4.61085893e-04 9.99970513e-01 1.08929298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.465898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:52.33, Y:-0.57, Z:0.11 [[ 9.97213890e-01 7.41990514e-02 -7.67840836e-03 5.23298261e+01] [-7.42002741e-02 9.97243352e-01 1.25903274e-04 -5.73215873e-01] [ 7.66658359e-03 4.44187512e-04 9.99970513e-01 1.06500174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.36, Y:-0.57, Z:0.11 [[ 9.97321049e-01 7.27445388e-02 -7.67841891e-03 5.23581538e+01] [-7.27457235e-02 9.97350512e-01 1.25256251e-04 -5.74164593e-01] [ 7.66718674e-03 4.33651444e-04 9.99970513e-01 1.08141973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.39, Y:-0.58, Z:0.11 [[ 9.97293653e-01 7.31191525e-02 -7.67842765e-03 5.23870421e+01] [-7.31203524e-02 9.97323116e-01 1.24718465e-04 -5.75609743e-01] [ 7.66699270e-03 4.37068402e-04 9.99970513e-01 1.10534639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.41, Y:-0.58, Z:0.11 [[ 9.97269872e-01 7.34427878e-02 -7.67843360e-03 5.24146032e+01] [-7.34440000e-02 9.97299335e-01 1.24350690e-04 -5.76504434e-01] [ 7.66682939e-03 4.39923681e-04 9.99970513e-01 1.13601687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.44, Y:-0.58, Z:0.12 [[ 9.97266670e-01 7.34862606e-02 -7.67844097e-03 5.24420738e+01] [-7.34874777e-02 9.97296132e-01 1.23893874e-04 -5.77222777e-01] [ 7.66678398e-03 4.40714029e-04 9.99970513e-01 1.16273433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.47, Y:-0.58, Z:0.11 [[ 9.97264210e-01 7.35196411e-02 -7.67845013e-03 5.24694492e+01] [-7.35208636e-02 9.97293672e-01 1.23323907e-04 -5.80644371e-01] [ 7.66673645e-03 4.41539766e-04 9.99970513e-01 1.14813149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.50, Y:-0.58, Z:0.11 [[ 9.97281051e-01 7.32908352e-02 -7.67846069e-03 5.24974349e+01] [-7.32920560e-02 9.97310513e-01 1.22662661e-04 -5.83553478e-01] [ 7.66679962e-03 4.40441024e-04 9.99970513e-01 1.12803842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.52, Y:-0.59, Z:0.11 [[ 9.97259009e-01 7.35901360e-02 -7.67856682e-03 5.25247897e+01] [-7.35914170e-02 9.97288469e-01 1.15964041e-04 -5.86417678e-01] [ 7.66627996e-03 4.49430429e-04 9.99970513e-01 1.11891699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.705898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.55, Y:-0.59, Z:0.11 [[ 9.97167364e-01 7.48217122e-02 -7.67848660e-03 5.25531377e+01] [-7.48229905e-02 9.97196824e-01 1.21052499e-04 -5.88706584e-01] [ 7.66601981e-03 4.53817729e-04 9.99970513e-01 1.10237748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.58, Y:-0.59, Z:0.11 [[ 9.96785500e-01 7.97477732e-02 -7.67849243e-03 5.25824187e+01] [-7.97491999e-02 9.96814953e-01 1.20681644e-04 -5.89841957e-01] [ 7.66366017e-03 4.92059915e-04 9.99970513e-01 1.11481130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.61, Y:-0.59, Z:0.11 [[ 9.96533812e-01 8.28335802e-02 -7.67849823e-03 5.26097235e+01] [-8.28351009e-02 9.96563260e-01 1.20311836e-04 -5.90690668e-01] [ 7.66207509e-03 5.16154363e-04 9.99970513e-01 1.11214242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.64, Y:-0.59, Z:0.11 [[ 9.96189606e-01 8.68752514e-02 -7.67850824e-03 5.26376576e+01] [-8.68768966e-02 9.96219047e-01 1.19669126e-04 -5.91204915e-01] [ 7.65987245e-03 5.47871827e-04 9.99970513e-01 1.10466661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.66, Y:-0.59, Z:0.11 [[ 9.96129532e-01 8.75613777e-02 -7.67851671e-03 5.26642243e+01] [-8.75630473e-02 9.96158973e-01 1.19123055e-04 -5.90571548e-01] [ 7.65945390e-03 5.53692329e-04 9.99970513e-01 1.09453035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.69, Y:-0.59, Z:0.11 [[ 9.96132142e-01 8.75316892e-02 -7.67853041e-03 5.26932253e+01] [-8.75333647e-02 9.96161581e-01 1.18233486e-04 -5.90120558e-01] [ 7.65940617e-03 5.54351428e-04 9.99970513e-01 1.08906714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:-0.59, Z:0.11 [[ 9.96208537e-01 8.66578914e-02 -7.67853597e-03 5.27220431e+01] [-8.66595439e-02 9.96237978e-01 1.17871640e-04 -5.89949614e-01] [ 7.65986366e-03 5.47993691e-04 9.99970513e-01 1.08208460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:-0.59, Z:0.11 [[ 9.96368948e-01 8.47936243e-02 -7.67854154e-03 5.27497032e+01] [-8.47952245e-02 9.96398392e-01 1.17507398e-04 -5.89040194e-01] [ 7.66085032e-03 5.34022931e-04 9.99970513e-01 1.11359610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.78, Y:-0.59, Z:0.11 [[ 9.96394217e-01 8.44961787e-02 -7.67854847e-03 5.27773064e+01] [-8.44977736e-02 9.96423661e-01 1.17053023e-04 -5.88193268e-01] [ 7.66097791e-03 5.32189295e-04 9.99970513e-01 1.13751621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.81, Y:-0.59, Z:0.12 [[ 9.96378679e-01 8.46792074e-02 -7.67855528e-03 5.28064486e+01] [-8.46808111e-02 9.96408123e-01 1.16604604e-04 -5.87248562e-01] [ 7.66084883e-03 5.34043948e-04 9.99970513e-01 1.15685162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.005898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.84, Y:-0.58, Z:0.11 [[ 9.96173534e-01 8.70593458e-02 -7.67856079e-03 5.28352755e+01] [-8.70610227e-02 9.96202974e-01 1.16240133e-04 -5.84119097e-01] [ 7.65952489e-03 5.52708012e-04 9.99970513e-01 1.13292524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.86, Y:-0.58, Z:0.11 [[ 9.96060667e-01 8.83413119e-02 -7.67856639e-03 5.28630593e+01] [-8.83430295e-02 9.96090104e-01 1.15869299e-04 -5.81725939e-01] [ 7.65878004e-03 5.62934966e-04 9.99970513e-01 1.11208824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.065898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:52.89, Y:-0.58, Z:0.11 [[ 9.95940271e-01 8.96884355e-02 -7.67857332e-03 5.28922504e+01] [-8.96901964e-02 9.95969706e-01 1.15408414e-04 -5.79281453e-01] [ 7.65797721e-03 5.73752862e-04 9.99970513e-01 1.08590008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.92, Y:-0.57, Z:0.11 [[ 9.95749925e-01 9.17775930e-02 -7.67857883e-03 5.29199154e+01] [-9.17794185e-02 9.95779356e-01 1.15040296e-04 -5.72624827e-01] [ 7.65672840e-03 5.90184135e-04 9.99970513e-01 1.12725093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.95, Y:-0.57, Z:0.11 [[ 9.95696677e-01 9.23534929e-02 -7.67858567e-03 5.29486545e+01] [-9.23553390e-02 9.95726106e-01 1.14582221e-04 -5.69205913e-01] [ 7.65635028e-03 5.95069246e-04 9.99970513e-01 1.14220336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.98, Y:-0.57, Z:0.11 [[ 9.95717850e-01 9.21249319e-02 -7.67859111e-03 5.29762751e+01] [-9.21267740e-02 9.95747279e-01 1.14216447e-04 -5.65549338e-01] [ 7.65645839e-03 5.93676473e-04 9.99970513e-01 1.14347862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.185898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.00, Y:-0.56, Z:0.11 [[ 9.95957615e-01 8.94956314e-02 -7.67859781e-03 5.30048525e+01] [-8.94973992e-02 9.95987049e-01 1.13764143e-04 -5.59090145e-01] [ 7.65796537e-03 5.73910269e-04 9.99970513e-01 1.11565177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.03, Y:-0.56, Z:0.11 [[ 9.96217242e-01 8.65577572e-02 -7.67860313e-03 5.30334237e+01] [-8.65594410e-02 9.96246681e-01 1.13403716e-04 -5.56334006e-01] [ 7.65959886e-03 5.51680857e-04 9.99970513e-01 1.10543933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.06, Y:-0.55, Z:0.11 [[ 9.96499579e-01 8.32443916e-02 -7.67860858e-03 5.30604269e+01] [-8.32459804e-02 9.96529023e-01 1.13033878e-04 -5.53499772e-01] [ 7.66136574e-03 5.26575087e-04 9.99970513e-01 1.10192837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.09, Y:-0.55, Z:0.11 [[ 9.96758957e-01 8.00788344e-02 -7.67861801e-03 5.30882411e+01] [-8.00803345e-02 9.96788407e-01 1.12389393e-04 -5.50691857e-01] [ 7.66295742e-03 5.02881165e-04 9.99970513e-01 1.11351870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.12, Y:-0.55, Z:0.11 [[ 9.97180277e-01 7.46494087e-02 -7.67862596e-03 5.31157038e+01] [-7.46507526e-02 9.97209734e-01 1.11843314e-04 -5.47051469e-01] [ 7.66554959e-03 4.61687260e-04 9.99970513e-01 1.13221377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:-0.55, Z:0.11 [[ 9.97383991e-01 7.18763749e-02 -7.67863255e-03 5.31437603e+01] [-7.18776404e-02 9.97413451e-01 1.11389344e-04 -5.46393704e-01] [ 7.66677765e-03 4.40824040e-04 9.99970513e-01 1.14174749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.17, Y:-0.55, Z:0.11 [[ 9.97619213e-01 6.85342551e-02 -7.67864051e-03 5.31715902e+01] [-6.85354261e-02 9.97648677e-01 1.10837808e-04 -5.45755811e-01] [ 7.66818174e-03 4.15684973e-04 9.99970513e-01 1.14321088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.20, Y:-0.55, Z:0.11 [[ 9.97880029e-01 6.46257401e-02 -7.67864848e-03 5.31991253e+01] [-6.46268000e-02 9.97909497e-01 1.10283227e-04 -5.45886230e-01] [ 7.66972338e-03 3.86197049e-04 9.99970513e-01 1.14428676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.23, Y:-0.55, Z:0.12 [[ 9.98359525e-01 5.67388419e-02 -7.67865506e-03 5.32275982e+01] [-5.67396724e-02 9.98389001e-01 1.09822598e-04 -5.49401701e-01] [ 7.67251597e-03 3.26041935e-04 9.99970513e-01 1.17425695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.25, Y:-0.55, Z:0.12 [[ 9.98592197e-01 5.24848708e-02 -7.67866024e-03 5.32544152e+01] [-5.24855785e-02 9.98621676e-01 1.09459666e-04 -5.53729549e-01] [ 7.67382153e-03 2.93713356e-04 9.99970513e-01 1.17688887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.28, Y:-0.56, Z:0.12 [[ 9.98935628e-01 4.54824018e-02 -7.67866922e-03 5.32829427e+01] [-4.54829077e-02 9.98965111e-01 1.08826201e-04 -5.62450750e-01] [ 7.67567232e-03 2.40537834e-04 9.99970513e-01 1.16563346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.31, Y:-0.57, Z:0.12 [[ 9.98983066e-01 4.44282670e-02 -7.67867440e-03 5.33113518e+01] [-4.44287446e-02 9.99012550e-01 1.08459190e-04 -5.66132115e-01] [ 7.67591075e-03 2.32804969e-04 9.99970513e-01 1.17213379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.34, Y:-0.57, Z:0.12 [[ 9.98949258e-01 4.51820512e-02 -7.67868217e-03 5.33402672e+01] [-4.51825553e-02 9.98978741e-01 1.07906290e-04 -5.69523087e-01] [ 7.67571567e-03 2.39149573e-04 9.99970513e-01 1.19337549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.37, Y:-0.58, Z:0.12 [[ 9.98716319e-01 5.00674657e-02 -7.67868770e-03 5.33678381e+01] [-5.00681170e-02 9.98745800e-01 1.07511382e-04 -5.76926175e-01] [ 7.67443991e-03 2.77084063e-04 9.99970513e-01 1.23322588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.39, Y:-0.58, Z:0.12 [[ 9.98579548e-01 5.27249906e-02 -7.67869454e-03 5.33945942e+01] [-5.27257241e-02 9.98609026e-01 1.07020463e-04 -5.80967749e-01] [ 7.67365633e-03 2.97996284e-04 9.99970513e-01 1.23454948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.42, Y:-0.59, Z:0.12 [[ 9.98320810e-01 5.74160089e-02 -7.67870358e-03 5.34234876e+01] [-5.74168859e-02 9.98350284e-01 1.06367784e-04 -5.86091977e-01] [ 7.67214312e-03 3.34698075e-04 9.99970513e-01 1.21448573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:-0.59, Z:0.12 [[ 9.98222123e-01 5.91069342e-02 -7.67870870e-03 5.34509348e+01] [-5.91078640e-02 9.98251596e-01 1.05997049e-04 -5.87797802e-01] [ 7.67154838e-03 3.48063470e-04 9.99970513e-01 1.19893886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.48, Y:-0.59, Z:0.12 [[ 9.98129314e-01 6.06540180e-02 -7.67871673e-03 5.34786283e+01] [-6.06549979e-02 9.98158785e-01 1.05411800e-04 -5.88697945e-01] [ 7.67097221e-03 3.60537940e-04 9.99970513e-01 1.20297045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.51, Y:-0.59, Z:0.12 [[ 9.98058059e-01 6.18154321e-02 -7.67872421e-03 5.35072961e+01] [-6.18164506e-02 9.98087529e-01 1.04864073e-04 -5.89404615e-01] [ 7.67052109e-03 3.70011042e-04 9.99970513e-01 1.22488230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.755898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.54, Y:-0.59, Z:0.13 [[ 9.98075160e-01 6.15387084e-02 -7.67872932e-03 5.35356112e+01] [-6.15397216e-02 9.98104630e-01 1.04489163e-04 -5.90910430e-01] [ 7.67060541e-03 3.68258826e-04 9.99970513e-01 1.25961576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.785898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.56, Y:-0.59, Z:0.12 [[ 9.98215198e-01 5.92237678e-02 -7.67873455e-03 5.35621317e+01] [-5.92247156e-02 9.98244671e-01 1.04102721e-04 -5.91541088e-01] [ 7.67142120e-03 3.50853952e-04 9.99970513e-01 1.24729330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.59, Y:-0.59, Z:0.12 [[ 9.98410404e-01 5.58363865e-02 -7.67874361e-03 5.35893206e+01] [-5.58372394e-02 9.98439879e-01 1.03430071e-04 -5.91929711e-01] [ 7.67253901e-03 3.25494187e-04 9.99970513e-01 1.24571855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.62, Y:-0.59, Z:0.12 [[ 9.98644382e-01 5.14823785e-02 -7.67875256e-03 5.36173650e+01] [-5.14831080e-02 9.98673860e-01 1.02761499e-04 -5.93353345e-01] [ 7.67385987e-03 2.92703854e-04 9.99970513e-01 1.24305768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.64, Y:-0.60, Z:0.12 [[ 9.99119073e-01 4.12566905e-02 -7.67875867e-03 5.36448816e+01] [-4.12571217e-02 9.99148557e-01 1.02302836e-04 -5.99884344e-01] [ 7.67644133e-03 2.14590766e-04 9.99970513e-01 1.24809008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.67, Y:-0.60, Z:0.13 [[ 9.99330073e-01 3.57832506e-02 -7.67876340e-03 5.36735055e+01] [-3.57835230e-02 9.99359559e-01 1.01946847e-04 -6.04207929e-01] [ 7.67749360e-03 1.72894657e-04 9.99970513e-01 1.26401411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.935898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.70, Y:-0.61, Z:0.13 [[ 9.99606242e-01 2.69888398e-02 -7.67876820e-03 5.37024998e+01] [-2.69888556e-02 9.99635729e-01 1.01583707e-04 -6.11094684e-01] [ 7.67871268e-03 1.05697459e-04 9.99970513e-01 1.30704099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.73, Y:-0.61, Z:0.13 [[ 9.99657402e-01 2.50222825e-02 -7.67877308e-03 5.37310352e+01] [-2.50222431e-02 9.99686890e-01 1.01213966e-04 -6.14138356e-01] [ 7.67890138e-03 9.09608365e-05 9.99970513e-01 1.31709437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.76, Y:-0.62, Z:0.13 [[ 9.99660623e-01 2.48932691e-02 -7.67877798e-03 5.37589109e+01] [-2.48932288e-02 9.99690110e-01 1.00840926e-04 -6.17181358e-01] [ 7.67890866e-03 9.03428741e-05 9.99970513e-01 1.31734018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.79, Y:-0.62, Z:0.13 [[ 9.99575852e-01 2.80918516e-02 -7.67878406e-03 5.37877640e+01] [-2.80919092e-02 9.99605339e-01 1.00375166e-04 -6.22648430e-01] [ 7.67857327e-03 1.15379113e-04 9.99970513e-01 1.30538710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.82, Y:-0.62, Z:0.13 [[ 9.99480853e-01 3.12899551e-02 -7.67878890e-03 5.38155094e+01] [-3.12901099e-02 9.99510340e-01 1.00004085e-04 -6.24878430e-01] [ 7.67815802e-03 1.40317981e-04 9.99970513e-01 1.29444412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.84, Y:-0.63, Z:0.13 [[ 9.99347893e-01 3.52820653e-02 -7.67879552e-03 5.38445050e+01] [-3.52823418e-02 9.99377379e-01 9.94932769e-05 -6.26447761e-01] [ 7.67752487e-03 1.71497492e-04 9.99970513e-01 1.28915504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:-0.63, Z:0.13 [[ 9.99178108e-01 3.98013213e-02 -7.67880042e-03 5.38721573e+01] [-3.98017341e-02 9.99207592e-01 9.91129333e-05 -6.27086493e-01] [ 7.67666051e-03 2.06598100e-04 9.99970513e-01 1.26891912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.90, Y:-0.63, Z:0.12 [[ 9.98823867e-01 4.78739873e-02 -7.67880693e-03 5.38996049e+01] [-4.78746422e-02 9.98853347e-01 9.86066039e-05 -6.27333934e-01] [ 7.67472269e-03 2.69129505e-04 9.99970513e-01 1.24543548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.93, Y:-0.63, Z:0.13 [[ 9.98650361e-01 5.13662633e-02 -7.67881275e-03 5.39277157e+01] [-5.13670248e-02 9.98679838e-01 9.81510075e-05 -6.27513250e-01] [ 7.67371712e-03 2.96419226e-04 9.99970513e-01 1.25161665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.205898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:53.96, Y:-0.63, Z:0.13 [[ 9.98394480e-01 5.61203891e-02 -7.67881958e-03 5.39567791e+01] [-5.61212950e-02 9.98423953e-01 9.76140041e-05 -6.28123417e-01] [ 7.67219553e-03 3.33488016e-04 9.99970513e-01 1.28295710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.98, Y:-0.63, Z:0.13 [[ 9.98317019e-01 5.74818660e-02 -7.67882410e-03 5.39841364e+01] [-5.74828148e-02 9.98346491e-01 9.72571843e-05 -6.28259956e-01] [ 7.67171762e-03 3.44306921e-04 9.99970513e-01 1.32389324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.01, Y:-0.63, Z:0.13 [[ 9.98264881e-01 5.83803345e-02 -7.67882967e-03 5.40121392e+01] [-5.83813133e-02 9.98294352e-01 9.68151812e-05 -6.28791407e-01] [ 7.67138439e-03 3.51652965e-04 9.99970513e-01 1.31832950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.04, Y:-0.63, Z:0.13 [[ 9.98223346e-01 5.90862757e-02 -7.67883583e-03 5.40407049e+01] [-5.90872791e-02 9.98252816e-01 9.63239180e-05 -6.29159335e-01] [ 7.67111091e-03 3.57568732e-04 9.99970513e-01 1.30945143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.07, Y:-0.63, Z:0.13 [[ 9.98226079e-01 5.90400685e-02 -7.67884028e-03 5.40700283e+01] [-5.90410733e-02 9.98255550e-01 9.59677298e-05 -6.29435940e-01] [ 7.67111087e-03 3.57569481e-04 9.99970513e-01 1.31170375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.10, Y:-0.63, Z:0.13 [[ 9.98105941e-01 6.10374110e-02 -7.67884471e-03 5.40992840e+01] [-6.10384774e-02 9.98135409e-01 9.56122916e-05 -6.30407109e-01] [ 7.67036273e-03 3.73273793e-04 9.99970513e-01 1.30593702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.13, Y:-0.63, Z:0.13 [[ 9.97996924e-01 6.27947077e-02 -7.67884932e-03 5.41277047e+01] [-6.27958290e-02 9.98026390e-01 9.52401769e-05 -6.30472237e-01] [ 7.66967485e-03 3.87150305e-04 9.99970513e-01 1.32622058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.16, Y:-0.63, Z:0.13 [[ 9.97834557e-01 6.53240575e-02 -7.67885396e-03 5.41554723e+01] [-6.53252563e-02 9.97864020e-01 9.48645599e-05 -6.29925010e-01] [ 7.66864902e-03 4.06963967e-04 9.99970513e-01 1.33907846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.18, Y:-0.63, Z:0.13 [[ 9.97482144e-01 7.05011148e-02 -7.67885971e-03 5.41829086e+01] [-7.05024701e-02 9.97511600e-01 9.43967939e-05 -6.28030411e-01] [ 7.66640672e-03 4.47219461e-04 9.99970513e-01 1.32307196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.21, Y:-0.63, Z:0.13 [[ 9.97303296e-01 7.29874669e-02 -7.67886678e-03 5.42118107e+01] [-7.29889000e-02 9.97332749e-01 9.38180453e-05 -6.27528211e-01] [ 7.66523286e-03 4.66906994e-04 9.99970513e-01 1.30437675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.505898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.24, Y:-0.62, Z:0.13 [[ 9.97187433e-01 7.45537247e-02 -7.67887115e-03 5.42397263e+01] [-7.45552069e-02 9.97216883e-01 9.34597551e-05 -6.24565793e-01] [ 7.66446772e-03 4.79302933e-04 9.99970513e-01 1.29079567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.27, Y:-0.62, Z:0.13 [[ 9.97303336e-01 7.29869191e-02 -7.67887653e-03 5.42677780e+01] [-7.29883583e-02 9.97332788e-01 9.30151617e-05 -6.22174180e-01] [ 7.66518423e-03 4.67704261e-04 9.99970513e-01 1.30765839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.30, Y:-0.62, Z:0.13 [[ 9.97513189e-01 7.00604873e-02 -7.67888185e-03 5.42954796e+01] [-7.00618435e-02 9.97542645e-01 9.25738120e-05 -6.19584424e-01] [ 7.66649788e-03 4.45653020e-04 9.99970513e-01 1.34245897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.32, Y:-0.62, Z:0.14 [[ 9.97746491e-01 6.66556377e-02 -7.67888713e-03 5.43240706e+01] [-6.66568968e-02 9.97775952e-01 9.21338881e-05 -6.18422022e-01] [ 7.66795016e-03 4.19924523e-04 9.99970513e-01 1.36690109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.35, Y:-0.62, Z:0.14 [[ 9.98250596e-01 5.86240693e-02 -7.67889133e-03 5.43511143e+01] [-5.86250939e-02 9.98280066e-01 9.17827707e-05 -6.19708907e-01] [ 7.67106482e-03 3.58553520e-04 9.99970513e-01 1.35509799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.38, Y:-0.62, Z:0.13 [[ 9.98476574e-01 5.46403290e-02 -7.67889758e-03 5.43787628e+01] [-5.46412401e-02 9.98506047e-01 9.12566811e-05 -6.20970494e-01] [ 7.67241196e-03 3.28466828e-04 9.99970513e-01 1.34991062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.685898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.41, Y:-0.62, Z:0.14 [[ 9.98660457e-01 5.11695843e-02 -7.67890276e-03 5.44074971e+01] [-5.11703962e-02 9.98689933e-01 9.08186734e-05 -6.21098867e-01] [ 7.67349004e-03 3.02235479e-04 9.99970513e-01 1.35929674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:-0.62, Z:0.14 [[ 9.98829423e-01 4.77579113e-02 -7.67890689e-03 5.44359946e+01] [-4.77586253e-02 9.98858902e-01 9.04680731e-05 -6.20901973e-01] [ 7.67446507e-03 2.76371864e-04 9.99970513e-01 1.36996460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.745898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:54.46, Y:-0.62, Z:0.14 [[ 9.98807806e-01 4.82079007e-02 -7.67891112e-03 5.44648524e+01] [-4.82086307e-02 9.98837284e-01 9.01078311e-05 -6.22426160e-01] [ 7.67432663e-03 2.80189386e-04 9.99970513e-01 1.35974162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.775898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:54.49, Y:-0.62, Z:0.14 [[ 9.98498789e-01 5.42328582e-02 -7.67891533e-03 5.44931703e+01] [-5.42337688e-02 9.98528262e-01 8.97472658e-05 -6.23614650e-01] [ 7.67248123e-03 3.26843983e-04 9.99970513e-01 1.41476828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.52, Y:-0.62, Z:0.14 [[ 9.98188718e-01 5.96684005e-02 -7.67891963e-03 5.45210629e+01] [-5.96694744e-02 9.98218185e-01 8.93775181e-05 -6.23385655e-01] [ 7.67057024e-03 3.68981468e-04 9.99970513e-01 1.44939512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.835898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:54.55, Y:-0.62, Z:0.14 [[ 9.97869470e-01 6.47885466e-02 -7.67892491e-03 5.45498496e+01] [-6.47897752e-02 9.97898931e-01 8.89216293e-05 -6.22664847e-01] [ 7.66855207e-03 4.08783640e-04 9.99970513e-01 1.40981833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.58, Y:-0.62, Z:0.13 [[ 9.97179501e-01 7.46597383e-02 -7.67892909e-03 5.45784055e+01] [-7.46612611e-02 9.97208949e-01 8.85595641e-05 -6.19815170e-01] [ 7.66410864e-03 4.85008748e-04 9.99970513e-01 1.31668376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.61, Y:-0.62, Z:0.13 [[ 9.96896197e-01 7.83518101e-02 -7.67893339e-03 5.46059307e+01] [-7.83534448e-02 9.96925639e-01 8.81852340e-05 -6.17784347e-01] [ 7.66223505e-03 5.13759359e-04 9.99970513e-01 1.27468100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.63, Y:-0.62, Z:0.13 [[ 9.96691367e-01 8.09157182e-02 -7.67893870e-03 5.46347844e+01] [-8.09174322e-02 9.96720804e-01 8.77204912e-05 -6.15314453e-01] [ 7.66085592e-03 5.33929745e-04 9.99970513e-01 1.29059284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.955898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:54.66, Y:-0.61, Z:0.13 [[ 9.96525978e-01 8.29277288e-02 -7.67894270e-03 5.46629245e+01] [-8.29295050e-02 9.96555412e-01 8.73687797e-05 -6.11747447e-01] [ 7.65973720e-03 5.49745658e-04 9.99970513e-01 1.32928471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.69, Y:-0.61, Z:0.14 [[ 9.96442070e-01 8.39299367e-02 -7.67894764e-03 5.46916520e+01] [-8.39317458e-02 9.96471502e-01 8.69326699e-05 -6.10540728e-01] [ 7.65914874e-03 5.57884111e-04 9.99970513e-01 1.38677875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.72, Y:-0.61, Z:0.14 [[ 9.96396315e-01 8.44714016e-02 -7.67895172e-03 5.47205476e+01] [-8.44732294e-02 9.96425745e-01 8.65706037e-05 -6.08969746e-01] [ 7.65881793e-03 5.62407220e-04 9.99970513e-01 1.40679886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.75, Y:-0.61, Z:0.14 [[ 9.96338557e-01 8.51499478e-02 -7.67895581e-03 5.47483098e+01] [-8.51517985e-02 9.96367986e-01 8.62060119e-05 -6.05924229e-01] [ 7.65840617e-03 5.67986524e-04 9.99970513e-01 1.42332394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.78, Y:-0.61, Z:0.14 [[ 9.96312158e-01 8.54582812e-02 -7.67896087e-03 5.47756768e+01] [-8.54601445e-02 9.96341586e-01 8.57532495e-05 -6.05356413e-01] [ 7.65819638e-03 5.70808100e-04 9.99970513e-01 1.43474047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.80, Y:-0.60, Z:0.14 [[ 9.96327109e-01 8.52837873e-02 -7.67896772e-03 5.48034318e+01] [-8.52856501e-02 9.96356538e-01 8.51355453e-05 -6.03617703e-01] [ 7.65825037e-03 5.70082902e-04 9.99970513e-01 1.44264729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.83, Y:-0.60, Z:0.15 [[ 9.96403434e-01 8.43873815e-02 -7.67897375e-03 5.48303170e+01] [-8.43892221e-02 9.96432864e-01 8.45879910e-05 -6.01880111e-01] [ 7.65871996e-03 5.63738856e-04 9.99970513e-01 1.45003831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.86, Y:-0.60, Z:0.15 [[ 9.96491164e-01 8.33450252e-02 -7.67898069e-03 5.48579106e+01] [-8.33468399e-02 9.96520595e-01 8.39529617e-05 -5.99996546e-01] [ 7.65925947e-03 5.56360389e-04 9.99970513e-01 1.45541093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.89, Y:-0.60, Z:0.15 [[ 9.96569535e-01 8.24026392e-02 -7.67898656e-03 5.48850233e+01] [-8.24044302e-02 9.96598968e-01 8.34126140e-05 -5.98261027e-01] [ 7.65974350e-03 5.49656042e-04 9.99970513e-01 1.45251967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:-0.60, Z:0.14 [[ 9.96607665e-01 8.19401975e-02 -7.67899593e-03 5.49138095e+01] [-8.19419815e-02 9.96637098e-01 8.25406176e-05 -5.95846167e-01] [ 7.65993562e-03 5.46971531e-04 9.99970513e-01 1.44058865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.255898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.94, Y:-0.59, Z:0.14 [[ 9.96622150e-01 8.17638257e-02 -7.67899979e-03 5.49428482e+01] [-8.17656072e-02 9.96651583e-01 8.21800484e-05 -5.94505196e-01] [ 7.66000666e-03 5.45975624e-04 9.99970513e-01 1.42987858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.97, Y:-0.59, Z:0.14 [[ 9.96668539e-01 8.11964051e-02 -7.67900367e-03 5.49703287e+01] [-8.11981727e-02 9.96697973e-01 8.18163420e-05 -5.92266669e-01] [ 7.66029058e-03 5.41977292e-04 9.99970513e-01 1.43437111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.00, Y:-0.59, Z:0.15 [[ 9.96704648e-01 8.07519550e-02 -7.67901038e-03 5.49982047e+01] [-8.07537143e-02 9.96734082e-01 8.11809561e-05 -5.87348610e-01] [ 7.66048689e-03 5.39195175e-04 9.99970513e-01 1.46458647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.03, Y:-0.59, Z:0.15 [[ 9.96694400e-01 8.08783363e-02 -7.67901508e-03 5.50258314e+01] [-8.08801028e-02 9.96723835e-01 8.07345018e-05 -5.85925522e-01] [ 7.66038703e-03 5.40611903e-04 9.99970513e-01 1.46740067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.375898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:55.05, Y:-0.59, Z:0.14 [[ 9.96717679e-01 8.05909538e-02 -7.67902075e-03 5.50549515e+01] [-8.05927160e-02 9.96747113e-01 8.01912312e-05 -5.85417683e-01] [ 7.66050445e-03 5.38945120e-04 9.99970513e-01 1.43340526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.08, Y:-0.59, Z:0.14 [[ 9.96731992e-01 8.04137386e-02 -7.67902459e-03 5.50835352e+01] [-8.04154984e-02 9.96761426e-01 7.98217132e-05 -5.85108084e-01] [ 7.66057427e-03 5.37951735e-04 9.99970513e-01 1.43382791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.435898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:-0.58, Z:0.14 [[ 9.96843042e-01 7.90252017e-02 -7.67902847e-03 5.51110120e+01] [-7.90269233e-02 9.96872479e-01 7.94471375e-05 -5.84565420e-01] [ 7.66129047e-03 5.27653667e-04 9.99970513e-01 1.38953742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:-0.58, Z:0.14 [[ 9.96863058e-01 7.87723049e-02 -7.67903326e-03 5.51400258e+01] [-7.87740226e-02 9.96892495e-01 7.89809626e-05 -5.84974755e-01] [ 7.66139214e-03 5.26175136e-04 9.99970513e-01 1.40637879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.17, Y:-0.58, Z:0.14 [[ 9.96851809e-01 7.89145319e-02 -7.67903705e-03 5.51678864e+01] [-7.89162567e-02 9.96881246e-01 7.86111042e-05 -5.84956328e-01] [ 7.66129158e-03 5.27637237e-04 9.99970513e-01 1.41554440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.525898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:55.20, Y:-0.58, Z:0.14 [[ 9.96798967e-01 7.95792181e-02 -7.67904172e-03 5.51959313e+01] [-7.95809660e-02 9.96828402e-01 7.81518758e-05 -5.83813949e-01] [ 7.66090616e-03 5.33203849e-04 9.99970513e-01 1.40020408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.22, Y:-0.58, Z:0.14 [[ 9.96572140e-01 8.23711203e-02 -7.67904726e-03 5.52241648e+01] [-8.23729549e-02 9.96601570e-01 7.76034742e-05 -5.79267637e-01] [ 7.65934285e-03 5.55208353e-04 9.99970513e-01 1.38955961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.25, Y:-0.58, Z:0.14 [[ 9.96471981e-01 8.35740535e-02 -7.67905184e-03 5.52518429e+01] [-8.35759271e-02 9.96501409e-01 7.71479910e-05 -5.77758989e-01] [ 7.65863355e-03 5.64908065e-04 9.99970513e-01 1.38308133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.615898226999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.28, Y:-0.58, Z:0.14 [[ 9.96395338e-01 8.44829147e-02 -7.67905633e-03 5.52807949e+01] [-8.44848186e-02 9.96424764e-01 7.66983387e-05 -5.76429371e-01] [ 7.65808159e-03 5.72341814e-04 9.99970513e-01 1.39281189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.31, Y:-0.57, Z:0.14 [[ 9.96381309e-01 8.46482130e-02 -7.67905990e-03 5.53100695e+01] [-8.46501245e-02 9.96410734e-01 7.63391783e-05 -5.72079058e-01] [ 7.65795969e-03 5.73970446e-04 9.99970513e-01 1.42243982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.34, Y:-0.57, Z:0.14 [[ 9.96494301e-01 8.33074993e-02 -7.67906349e-03 5.53382512e+01] [-8.33093740e-02 9.96523729e-01 7.59769820e-05 -5.69669603e-01] [ 7.65869843e-03 5.64027342e-04 9.99970513e-01 1.43583818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.37, Y:-0.57, Z:0.15 [[ 9.96924544e-01 7.79902934e-02 -7.67906791e-03 5.53671845e+01] [-7.79920145e-02 9.96953981e-01 7.55270805e-05 -5.68561994e-01] [ 7.66156770e-03 5.23611176e-04 9.99970513e-01 1.46993083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.39, Y:-0.57, Z:0.15 [[ 9.97162335e-01 7.48886463e-02 -7.67907149e-03 5.53942339e+01] [-7.48902786e-02 9.97191777e-01 7.51611559e-05 -5.69669140e-01] [ 7.66313567e-03 5.00139930e-04 9.99970513e-01 1.46896594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.42, Y:-0.57, Z:0.15 [[ 9.97406153e-01 7.15681360e-02 -7.67907769e-03 5.54211266e+01] [-7.15696752e-02 9.97435600e-01 7.45226609e-05 -5.71218682e-01] [ 7.66471891e-03 4.75259736e-04 9.99970513e-01 1.47005373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.45, Y:-0.57, Z:0.15 [[ 9.97821985e-01 6.55157762e-02 -7.67908374e-03 5.54494766e+01] [-6.55171416e-02 9.97851441e-01 7.38942540e-05 -5.73986752e-01] [ 7.66742601e-03 4.29378305e-04 9.99970513e-01 1.48272067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.48, Y:-0.58, Z:0.15 [[ 9.97982053e-01 6.30305781e-02 -7.67908899e-03 5.54783952e+01] [-6.30318743e-02 9.98011512e-01 7.33443493e-05 -5.75950334e-01] [ 7.66844215e-03 4.10831028e-04 9.99970513e-01 1.49684012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.51, Y:-0.58, Z:0.15 [[ 9.98094579e-01 6.12229001e-02 -7.67909254e-03 5.55065921e+01] [-6.12241459e-02 9.98124040e-01 7.29701447e-05 -5.78195297e-01] [ 7.66915431e-03 3.97314776e-04 9.99970513e-01 1.51053012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.54, Y:-0.58, Z:0.15 [[ 9.98151111e-01 6.02942117e-02 -7.67909694e-03 5.55356993e+01] [-6.02954335e-02 9.98180573e-01 7.25040994e-05 -5.81532749e-01] [ 7.66949696e-03 3.90644432e-04 9.99970513e-01 1.52829787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:-0.58, Z:0.15 [[ 9.98113999e-01 6.09054778e-02 -7.67910034e-03 5.55628809e+01] [-6.09067205e-02 9.98143460e-01 7.21422514e-05 -5.83170468e-01] [ 7.66923764e-03 3.95702628e-04 9.99970513e-01 1.52180524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.59, Y:-0.59, Z:0.15 [[ 9.98022119e-01 6.23929549e-02 -7.67910790e-03 5.55905259e+01] [-6.23942478e-02 9.98051578e-01 7.13283895e-05 -5.85766756e-01] [ 7.66859615e-03 4.07944851e-04 9.99970513e-01 1.51520086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.62, Y:-0.59, Z:0.15 [[ 9.97912880e-01 6.41164199e-02 -7.67911302e-03 5.56173441e+01] [-6.41177679e-02 9.97942336e-01 7.07729117e-05 -5.88645809e-01] [ 7.66784970e-03 4.21742386e-04 9.99970513e-01 1.51413099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.005898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:-0.59, Z:0.15 [[ 9.97518037e-01 6.99914071e-02 -7.67911891e-03 5.56460673e+01] [-6.99929335e-02 9.97547485e-01 7.01280190e-05 -5.92526230e-01] [ 7.66519411e-03 4.67530095e-04 9.99970513e-01 1.50694835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.67, Y:-0.59, Z:0.15 [[ 9.97270239e-01 7.34377440e-02 -7.67912232e-03 5.56734095e+01] [-7.34393750e-02 9.97299681e-01 6.97528734e-05 -5.92527538e-01] [ 7.66350873e-03 4.94387479e-04 9.99970513e-01 1.50054364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.065898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:55.70, Y:-0.59, Z:0.15 [[ 9.96734550e-01 8.03820105e-02 -7.67912820e-03 5.57016757e+01] [-8.03838515e-02 9.96763980e-01 6.90997844e-05 -5.92430703e-01] [ 7.65983276e-03 5.48403758e-04 9.99970513e-01 1.49187198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.73, Y:-0.59, Z:0.15 [[ 9.96512008e-01 8.30954168e-02 -7.67913208e-03 5.57292823e+01] [-8.30973413e-02 9.96541433e-01 6.86650567e-05 -5.92496526e-01] [ 7.65827904e-03 5.69689906e-04 9.99970513e-01 1.51253218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.76, Y:-0.59, Z:0.15 [[ 9.96322715e-01 8.53350998e-02 -7.67913670e-03 5.57576544e+01] [-8.53370944e-02 9.96352134e-01 6.81448502e-05 -5.92908512e-01] [ 7.65693939e-03 5.87420951e-04 9.99970513e-01 1.51463745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.155898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.79, Y:-0.59, Z:0.15 [[ 9.96233844e-01 8.63664219e-02 -7.67913988e-03 5.57862344e+01] [-8.63684497e-02 9.96263262e-01 6.77840507e-05 -5.91660196e-01] [ 7.65629921e-03 5.95706641e-04 9.99970513e-01 1.49099041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.185898226999996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.81, Y:-0.59, Z:0.15 [[ 9.96239947e-01 8.62959988e-02 -7.67914307e-03 5.58147180e+01] [-8.62980273e-02 9.96269364e-01 6.74211969e-05 -5.91781557e-01] [ 7.65631316e-03 5.95527208e-04 9.99970513e-01 1.49317833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.84, Y:-0.59, Z:0.15 [[ 9.96333853e-01 8.52049542e-02 -7.67914780e-03 5.58434894e+01] [-8.52069547e-02 9.96363272e-01 6.68783702e-05 -5.90836156e-01] [ 7.65691920e-03 5.87683614e-04 9.99970513e-01 1.53053543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.87, Y:-0.59, Z:0.15 [[ 9.96543182e-01 8.27207125e-02 -7.67915096e-03 5.58727675e+01] [-8.27226424e-02 9.96572606e-01 6.65132091e-05 -5.91196844e-01] [ 7.65833351e-03 5.68956373e-04 9.99970513e-01 1.54652589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.90, Y:-0.60, Z:0.15 [[ 9.97177163e-01 7.46909416e-02 -7.67915420e-03 5.58992478e+01] [-7.46926373e-02 9.97206601e-01 6.61373605e-05 -5.95419540e-01] [ 7.66264312e-03 5.07625614e-04 9.99970513e-01 1.52061455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.305898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.93, Y:-0.60, Z:0.15 [[ 9.97509590e-01 7.01116913e-02 -7.67916187e-03 5.59275962e+01] [-7.01132587e-02 9.97539035e-01 6.52336477e-05 -5.98702560e-01] [ 7.66483737e-03 4.73339874e-04 9.99970513e-01 1.48112024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.95, Y:-0.60, Z:0.15 [[ 9.97785433e-01 6.60701221e-02 -7.67916509e-03 5.59541006e+01] [-6.60715732e-02 9.97814884e-01 6.48523152e-05 -6.00767533e-01] [ 7.66667003e-03 4.42665823e-04 9.99970513e-01 1.48186789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.365898226999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.98, Y:-0.61, Z:0.15 [[ 9.98152925e-01 6.02641586e-02 -7.67917065e-03 5.59817623e+01] [-6.02654434e-02 9.98182384e-01 6.41873041e-05 -6.05374146e-01] [ 7.66908107e-03 3.98719879e-04 9.99970513e-01 1.48493966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.01, Y:-0.61, Z:0.15 [[ 9.98254436e-01 5.85586223e-02 -7.67917446e-03 5.60096884e+01] [-5.85598603e-02 9.98283897e-01 6.37285295e-05 -6.07689633e-01] [ 7.66972806e-03 3.86074097e-04 9.99970513e-01 1.49072080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.04, Y:-0.61, Z:0.15 [[ 9.98302006e-01 5.77419680e-02 -7.67917906e-03 5.60371736e+01] [-5.77431862e-02 9.98331468e-01 6.31690837e-05 -6.09966136e-01] [ 7.67001362e-03 3.80358444e-04 9.99970513e-01 1.49513638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.06, Y:-0.61, Z:0.15 [[ 9.98314424e-01 5.75268763e-02 -7.67918284e-03 5.60644960e+01] [-5.75280917e-02 9.98343886e-01 6.27063336e-05 -6.12134484e-01] [ 7.67007254e-03 3.79168098e-04 9.99970513e-01 1.50844958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.09, Y:-0.62, Z:0.15 [[ 9.98274658e-01 5.82128620e-02 -7.67918646e-03 5.60933692e+01] [-5.82141011e-02 9.98304119e-01 6.22603878e-05 -6.17566636e-01] [ 7.66978783e-03 3.84883969e-04 9.99970513e-01 1.54334874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.12, Y:-0.62, Z:0.16 [[ 9.98253419e-01 5.85759421e-02 -7.67918940e-03 5.61219774e+01] [-5.85771947e-02 9.98282880e-01 6.18949955e-05 -6.20911633e-01] [ 7.66962887e-03 3.88038481e-04 9.99970513e-01 1.56164969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.15, Y:-0.62, Z:0.16 [[ 9.98214147e-01 5.92414331e-02 -7.67919242e-03 5.61499624e+01] [-5.92427082e-02 9.98243606e-01 6.15183321e-05 -6.24294783e-01] [ 7.66934917e-03 3.93527687e-04 9.99970513e-01 1.57228998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.18, Y:-0.63, Z:0.16 [[ 9.97958021e-01 6.34099149e-02 -7.67919614e-03 5.61779995e+01] [-6.34113166e-02 9.97987475e-01 6.10499429e-05 -6.28106316e-01] [ 7.66761274e-03 4.26022658e-04 9.99970513e-01 1.58222540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.21, Y:-0.63, Z:0.16 [[ 9.97753555e-01 6.65497868e-02 -7.67920050e-03 5.62070124e+01] [-6.65512854e-02 9.97783004e-01 6.04963035e-05 -6.28741068e-01] [ 7.66620176e-03 4.50700263e-04 9.99970513e-01 1.57303047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.24, Y:-0.63, Z:0.16 [[ 9.97508629e-01 7.01253529e-02 -7.67920339e-03 5.62360227e+01] [-7.01269599e-02 9.97538072e-01 6.01273504e-05 -6.29638489e-01] [ 7.66451420e-03 4.78541637e-04 9.99970513e-01 1.56117773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.26, Y:-0.63, Z:0.15 [[ 9.96929307e-01 7.79293710e-02 -7.67920626e-03 5.62641256e+01] [-7.79312112e-02 9.96958737e-01 5.97596428e-05 -6.31381916e-01] [ 7.66050880e-03 5.38873705e-04 9.99970513e-01 1.54784960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.29, Y:-0.63, Z:0.16 [[ 9.96656042e-01 8.13496342e-02 -7.67920979e-03 5.62916412e+01] [-8.13515788e-02 9.96685465e-01 5.93016598e-05 -6.31813439e-01] [ 7.65858095e-03 5.65612483e-04 9.99970513e-01 1.55512567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.725898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:56.32, Y:-0.63, Z:0.15 [[ 9.96411941e-01 8.42868505e-02 -7.67921398e-03 5.63182559e+01] [-8.42888861e-02 9.96441358e-01 5.87542418e-05 -6.32699938e-01] [ 7.65683862e-03 5.88728964e-04 9.99970513e-01 1.53388853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.755898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.35, Y:-0.63, Z:0.16 [[ 9.96101164e-01 8.78834458e-02 -7.67921880e-03 5.63470310e+01] [-8.78855924e-02 9.96130573e-01 5.81176890e-05 -6.33089586e-01] [ 7.65461221e-03 6.17001596e-04 9.99970513e-01 1.56019139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.37, Y:-0.63, Z:0.15 [[ 9.96071806e-01 8.82155736e-02 -7.67922156e-03 5.63743968e+01] [-8.82177329e-02 9.96101214e-01 5.77504202e-05 -6.33243712e-01] [ 7.65437640e-03 6.19919951e-04 9.99970513e-01 1.53939661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.40, Y:-0.63, Z:0.15 [[ 9.96129214e-01 8.75649400e-02 -7.67922495e-03 5.64031711e+01] [-8.75670835e-02 9.96158623e-01 5.72966986e-05 -6.32302609e-01] [ 7.65474333e-03 6.15372417e-04 9.99970513e-01 1.51508646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.845898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:56.43, Y:-0.63, Z:0.15 [[ 9.96479129e-01 8.34887770e-02 -7.67922756e-03 5.64319975e+01] [-8.34908029e-02 9.96508546e-01 5.69437390e-05 -6.30112309e-01] [ 7.65717006e-03 5.84401627e-04 9.99970513e-01 1.47553665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.46, Y:-0.63, Z:0.15 [[ 9.96761120e-01 8.00518517e-02 -7.67923015e-03 5.64610492e+01] [-8.00537788e-02 9.96790544e-01 5.65922043e-05 -6.28316439e-01] [ 7.65911432e-03 5.58342483e-04 9.99970513e-01 1.52644205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.49, Y:-0.63, Z:0.15 [[ 9.97067730e-01 7.61378484e-02 -7.67923287e-03 5.64885309e+01] [-7.61396629e-02 9.97097161e-01 5.62216546e-05 -6.27392587e-01] [ 7.66122189e-03 5.28637404e-04 9.99970513e-01 1.54844129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.935898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.52, Y:-0.63, Z:0.16 [[ 9.97365814e-01 7.21280998e-02 -7.67923623e-03 5.65172721e+01] [-7.21297994e-02 9.97395252e-01 5.57586066e-05 -6.27209128e-01] [ 7.66325552e-03 4.98290041e-04 9.99970513e-01 1.57771364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:-0.63, Z:0.16 [[ 9.97920798e-01 6.39930489e-02 -7.67923888e-03 5.65456241e+01] [-6.39945113e-02 9.97950249e-01 5.53904568e-05 -6.26415138e-01] [ 7.66704296e-03 4.36153850e-04 9.99970513e-01 1.58924805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.57, Y:-0.63, Z:0.16 [[ 9.98186497e-01 5.97054935e-02 -7.67924283e-03 5.65738268e+01] [-5.97068336e-02 9.98215954e-01 5.48385280e-05 -6.26098083e-01] [ 7.66881686e-03 4.03764195e-04 9.99970513e-01 1.58155102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.60, Y:-0.63, Z:0.16 [[ 9.98432522e-01 5.54394165e-02 -7.67924606e-03 5.66020398e+01] [-5.54406341e-02 9.98461984e-01 5.43810884e-05 -6.25622327e-01] [ 7.67045012e-03 3.71446424e-04 9.99970513e-01 1.57981224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.63, Y:-0.63, Z:0.16 [[ 9.98766286e-01 4.90605159e-02 -7.67924927e-03 5.66302749e+01] [-4.90615489e-02 9.98795756e-01 5.39250527e-05 -6.25954508e-01] [ 7.67264717e-03 3.22897338e-04 9.99970513e-01 1.62562016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.66, Y:-0.63, Z:0.17 [[ 9.98877788e-01 4.67353667e-02 -7.67925241e-03 5.66590863e+01] [-4.67363345e-02 9.98907259e-01 5.34729620e-05 -6.27104733e-01] [ 7.67336006e-03 3.05487156e-04 9.99970513e-01 1.65103040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.115898226999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.69, Y:-0.63, Z:0.17 [[ 9.99071160e-01 4.24010257e-02 -7.67925499e-03 5.66881300e+01] [-4.24018685e-02 9.99100635e-01 5.31002442e-05 -6.29440782e-01] [ 7.67460004e-03 2.72563838e-04 9.99970513e-01 1.65662826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.72, Y:-0.63, Z:0.17 [[ 9.99139721e-01 4.07534998e-02 -7.67925760e-03 5.67161967e+01] [-4.07542969e-02 9.99169197e-01 5.27207333e-05 -6.29932239e-01] [ 7.67502620e-03 2.60287365e-04 9.99970513e-01 1.65942188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.74, Y:-0.63, Z:0.17 [[ 9.99190714e-01 3.94834993e-02 -7.67926099e-03 5.67449346e+01] [-3.94842628e-02 9.99220191e-01 5.22214178e-05 -6.30370900e-01] [ 7.67533452e-03 2.51030803e-04 9.99970513e-01 1.67067500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:-0.63, Z:0.17 [[ 9.99233537e-01 3.83844566e-02 -7.67926349e-03 5.67733235e+01] [-3.83851905e-02 9.99263016e-01 5.18521230e-05 -6.30899577e-01] [ 7.67559431e-03 2.42957611e-04 9.99970513e-01 1.67873422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.80, Y:-0.63, Z:0.17 [[ 9.99245285e-01 3.80774139e-02 -7.67926604e-03 5.68009303e+01] [-3.80781416e-02 9.99274763e-01 5.14717563e-05 -6.30585778e-01] [ 7.67565666e-03 2.40979270e-04 9.99970513e-01 1.68378220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.265898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.83, Y:-0.63, Z:0.17 [[ 9.99256939e-01 3.77703343e-02 -7.67926917e-03 5.68299497e+01] [-3.77710566e-02 9.99286418e-01 5.10003195e-05 -6.29568928e-01] [ 7.67571568e-03 2.39091687e-04 9.99970513e-01 1.67657404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.86, Y:-0.63, Z:0.17 [[ 9.99299474e-01 3.66277296e-02 -7.67927163e-03 5.68584982e+01] [-3.66284210e-02 9.99328953e-01 5.06259987e-05 -6.25986833e-01] [ 7.67597280e-03 2.30689061e-04 9.99970513e-01 1.68219275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.89, Y:-0.63, Z:0.17 [[ 9.99326848e-01 3.58731165e-02 -7.67927417e-03 5.68868042e+01] [-3.58737886e-02 9.99356327e-01 5.02389273e-05 -6.25365061e-01] [ 7.67613345e-03 2.25279549e-04 9.99970513e-01 1.68535292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.91, Y:-0.63, Z:0.17 [[ 9.99358002e-01 3.49944610e-02 -7.67927729e-03 5.69144408e+01] [-3.49951110e-02 9.99387482e-01 4.97575222e-05 -6.26068619e-01] [ 7.67631483e-03 2.19011583e-04 9.99970513e-01 1.68681294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.94, Y:-0.63, Z:0.17 [[ 9.99443186e-01 3.24706905e-02 -7.67928057e-03 5.69436180e+01] [-3.24712699e-02 9.99472668e-01 4.92452657e-05 -6.27844561e-01] [ 7.67683007e-03 2.00138147e-04 9.99970513e-01 1.69319485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.97, Y:-0.63, Z:0.17 [[ 9.99474380e-01 3.14959079e-02 -7.67928299e-03 5.69711742e+01] [-3.14964615e-02 9.99503862e-01 4.88657535e-05 -6.27954101e-01] [ 7.67701207e-03 1.93030172e-04 9.99970513e-01 1.72378553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:-0.63, Z:0.17 [[ 9.99489753e-01 3.10042257e-02 -7.67928596e-03 5.69993839e+01] [-3.10047685e-02 9.99519235e-01 4.83938404e-05 -6.27146030e-01] [ 7.67709445e-03 1.89725336e-04 9.99970513e-01 1.74677991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.03, Y:-0.63, Z:0.17 [[ 9.99437639e-01 3.26409820e-02 -7.67928909e-03 5.70281952e+01] [-3.26415768e-02 9.99467121e-01 4.78917666e-05 -6.25292032e-01] [ 7.67676019e-03 2.02799271e-04 9.99970513e-01 1.70982034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.505898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:-0.62, Z:0.17 [[ 9.99385360e-01 3.42042467e-02 -7.67929140e-03 5.70568392e+01] [-3.42048905e-02 9.99414840e-01 4.75185688e-05 -6.24556062e-01] [ 7.67642313e-03 2.15179960e-04 9.99970513e-01 1.68251317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.08, Y:-0.62, Z:0.17 [[ 9.99311695e-01 3.62927669e-02 -7.67929376e-03 5.70842828e+01] [-3.62934753e-02 9.99341174e-01 4.71340874e-05 -6.24341511e-01] [ 7.67594507e-03 2.31606613e-04 9.99970513e-01 1.65339785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.565898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.11, Y:-0.62, Z:0.16 [[ 9.99230828e-01 3.84549086e-02 -7.67929666e-03 5.71132073e+01] [-3.84556844e-02 9.99260306e-01 4.66563755e-05 -6.24485905e-01] [ 7.67541050e-03 2.48692120e-04 9.99970513e-01 1.62592375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.14, Y:-0.62, Z:0.16 [[ 9.99079888e-01 4.21948602e-02 -7.67929895e-03 5.71414894e+01] [-4.21957493e-02 9.99109362e-01 4.62775514e-05 -6.23280221e-01] [ 7.67441214e-03 2.77798802e-04 9.99970513e-01 1.63794396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.17, Y:-0.62, Z:0.17 [[ 9.98986583e-01 4.43490126e-02 -7.67930198e-03 5.71689264e+01] [-4.43499691e-02 9.99016055e-01 4.57680798e-05 -6.21774837e-01] [ 7.67377574e-03 2.94855108e-04 9.99970513e-01 1.66500781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:-0.62, Z:0.17 [[ 9.98761580e-01 4.91562231e-02 -7.67930469e-03 5.71978729e+01] [-4.91573250e-02 9.98791047e-01 4.53086751e-05 -6.18429747e-01] [ 7.67224798e-03 3.32241513e-04 9.99970513e-01 1.70882744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.685898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:-0.62, Z:0.17 [[ 9.98645399e-01 5.14625562e-02 -7.67930685e-03 5.72259374e+01] [-5.14637289e-02 9.98674863e-01 4.49408588e-05 -6.16969502e-01] [ 7.67144349e-03 3.50325784e-04 9.99970513e-01 1.70730423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:-0.62, Z:0.17 [[ 9.98520241e-01 5.38363823e-02 -7.67930949e-03 5.72538388e+01] [-5.38376286e-02 9.98549702e-01 4.44839904e-05 -6.15131967e-01] [ 7.67056706e-03 3.69017647e-04 9.99970513e-01 1.69267195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.28, Y:-0.61, Z:0.17 [[ 9.98391147e-01 5.61795809e-02 -7.67931266e-03 5.72811413e+01] [-5.61809006e-02 9.98420605e-01 4.39307313e-05 -6.13250575e-01] [ 7.66965200e-03 3.87570648e-04 9.99970513e-01 1.67344299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.31, Y:-0.61, Z:0.17 [[ 9.98205475e-01 5.93873609e-02 -7.67931627e-03 5.73097521e+01] [-5.93887802e-02 9.98234928e-01 4.32889449e-05 -6.08488180e-01] [ 7.66833254e-03 4.12853964e-04 9.99970513e-01 1.65902362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.34, Y:-0.61, Z:0.17 [[ 9.98197225e-01 5.95258664e-02 -7.67931837e-03 5.73366725e+01] [-5.95272926e-02 9.98226677e-01 4.29148368e-05 -6.06281277e-01] [ 7.66825500e-03 4.14291560e-04 9.99970513e-01 1.65458752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.36, Y:-0.60, Z:0.17 [[ 9.98232209e-01 5.89362854e-02 -7.67932194e-03 5.73633353e+01] [-5.89376992e-02 9.98261662e-01 4.22657186e-05 -6.04416067e-01] [ 7.66846367e-03 4.10410565e-04 9.99970513e-01 1.65113528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.865898226999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.39, Y:-0.60, Z:0.17 [[ 9.98380097e-01 5.63756145e-02 -7.67932544e-03 5.73918979e+01] [-5.63769577e-02 9.98409554e-01 4.16193972e-05 -6.02602777e-01] [ 7.66945821e-03 3.91385028e-04 9.99970513e-01 1.66989200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.42, Y:-0.60, Z:0.17 [[ 9.98505518e-01 5.41087592e-02 -7.67932738e-03 5.74184430e+01] [-5.41100383e-02 9.98534978e-01 4.12575385e-05 -6.03019193e-01] [ 7.67030939e-03 3.74332819e-04 9.99970513e-01 1.67388753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.45, Y:-0.60, Z:0.17 [[ 9.98805915e-01 4.82469797e-02 -7.67933073e-03 5.74458921e+01] [-4.82480908e-02 9.98835382e-01 4.06248066e-05 -6.04484498e-01] [ 7.67234727e-03 3.29936749e-04 9.99970513e-01 1.67473533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.47, Y:-0.61, Z:0.17 [[ 9.98927690e-01 4.56562979e-02 -7.67933322e-03 5.74744689e+01] [-4.56573361e-02 9.98957159e-01 4.01490304e-05 -6.05476978e-01] [ 7.67315795e-03 3.10511920e-04 9.99970513e-01 1.69404865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.50, Y:-0.61, Z:0.17 [[ 9.99033113e-01 4.32881843e-02 -7.67933506e-03 5.75031937e+01] [-4.32891554e-02 9.99062584e-01 3.97933521e-05 -6.05904387e-01] [ 7.67385892e-03 2.92677053e-04 9.99970513e-01 1.72567119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.53, Y:-0.61, Z:0.18 [[ 9.99115756e-01 4.13368386e-02 -7.67933689e-03 5.75311507e+01] [-4.13377549e-02 9.99145229e-01 3.94383987e-05 -6.06791932e-01] [ 7.67440307e-03 2.78043021e-04 9.99970513e-01 1.76232497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.56, Y:-0.61, Z:0.18 [[ 9.99196932e-01 3.93258009e-02 -7.67933971e-03 5.75592880e+01] [-3.93266622e-02 9.99226407e-01 3.88798175e-05 -6.11045440e-01] [ 7.67492801e-03 2.63154204e-04 9.99970513e-01 1.76766033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.59, Y:-0.61, Z:0.17 [[ 9.99192639e-01 3.94347193e-02 -7.67934253e-03 5.75866402e+01] [-3.94355881e-02 9.99222114e-01 3.83158516e-05 -6.13720470e-01] [ 7.67487985e-03 2.64554472e-04 9.99970513e-01 1.74844906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.62, Y:-0.61, Z:0.18 [[ 9.99195487e-01 3.93625062e-02 -7.67934501e-03 5.76151256e+01] [-3.93633767e-02 9.99224961e-01 3.78111026e-05 -6.13727130e-01] [ 7.67488156e-03 2.64504267e-04 9.99970513e-01 1.75063720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.64, Y:-0.62, Z:0.17 [[ 9.99093995e-01 4.18594968e-02 -7.67934771e-03 5.76433891e+01] [-4.18604453e-02 9.99123467e-01 3.72561190e-05 -6.18529484e-01] [ 7.67417602e-03 2.84238549e-04 9.99970513e-01 1.72649433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.67, Y:-0.62, Z:0.17 [[ 9.99006472e-01 4.38987182e-02 -7.67935039e-03 5.76716049e+01] [-4.38997311e-02 9.99035941e-01 3.66947385e-05 -6.20392665e-01] [ 7.67355790e-03 3.00463135e-04 9.99970513e-01 1.74026607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.70, Y:-0.62, Z:0.18 [[ 9.98893142e-01 4.64060184e-02 -7.67935303e-03 5.76993682e+01] [-4.64071096e-02 9.98922609e-01 3.61325113e-05 -6.22307139e-01] [ 7.67275613e-03 3.20284060e-04 9.99970513e-01 1.75598488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.73, Y:-0.63, Z:0.18 [[ 9.98558952e-01 5.31135220e-02 -7.67935519e-03 5.77271856e+01] [-5.31148146e-02 9.98588411e-01 3.56680085e-05 -6.26156559e-01] [ 7.67040955e-03 3.72270918e-04 9.99970513e-01 1.76601617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.255898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.75, Y:-0.63, Z:0.18 [[ 9.98350358e-01 5.68998243e-02 -7.67935774e-03 5.77548617e+01] [-5.69012329e-02 9.98379812e-01 3.51106559e-05 -6.27140934e-01] [ 7.66891352e-03 4.01912187e-04 9.99970513e-01 1.76786901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.78, Y:-0.63, Z:0.18 [[ 9.98139149e-01 6.04918775e-02 -7.67935982e-03 5.77824240e+01] [-6.04933956e-02 9.98168597e-01 3.46495620e-05 -6.27667099e-01] [ 7.66739183e-03 4.29965467e-04 9.99970513e-01 1.76030769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.81, Y:-0.63, Z:0.17 [[ 9.97748714e-01 6.66223032e-02 -7.67936229e-03 5.78105269e+01] [-6.66240064e-02 9.97778152e-01 3.40933957e-05 -6.30532156e-01] [ 7.66457129e-03 4.77613241e-04 9.99970513e-01 1.73555393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.84, Y:-0.63, Z:0.17 [[ 9.97627808e-01 6.84089538e-02 -7.67936473e-03 5.78387266e+01] [-6.84107141e-02 9.97657242e-01 3.35334170e-05 -6.32763399e-01] [ 7.66366783e-03 4.91896956e-04 9.99970513e-01 1.72828002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.87, Y:-0.64, Z:0.17 [[ 9.97588569e-01 6.89787907e-02 -7.67936713e-03 5.78665552e+01] [-6.89805720e-02 9.97618003e-01 3.29756694e-05 -6.35910949e-01] [ 7.66334952e-03 4.96830986e-04 9.99970513e-01 1.71707800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.89, Y:-0.64, Z:0.17 [[ 9.97631926e-01 6.83488657e-02 -7.67936908e-03 5.78942435e+01] [-6.83506320e-02 9.97661360e-01 3.25141516e-05 -6.36705365e-01] [ 7.66363211e-03 4.92452574e-04 9.99970513e-01 1.71404472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.435898226999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.92, Y:-0.64, Z:0.17 [[ 9.97710711e-01 6.71890234e-02 -7.67937135e-03 5.79219210e+01] [-6.71907596e-02 9.97740147e-01 3.19698393e-05 -6.38142571e-01] [ 7.66416512e-03 4.84086143e-04 9.99970513e-01 1.70834592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.95, Y:-0.64, Z:0.17 [[ 9.97935824e-01 6.37582807e-02 -7.67937367e-03 5.79496086e+01] [-6.37599201e-02 9.97965266e-01 3.14030575e-05 -6.41834299e-01] [ 7.66575039e-03 4.58298015e-04 9.99970513e-01 1.72925116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:-0.64, Z:0.17 [[ 9.98097261e-01 6.11791177e-02 -7.67937556e-03 5.79785841e+01] [-6.11806846e-02 9.98126707e-01 3.09342204e-05 -6.43275409e-01] [ 7.66688236e-03 4.38954093e-04 9.99970513e-01 1.74111173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.525898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.01, Y:-0.65, Z:0.17 [[ 9.98356394e-01 5.67938123e-02 -7.67937702e-03 5.80077026e+01] [-5.67952527e-02 9.98385846e-01 3.05654929e-05 -6.46204240e-01] [ 7.66871726e-03 4.05636903e-04 9.99970513e-01 1.74867749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:-0.65, Z:0.18 [[ 9.98431718e-01 5.54538611e-02 -7.67937847e-03 5.80369341e+01] [-5.54552648e-02 9.98461172e-01 3.01979845e-05 -6.47722098e-01] [ 7.66923582e-03 3.95711341e-04 9.99970513e-01 1.76087041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.06, Y:-0.65, Z:0.18 [[ 9.98448673e-01 5.51477564e-02 -7.67937993e-03 5.80649960e+01] [-5.51491539e-02 9.98478127e-01 2.98216385e-05 -6.49580206e-01] [ 7.66933748e-03 3.93735930e-04 9.99970513e-01 1.76119716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.615898226999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.09, Y:-0.65, Z:0.18 [[ 9.98402729e-01 5.59733616e-02 -7.67938178e-03 5.80940338e+01] [-5.59747871e-02 9.98432182e-01 2.93384692e-05 -6.51266018e-01] [ 7.66898408e-03 4.00560152e-04 9.99970513e-01 1.77073523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.12, Y:-0.65, Z:0.18 [[ 9.98093770e-01 6.12360488e-02 -7.67938318e-03 5.81221406e+01] [-6.12376325e-02 9.98123215e-01 2.89658773e-05 -6.53636136e-01] [ 7.66674438e-03 4.41356583e-04 9.99970513e-01 1.79088640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.15, Y:-0.65, Z:0.18 [[ 9.97853899e-01 6.50278707e-02 -7.67938490e-03 5.81495013e+01] [-6.50295698e-02 9.97883337e-01 2.85032466e-05 -6.54498395e-01] [ 7.66498373e-03 4.70945020e-04 9.99970513e-01 1.80365001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.18, Y:-0.65, Z:0.18 [[ 9.97632709e-01 6.83374364e-02 -7.67938654e-03 5.81777811e+01] [-6.83392366e-02 9.97662141e-01 2.80527688e-05 -6.54806409e-01] [ 7.66335028e-03 4.96817054e-04 9.99970513e-01 1.81611446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.21, Y:-0.66, Z:0.18 [[ 9.97348395e-01 7.23685462e-02 -7.67938813e-03 5.82054963e+01] [-7.23704687e-02 9.97377819e-01 2.76112704e-05 -6.56379882e-01] [ 7.66124958e-03 5.28222862e-04 9.99970513e-01 1.83638550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:-0.66, Z:0.18 [[ 9.97300649e-01 7.30235740e-02 -7.67939001e-03 5.82326265e+01] [-7.30255199e-02 9.97330072e-01 2.70778801e-05 -6.58358610e-01] [ 7.66086392e-03 5.33786660e-04 9.99970513e-01 1.83573369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.26, Y:-0.66, Z:0.18 [[ 9.97305533e-01 7.29568363e-02 -7.67939215e-03 5.82602456e+01] [-7.29587850e-02 9.97334956e-01 2.64579648e-05 -6.61319595e-01] [ 7.66085652e-03 5.33892446e-04 9.99970513e-01 1.82969650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.29, Y:-0.67, Z:0.18 [[ 9.97483559e-01 7.04810323e-02 -7.67939397e-03 5.82894193e+01] [-7.04829121e-02 9.97512987e-01 2.59185550e-05 -6.68919256e-01] [ 7.66212198e-03 5.15412717e-04 9.99970513e-01 1.81543607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:-0.67, Z:0.18 [[ 9.97612262e-01 6.86352811e-02 -7.67939518e-03 5.83170465e+01] [-6.86371092e-02 9.97641692e-01 2.55536115e-05 -6.73558881e-01] [ 7.66303869e-03 5.01598890e-04 9.99970513e-01 1.81624796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.35, Y:-0.68, Z:0.18 [[ 9.97743885e-01 6.66945756e-02 -7.67939667e-03 5.83457695e+01] [-6.66963499e-02 9.97773319e-01 2.50997532e-05 -6.78699998e-01] [ 7.66397112e-03 4.87144602e-04 9.99970513e-01 1.81161722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.37, Y:-0.69, Z:0.18 [[ 9.97964322e-01 6.33106596e-02 -7.67939782e-03 5.83748627e+01] [-6.33123369e-02 9.97993761e-01 2.47403550e-05 -6.88025253e-01] [ 7.66555745e-03 4.61510631e-04 9.99970513e-01 1.82093429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.40, Y:-0.69, Z:0.18 [[ 9.98007003e-01 6.26342523e-02 -7.67939900e-03 5.84040058e+01] [-6.26359124e-02 9.98036443e-01 2.43709239e-05 -6.91954417e-01] [ 7.66584651e-03 4.56683810e-04 9.99970513e-01 1.82361942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.43, Y:-0.70, Z:0.18 [[ 9.97978575e-01 6.30855878e-02 -7.67940016e-03 5.84319397e+01] [-6.30872641e-02 9.98008014e-01 2.39993642e-05 -6.95034167e-01] [ 7.66561692e-03 4.60521495e-04 9.99970513e-01 1.82001899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.005898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:-0.70, Z:0.18 [[ 9.97755552e-01 6.65198150e-02 -7.67940157e-03 5.84597100e+01] [-6.65215961e-02 9.97784985e-01 2.35387216e-05 -7.00175014e-01] [ 7.66395737e-03 4.87360159e-04 9.99970513e-01 1.80611439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.49, Y:-0.70, Z:0.18 [[ 9.97595006e-01 6.88856341e-02 -7.67940290e-03 5.84888778e+01] [-6.88874885e-02 9.97624435e-01 2.30956655e-05 -7.02362924e-01] [ 7.66275094e-03 5.05974658e-04 9.99970513e-01 1.80183636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.52, Y:-0.70, Z:0.18 [[ 9.97400328e-01 7.16492276e-02 -7.67940395e-03 5.85179268e+01] [-7.16511662e-02 9.97429752e-01 2.27415274e-05 -7.04337922e-01] [ 7.66129539e-03 5.27555842e-04 9.99970513e-01 1.79182995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.095898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:58.55, Y:-0.71, Z:0.17 [[ 9.97013752e-01 7.68414268e-02 -7.67940502e-03 5.85461131e+01] [-7.68435213e-02 9.97043165e-01 2.23747917e-05 -7.07802537e-01] [ 7.65841760e-03 5.67804548e-04 9.99970513e-01 1.73872364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.57, Y:-0.71, Z:0.18 [[ 9.96885028e-01 7.84937443e-02 -7.67940632e-03 5.85747780e+01] [-7.84958911e-02 9.96914437e-01 2.19197000e-05 -7.09305892e-01] [ 7.65743158e-03 5.80950421e-04 9.99970513e-01 1.76207253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.60, Y:-0.71, Z:0.18 [[ 9.96850725e-01 7.89281908e-02 -7.67940731e-03 5.86034999e+01] [-7.89303531e-02 9.96880133e-01 2.15677317e-05 -7.11034601e-01] [ 7.65715088e-03 5.84638521e-04 9.99970513e-01 1.77533027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.185898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.63, Y:-0.71, Z:0.18 [[ 9.96830895e-01 7.91782412e-02 -7.67940828e-03 5.86316695e+01] [-7.91804135e-02 9.96860302e-01 2.12170140e-05 -7.13948189e-01] [ 7.65697718e-03 5.86908948e-04 9.99970513e-01 1.82825176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:-0.72, Z:0.19 [[ 9.96765312e-01 7.99996252e-02 -7.67940945e-03 5.86600560e+01] [-8.00018252e-02 9.96794717e-01 2.07825027e-05 -7.15445050e-01] [ 7.65645736e-03 5.93651494e-04 9.99970513e-01 1.86065952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.69, Y:-0.72, Z:0.19 [[ 9.96667338e-01 8.12111020e-02 -7.67941040e-03 5.86893539e+01] [-8.12133404e-02 9.96696741e-01 2.04238677e-05 -7.16377074e-01] [ 7.65570197e-03 6.03314769e-04 9.99970513e-01 1.88186312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.72, Y:-0.72, Z:0.19 [[ 9.96470840e-01 8.35876328e-02 -7.67941135e-03 5.87170544e+01] [-8.35899441e-02 9.96500236e-01 2.00607747e-05 -7.18328542e-01] [ 7.65421206e-03 6.21931589e-04 9.99970513e-01 1.87056742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.75, Y:-0.72, Z:0.18 [[ 9.96402945e-01 8.43931189e-02 -7.67941250e-03 5.87462484e+01] [-8.43954574e-02 9.96432339e-01 1.96108233e-05 -7.19463894e-01] [ 7.65366998e-03 6.28567249e-04 9.99970513e-01 1.84920351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.77, Y:-0.72, Z:0.18 [[ 9.96370744e-01 8.47724403e-02 -7.67941341e-03 5.87736254e+01] [-8.47747928e-02 9.96400138e-01 1.92487352e-05 -7.21293670e-01] [ 7.65340034e-03 6.31841804e-04 9.99970513e-01 1.82376904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.365898226999995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:58.80, Y:-0.72, Z:0.18 [[ 9.96428028e-01 8.40964438e-02 -7.67941451e-03 5.88025955e+01] [-8.40987798e-02 9.96457423e-01 1.87987837e-05 -7.24631842e-01] [ 7.65379050e-03 6.27097755e-04 9.99970513e-01 1.81569193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.83, Y:-0.73, Z:0.18 [[ 9.96405059e-01 8.43681539e-02 -7.67941539e-03 5.88305451e+01] [-8.43705007e-02 9.96434453e-01 1.84315056e-05 -7.26849329e-01] [ 7.65358911e-03 6.29550877e-04 9.99970513e-01 1.83456015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:-0.73, Z:0.18 [[ 9.96385508e-01 8.45987310e-02 -7.67941646e-03 5.88596127e+01] [-8.46010881e-02 9.96414901e-01 1.79755876e-05 -7.29282876e-01] [ 7.65340571e-03 6.31776373e-04 9.99970513e-01 1.83914532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.89, Y:-0.73, Z:0.18 [[ 9.96314229e-01 8.54340858e-02 -7.67941727e-03 5.88877039e+01] [-8.54364702e-02 9.96343620e-01 1.76245634e-05 -7.31507523e-01] [ 7.65284414e-03 6.38542701e-04 9.99970513e-01 1.81838762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.92, Y:-0.73, Z:0.18 [[ 9.96190009e-01 8.68705549e-02 -7.67941824e-03 5.89160575e+01] [-8.68729850e-02 9.96219396e-01 1.71879310e-05 -7.31499370e-01] [ 7.65187853e-03 6.50011541e-04 9.99970513e-01 1.80990098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.94, Y:-0.73, Z:0.18 [[ 9.96026070e-01 8.87304626e-02 -7.67941903e-03 5.89444750e+01] [-8.87329503e-02 9.96055452e-01 1.68302292e-05 -7.30413843e-01] [ 7.65062054e-03 6.64654160e-04 9.99970513e-01 1.81155059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.97, Y:-0.73, Z:0.18 [[ 9.95685024e-01 9.24789657e-02 -7.67941980e-03 5.89733951e+01] [-9.24815667e-02 9.95714397e-01 1.64701864e-05 -7.29084422e-01] [ 7.64803200e-03 6.93805657e-04 9.99970513e-01 1.81799033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.00, Y:-0.73, Z:0.18 [[ 9.95676136e-01 9.25746166e-02 -7.67942056e-03 5.90009346e+01] [-9.25772233e-02 9.95705507e-01 1.61074447e-05 -7.29337513e-01] [ 7.64793249e-03 6.94901633e-04 9.99970513e-01 1.80787791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.03, Y:-0.73, Z:0.18 [[ 9.95743126e-01 9.18512588e-02 -7.67942148e-03 5.90294091e+01] [-9.18538475e-02 9.95772499e-01 1.56562810e-05 -7.29661801e-01] [ 7.64839477e-03 6.89794776e-04 9.99970513e-01 1.81621490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.06, Y:-0.73, Z:0.18 [[ 9.95960940e-01 8.94585505e-02 -7.67942219e-03 5.90575932e+01] [-8.94610714e-02 9.95990319e-01 1.52995312e-05 -7.30168876e-01] [ 7.64999883e-03 6.71771601e-04 9.99970513e-01 1.83562653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.09, Y:-0.73, Z:0.18 [[ 9.96078207e-01 8.81432438e-02 -7.67942305e-03 5.90865501e+01] [-8.81457293e-02 9.96107590e-01 1.48543617e-05 -7.29823698e-01] [ 7.65084090e-03 6.62112240e-04 9.99970513e-01 1.84654640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.11, Y:-0.73, Z:0.18 [[ 9.96201628e-01 8.67371999e-02 -7.67942372e-03 5.91141625e+01] [-8.67396467e-02 9.96231014e-01 1.44979281e-05 -7.29790966e-01] [ 7.65173759e-03 6.51667641e-04 9.99970513e-01 1.84685374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:-0.73, Z:0.18 [[ 9.96479220e-01 8.34876626e-02 -7.67942460e-03 5.91415654e+01] [-8.34900172e-02 9.96508614e-01 1.40181606e-05 -7.32570023e-01] [ 7.65378310e-03 6.27186486e-04 9.99970513e-01 1.84281876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.755898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:-0.73, Z:0.18 [[ 9.96570910e-01 8.23859702e-02 -7.67942538e-03 5.91700290e+01] [-8.23882957e-02 9.96600305e-01 1.35763917e-05 -7.34886501e-01] [ 7.65443618e-03 6.19164932e-04 9.99970513e-01 1.83714426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.20, Y:-0.74, Z:0.18 [[ 9.96603338e-01 8.19927675e-02 -7.67942599e-03 5.91983561e+01] [-8.19950841e-02 9.96632734e-01 1.32231858e-05 -7.37233378e-01] [ 7.65465152e-03 6.16496909e-04 9.99970513e-01 1.81697803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.23, Y:-0.74, Z:0.18 [[ 9.96461821e-01 8.36950716e-02 -7.67942672e-03 5.92268290e+01] [-8.36974418e-02 9.96491213e-01 1.27827265e-05 -7.40281125e-01] [ 7.65355110e-03 6.30010872e-04 9.99970513e-01 1.80153160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.845898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.26, Y:-0.74, Z:0.18 [[ 9.96312575e-01 8.54533722e-02 -7.67942728e-03 5.92561523e+01] [-8.54557969e-02 9.96341963e-01 1.24382256e-05 -7.41148045e-01] [ 7.65239854e-03 6.43859217e-04 9.99970513e-01 1.80373266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.875898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.29, Y:-0.74, Z:0.18 [[ 9.96040737e-01 8.85656597e-02 -7.67942786e-03 5.92852466e+01] [-8.85681789e-02 9.96070117e-01 1.20727440e-05 -7.41117823e-01] [ 7.65031783e-03 6.68127996e-04 9.99970513e-01 1.80428570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.31, Y:-0.74, Z:0.18 [[ 9.95489001e-01 9.45657198e-02 -7.67944147e-03 5.93139305e+01] [-9.45684853e-02 9.95518358e-01 3.02542340e-06 -7.38068190e-01] [ 7.64531107e-03 7.23221372e-04 9.99970513e-01 1.81020800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.935898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.34, Y:-0.74, Z:0.18 [[ 9.95185399e-01 9.77089958e-02 -7.67942892e-03 5.93427623e+01] [-9.77117896e-02 9.95214754e-01 1.14467247e-05 -7.35783859e-01] [ 7.64379941e-03 7.38979129e-04 9.99970513e-01 1.82127779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.37, Y:-0.73, Z:0.18 [[ 9.94902080e-01 1.00552863e-01 -7.67942944e-03 5.93703490e+01] [-1.00555743e-01 9.94931426e-01 1.10871266e-05 -7.32963932e-01] [ 7.64162052e-03 7.61180128e-04 9.99970513e-01 1.83616883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.40, Y:-0.73, Z:0.18 [[ 9.94906712e-01 1.00507021e-01 -7.67943006e-03 5.93996775e+01] [-1.00509903e-01 9.94936058e-01 1.06409222e-05 -7.32923413e-01] [ 7.64161135e-03 7.61272046e-04 9.99970513e-01 1.83842113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:-0.73, Z:0.19 [[ 9.94584659e-01 1.03645466e-01 -7.67943053e-03 5.94288435e+01] [-1.03648444e-01 9.94613995e-01 1.02870944e-05 -7.26842094e-01] [ 7.63913529e-03 7.85729636e-04 9.99970513e-01 1.87387464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:-0.72, Z:0.19 [[ 9.94602084e-01 1.03478117e-01 -7.67943099e-03 5.94565008e+01] [-1.03481093e-01 9.94631421e-01 9.92769469e-06 -7.23186952e-01] [ 7.63923066e-03 7.84801803e-04 9.99970513e-01 1.87715608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.085898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.49, Y:-0.72, Z:0.19 [[ 9.94730975e-01 1.02231669e-01 -7.67943155e-03 5.94853850e+01] [-1.02234611e-01 9.94760315e-01 9.48173465e-06 -7.19409191e-01] [ 7.64016308e-03 7.75671920e-04 9.99970513e-01 1.85698895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.115898226999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.51, Y:-0.71, Z:0.18 [[ 9.95094235e-01 9.86331095e-02 -7.67943197e-03 5.95141760e+01] [-9.86359483e-02 9.95123585e-01 9.12488667e-06 -7.13673492e-01] [ 7.64288389e-03 7.48387932e-04 9.99970513e-01 1.83274352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.145898226999996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:59.54, Y:-0.71, Z:0.18 [[ 9.95306657e-01 9.64659812e-02 -7.67943238e-03 5.95415724e+01] [-9.64687588e-02 9.95336013e-01 8.76750223e-06 -7.11268442e-01] [ 7.64446137e-03 7.32098957e-04 9.99970513e-01 1.82428412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:-0.71, Z:0.19 [[ 9.95414074e-01 9.53511830e-02 -7.67943286e-03 5.95694302e+01] [-9.53539311e-02 9.95443433e-01 8.32275513e-06 -7.08706612e-01] [ 7.64523459e-03 7.23979524e-04 9.99970513e-01 1.86185586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.60, Y:-0.71, Z:0.19 [[ 9.95465814e-01 9.48094874e-02 -7.67943335e-03 5.95978854e+01] [-9.48122232e-02 9.95495174e-01 7.84333429e-06 -7.05415804e-01] [ 7.64558246e-03 7.20296378e-04 9.99970513e-01 1.88922420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.235898227 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:59.63, Y:-0.70, Z:0.19 [[ 9.95595060e-01 9.34425092e-02 -7.67943369e-03 5.96256036e+01] [-9.34452073e-02 9.95624424e-01 7.49851592e-06 -6.96563557e-01] [ 7.64653242e-03 7.10140787e-04 9.99970513e-01 1.87086607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:-0.69, Z:0.19 [[ 9.95685268e-01 9.24763389e-02 -7.67943418e-03 5.96538759e+01] [-9.24790127e-02 9.95714634e-01 6.95825055e-06 -6.92666980e-01] [ 7.64716846e-03 7.03258263e-04 9.99970513e-01 1.89448634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.68, Y:-0.69, Z:0.19 [[ 9.95810454e-01 9.11184145e-02 -7.67943463e-03 5.96816423e+01] [-9.11210523e-02 9.95839823e-01 6.41883796e-06 -6.89505501e-01] [ 7.64807170e-03 6.93366219e-04 9.99970513e-01 1.89747979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:-0.69, Z:0.19 [[ 9.95950483e-01 8.95748957e-02 -7.67943497e-03 5.97099406e+01] [-8.95774914e-02 9.95979856e-01 5.97168744e-06 -6.87439461e-01] [ 7.64909745e-03 6.81957015e-04 9.99970513e-01 1.89835721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.74, Y:-0.68, Z:0.19 [[ 9.96359769e-01 8.49013342e-02 -7.67943528e-03 5.97386282e+01] [-8.49037954e-02 9.96389154e-01 5.54068107e-06 -6.84075693e-01] [ 7.65217644e-03 6.46492690e-04 9.99970513e-01 1.87581260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.77, Y:-0.68, Z:0.19 [[ 9.96580983e-01 8.22640331e-02 -7.67943552e-03 5.97661914e+01] [-8.22664192e-02 9.96610373e-01 5.18528937e-06 -6.81906024e-01] [ 7.65383167e-03 6.26592102e-04 9.99970513e-01 1.86424407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.415898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:59.79, Y:-0.68, Z:0.18 [[ 9.96766135e-01 7.99893656e-02 -7.67943582e-03 5.97938117e+01] [-7.99916883e-02 9.96795531e-01 4.71015461e-06 -6.80432446e-01] [ 7.65520406e-03 6.09596113e-04 9.99970513e-01 1.84730833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.82, Y:-0.68, Z:0.19 [[ 9.96940678e-01 7.77837488e-02 -7.67943606e-03 5.98229872e+01] [-7.77860098e-02 9.96970078e-01 4.27261559e-06 -6.81462653e-01] [ 7.65650031e-03 5.93093145e-04 9.99970513e-01 1.87367582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.85, Y:-0.68, Z:0.19 [[ 9.96983134e-01 7.72376655e-02 -7.67943624e-03 5.98516773e+01] [-7.72399130e-02 9.97012535e-01 3.92330359e-06 -6.82653169e-01] [ 7.65679722e-03 5.89247520e-04 9.99970513e-01 1.87669910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.505898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.88, Y:-0.68, Z:0.19 [[ 9.97006483e-01 7.69356790e-02 -7.67943640e-03 5.98803275e+01] [-7.69379203e-02 9.97035885e-01 3.57307878e-06 -6.82367973e-01] [ 7.65694857e-03 5.87277483e-04 9.99970513e-01 1.87183563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.91, Y:-0.68, Z:0.19 [[ 9.96947504e-01 7.76962065e-02 -7.67943655e-03 5.99092848e+01] [-7.76984729e-02 9.96976904e-01 3.21915458e-06 -6.79978372e-01] [ 7.65647099e-03 5.93471165e-04 9.99970513e-01 1.85002013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.94, Y:-0.68, Z:0.18 [[ 9.96885100e-01 7.84928254e-02 -7.67943668e-03 5.99382388e+01] [-7.84951181e-02 9.96914498e-01 2.85606037e-06 -6.79928851e-01] [ 7.65596595e-03 5.99951126e-04 9.99970513e-01 1.84556854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.595898227 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:59.97, Y:-0.68, Z:0.18 [[ 9.96818912e-01 7.93289520e-02 -7.67943680e-03 5.99671619e+01] [-7.93312721e-02 9.96848308e-01 2.49591716e-06 -6.81100837e-01] [ 7.65543158e-03 6.06731513e-04 9.99970513e-01 1.82797981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.99, Y:-0.68, Z:0.19 [[ 9.96733259e-01 8.03979939e-02 -7.67943690e-03 5.99946351e+01] [-8.04003484e-02 9.96762652e-01 2.13555082e-06 -6.81660565e-01] [ 7.65474758e-03 6.15300828e-04 9.99970513e-01 1.86915909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.02, Y:-0.68, Z:0.19 [[ 9.96743815e-01 8.02670118e-02 -7.67943700e-03 6.00234135e+01] [-8.02693659e-02 9.96773208e-01 1.68760311e-06 -6.80367446e-01] [ 7.65479252e-03 6.14741430e-04 9.99970513e-01 1.87461283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.685898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.05, Y:-0.68, Z:0.19 [[ 9.96720170e-01 8.05600927e-02 -7.67943706e-03 6.00514141e+01] [-8.05624581e-02 9.96749562e-01 1.32418070e-06 -6.78100522e-01] [ 7.65458221e-03 6.17354489e-04 9.99970513e-01 1.87190344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.08, Y:-0.68, Z:0.19 [[ 9.96660059e-01 8.13003836e-02 -7.67943711e-03 6.00800895e+01] [-8.13027743e-02 9.96689450e-01 8.72640698e-07 -6.77422067e-01] [ 7.65408490e-03 6.23489817e-04 9.99970513e-01 1.89060721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.11, Y:-0.68, Z:0.19 [[ 9.96581460e-01 8.22582528e-02 -7.67943714e-03 6.01082725e+01] [-8.22606746e-02 9.96610848e-01 5.09874069e-07 -6.75942245e-01] [ 7.65345230e-03 6.31207548e-04 9.99970513e-01 1.89805782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.14, Y:-0.67, Z:0.19 [[ 9.96513364e-01 8.30791265e-02 -7.67943714e-03 6.01359859e+01] [-8.30815759e-02 9.96542750e-01 5.87094818e-08 -6.73471779e-01] [ 7.65289228e-03 6.37961235e-04 9.99970513e-01 1.90158314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.16, Y:-0.67, Z:0.19 [[ 9.96385924e-01 8.45938364e-02 -7.67943711e-03 6.01641580e+01] [-8.45963345e-02 9.96415305e-01 -4.72986549e-07 -6.67987751e-01] [ 7.65186866e-03 6.50123508e-04 9.99970513e-01 1.90815571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.19, Y:-0.67, Z:0.19 [[ 9.96312797e-01 8.54507894e-02 -7.67943704e-03 6.01925184e+01] [-8.54533168e-02 9.96342175e-01 -9.89342489e-07 -6.65942291e-01] [ 7.65126247e-03 6.57219061e-04 9.99970513e-01 1.91553795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.865898226999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.22, Y:-0.66, Z:0.19 [[ 9.96255982e-01 8.61106545e-02 -7.67943694e-03 6.02195116e+01] [-8.61132054e-02 9.96285359e-01 -1.51927602e-06 -6.64221604e-01] [ 7.65077976e-03 6.62814518e-04 9.99970513e-01 1.92585816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.25, Y:-0.66, Z:0.19 [[ 9.96241099e-01 8.62826651e-02 -7.67943677e-03 6.02470851e+01] [-8.62852258e-02 9.96270475e-01 -2.13560173e-06 -6.60957463e-01] [ 7.65061185e-03 6.64749509e-04 9.99970513e-01 1.93902356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.27, Y:-0.66, Z:0.19 [[ 9.96279039e-01 8.58434780e-02 -7.67943659e-03 6.02748156e+01] [-8.58460296e-02 9.96308416e-01 -2.64857977e-06 -6.60205916e-01] [ 7.65085994e-03 6.61887865e-04 9.99970513e-01 1.93845487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.30, Y:-0.66, Z:0.19 [[ 9.96408441e-01 8.43282014e-02 -7.67943636e-03 6.03030272e+01] [-8.43307125e-02 9.96437821e-01 -3.19124005e-06 -6.60708505e-01] [ 7.65181172e-03 6.50792119e-04 9.99970513e-01 1.94527535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.33, Y:-0.66, Z:0.20 [[ 9.96470138e-01 8.35959954e-02 -7.67943610e-03 6.03298085e+01] [-8.35984891e-02 9.96499520e-01 -3.73213973e-06 -6.61871995e-01] [ 7.65224239e-03 6.45708221e-04 9.99970513e-01 1.95553756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.36, Y:-0.66, Z:0.20 [[ 9.96479113e-01 8.34889429e-02 -7.67943574e-03 6.03582555e+01] [-8.34914382e-02 9.96508495e-01 -4.35984172e-06 -6.62917516e-01] [ 7.65225895e-03 6.45511626e-04 9.99970513e-01 1.96203022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.39, Y:-0.66, Z:0.19 [[ 9.96367859e-01 8.48063381e-02 -7.67943539e-03 6.03854996e+01] [-8.48088765e-02 9.96397237e-01 -4.91723796e-06 -6.63158507e-01] [ 7.65135119e-03 6.56183665e-04 9.99970513e-01 1.93767206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.41, Y:-0.66, Z:0.19 [[ 9.96275847e-01 8.58805172e-02 -7.67943492e-03 6.04132169e+01] [-8.58830922e-02 9.96305222e-01 -5.56138448e-06 -6.62919202e-01] [ 7.65058350e-03 6.65074291e-04 9.99970513e-01 1.92226416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.44, Y:-0.66, Z:0.19 [[ 9.96201784e-01 8.67354173e-02 -7.67943449e-03 6.04404298e+01] [-8.67380217e-02 9.96231156e-01 -6.10717897e-06 -6.63040460e-01] [ 7.64996219e-03 6.72182938e-04 9.99970513e-01 1.92260257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.47, Y:-0.66, Z:0.20 [[ 9.96180279e-01 8.69820531e-02 -7.67943378e-03 6.04679804e+01] [-8.69846708e-02 9.96209650e-01 -6.89647271e-06 -6.63802366e-01] [ 7.64972617e-03 6.74863149e-04 9.99970513e-01 1.95615507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.50, Y:-0.66, Z:0.20 [[ 9.96261595e-01 8.60456913e-02 -7.67943336e-03 6.04963546e+01] [-8.60482848e-02 9.96290968e-01 -7.33527552e-06 -6.63664037e-01] [ 7.65031893e-03 6.68109922e-04 9.99970513e-01 1.95951381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.52, Y:-0.66, Z:0.19 [[ 9.96328478e-01 8.52677578e-02 -7.67943281e-03 6.05243293e+01] [-8.52703324e-02 9.96357853e-01 -7.87213895e-06 -6.63806668e-01] [ 7.65079194e-03 6.62671024e-04 9.99970513e-01 1.94322795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.55, Y:-0.66, Z:0.19 [[ 9.96386533e-01 8.45866662e-02 -7.67943222e-03 6.05535784e+01] [-8.45892248e-02 9.96415909e-01 -8.40680470e-06 -6.63360893e-01] [ 7.65119733e-03 6.57973646e-04 9.99970513e-01 1.92286789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.255898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.58, Y:-0.66, Z:0.19 [[ 9.96439396e-01 8.39616336e-02 -7.67943181e-03 6.05819003e+01] [-8.39641766e-02 9.96468774e-01 -8.76879299e-06 -6.63439733e-01] [ 7.65157776e-03 6.53534739e-04 9.99970513e-01 1.91636915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.61, Y:-0.66, Z:0.19 [[ 9.96489159e-01 8.33689538e-02 -7.67943115e-03 6.06095973e+01] [-8.33714834e-02 9.96518538e-01 -9.30984216e-06 -6.64823081e-01] [ 7.65191935e-03 6.49522724e-04 9.99970513e-01 1.94995723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.64, Y:-0.67, Z:0.20 [[ 9.96482787e-01 8.34450784e-02 -7.67943058e-03 6.06385752e+01] [-8.34476137e-02 9.96512165e-01 -9.75843619e-06 -6.65075512e-01] [ 7.65183171e-03 6.50554271e-04 9.99970513e-01 1.97053897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.67, Y:-0.66, Z:0.20 [[ 9.96457697e-01 8.37441579e-02 -7.67943011e-03 6.06662570e+01] [-8.37467048e-02 9.96487074e-01 -1.01151863e-05 -6.64475575e-01] [ 7.65160576e-03 6.53206322e-04 9.99970513e-01 1.98359329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.69, Y:-0.66, Z:0.20 [[ 9.96324373e-01 8.53157067e-02 -7.67942933e-03 6.06937601e+01] [-8.53183042e-02 9.96353746e-01 -1.06802544e-05 -6.63996969e-01] [ 7.65051698e-03 6.65836885e-04 9.99970513e-01 1.95293447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.72, Y:-0.66, Z:0.19 [[ 9.96304863e-01 8.55432433e-02 -7.67942848e-03 6.07225269e+01] [-8.55458519e-02 9.96334235e-01 -1.12588068e-05 -6.63799670e-01] [ 7.65031438e-03 6.68160456e-04 9.99970513e-01 1.93146862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.435898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.75, Y:-0.66, Z:0.19 [[ 9.96360842e-01 8.48887424e-02 -7.67942793e-03 6.07499710e+01] [-8.48913345e-02 9.96390215e-01 -1.16205697e-05 -6.63375040e-01] [ 7.65072040e-03 6.63495166e-04 9.99970513e-01 1.91693286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.78, Y:-0.66, Z:0.20 [[ 9.96569963e-01 8.23974229e-02 -7.67942693e-03 6.07784308e+01] [-8.23999464e-02 9.96599342e-01 -1.22503032e-05 -6.62832891e-01] [ 7.65230243e-03 6.44992651e-04 9.99970513e-01 1.97490086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.81, Y:-0.66, Z:0.20 [[ 9.96700583e-01 8.08020650e-02 -7.67942636e-03 6.08067190e+01] [-8.08045442e-02 9.96729966e-01 -1.25984982e-05 -6.63379006e-01] [ 7.65329639e-03 6.33089477e-04 9.99970513e-01 2.00226989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.83, Y:-0.67, Z:0.20 [[ 9.96828644e-01 7.92065683e-02 -7.67942541e-03 6.08341383e+01] [-7.92090046e-02 9.96858031e-01 -1.31511392e-05 -6.65026980e-01] [ 7.65425524e-03 6.21389075e-04 9.99970513e-01 2.00225787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.86, Y:-0.67, Z:0.20 [[ 9.97060287e-01 7.62352374e-02 -7.67942460e-03 6.08627099e+01] [-7.62375896e-02 9.97089680e-01 -1.36103905e-05 -6.68444740e-01] [ 7.65603742e-03 5.99031201e-04 9.99970513e-01 1.98248339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.89, Y:-0.67, Z:0.20 [[ 9.97137961e-01 7.52124510e-02 -7.67942393e-03 6.08917960e+01] [-7.52147759e-02 9.97167357e-01 -1.39777726e-05 -6.69231185e-01] [ 7.65661956e-03 5.91543917e-04 9.99970513e-01 1.98409496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.615898226999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:60.92, Y:-0.67, Z:0.20 [[ 9.97170889e-01 7.47746281e-02 -7.67942322e-03 6.09199760e+01] [-7.47769430e-02 9.97200285e-01 -1.43545823e-05 -6.69822924e-01] [ 7.65684967e-03 5.88557764e-04 9.99970513e-01 1.98009194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.95, Y:-0.67, Z:0.20 [[ 9.97109367e-01 7.55905819e-02 -7.67942232e-03 6.09490951e+01] [-7.55929244e-02 9.97138761e-01 -1.48223826e-05 -6.71658526e-01] [ 7.65632923e-03 5.95289527e-04 9.99970513e-01 2.01697709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.98, Y:-0.67, Z:0.20 [[ 9.97024215e-01 7.67055515e-02 -7.67942159e-03 6.09764691e+01] [-7.67079297e-02 9.97053606e-01 -1.51924698e-05 -6.72578636e-01] [ 7.65562964e-03 6.04219792e-04 9.99970513e-01 2.02163376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.01, Y:-0.67, Z:0.20 [[ 9.96935282e-01 7.78528680e-02 -7.67942055e-03 6.10054681e+01] [-7.78552839e-02 9.96964671e-01 -1.56994911e-05 -6.73574425e-01] [ 7.65488873e-03 6.13534844e-04 9.99970513e-01 2.02043545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:-0.68, Z:0.20 [[ 9.96745372e-01 8.02476746e-02 -7.67941981e-03 6.10345966e+01] [-8.02501639e-02 9.96774754e-01 -1.60559011e-05 -6.75977739e-01] [ 7.65336334e-03 6.32278343e-04 9.99970513e-01 2.01171175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.06, Y:-0.68, Z:0.20 [[ 9.96687271e-01 8.09661043e-02 -7.67941903e-03 6.10634770e+01] [-8.09686175e-02 9.96716651e-01 -1.64177642e-05 -6.77212794e-01] [ 7.65287554e-03 6.38155319e-04 9.99970513e-01 2.00221472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.09, Y:-0.68, Z:0.20 [[ 9.96672917e-01 8.11426065e-02 -7.67941825e-03 6.10908152e+01] [-8.11451276e-02 9.96702297e-01 -1.67785529e-05 -6.78109252e-01] [ 7.65273235e-03 6.39870103e-04 9.99970513e-01 1.99391469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.12, Y:-0.68, Z:0.20 [[ 9.96719310e-01 8.05707403e-02 -7.67941724e-03 6.11192672e+01] [-8.05732480e-02 9.96748690e-01 -1.72264700e-05 -6.78489658e-01] [ 7.65306113e-03 6.35925545e-04 9.99970513e-01 2.00430805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.15, Y:-0.68, Z:0.20 [[ 9.96761474e-01 8.00474241e-02 -7.67941642e-03 6.11472821e+01] [-8.00499191e-02 9.96790856e-01 -1.75860912e-05 -6.78550614e-01] [ 7.65336434e-03 6.32265801e-04 9.99970513e-01 2.01288570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.18, Y:-0.68, Z:0.20 [[ 9.96786182e-01 7.97391677e-02 -7.67941537e-03 6.11765222e+01] [-7.97416571e-02 9.96815564e-01 -1.80336093e-05 -6.79093308e-01] [ 7.65352277e-03 6.30344960e-04 9.99970513e-01 2.02035520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.21, Y:-0.68, Z:0.20 [[ 9.96789905e-01 7.96926124e-02 -7.67941450e-03 6.12058482e+01] [-7.96951032e-02 9.96819287e-01 -1.83937753e-05 -6.78940012e-01] [ 7.65352264e-03 6.30346461e-04 9.99970513e-01 2.02260751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.23, Y:-0.68, Z:0.20 [[ 9.96790082e-01 7.96903964e-02 -7.67941363e-03 6.12340019e+01] [-7.96928899e-02 9.96819464e-01 -1.87524340e-05 -6.79825503e-01] [ 7.65349458e-03 6.30686905e-04 9.99970513e-01 2.02599537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.26, Y:-0.68, Z:0.20 [[ 9.96726715e-01 8.04790752e-02 -7.67941251e-03 6.12618397e+01] [-8.04815953e-02 9.96756095e-01 -1.91983929e-05 -6.80456173e-01] [ 7.65295616e-03 6.37186921e-04 9.99970513e-01 2.01995346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00589822699999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:61.29, Y:-0.68, Z:0.20 [[ 9.96707540e-01 8.07162059e-02 -7.67941138e-03 6.12909796e+01] [-8.07187364e-02 9.96736919e-01 -1.96415701e-05 -6.79212334e-01] [ 7.65276744e-03 6.39449284e-04 9.99970513e-01 1.98661775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.32, Y:-0.68, Z:0.20 [[ 9.96668072e-01 8.12020937e-02 -7.67941043e-03 6.13199143e+01] [-8.12046414e-02 9.96697449e-01 -2.00067191e-05 -6.76875181e-01] [ 7.65242420e-03 6.43543828e-04 9.99970513e-01 1.97074072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.35, Y:-0.68, Z:0.20 [[ 9.96648373e-01 8.14435267e-02 -7.67940945e-03 6.13482898e+01] [-8.14460843e-02 9.96677749e-01 -2.03743326e-05 -6.75855895e-01] [ 7.65223717e-03 6.45763875e-04 9.99970513e-01 1.96183134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.38, Y:-0.67, Z:0.20 [[ 9.96640813e-01 8.15359823e-02 -7.67940846e-03 6.13765413e+01] [-8.15385454e-02 9.96670189e-01 -2.07417140e-05 -6.74399633e-01] [ 7.65214628e-03 6.46839834e-04 9.99970513e-01 1.96534983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.40, Y:-0.67, Z:0.20 [[ 9.96585036e-01 8.22149151e-02 -7.67940720e-03 6.14038321e+01] [-8.22175017e-02 9.96614410e-01 -2.11990346e-05 -6.67841812e-01] [ 7.65166500e-03 6.52508315e-04 9.99970513e-01 1.97798985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.43, Y:-0.66, Z:0.20 [[ 9.96545803e-01 8.26891149e-02 -7.67940566e-03 6.14330108e+01] [-8.26917196e-02 9.96575175e-01 -2.17423625e-05 -6.63778849e-01] [ 7.65130718e-03 6.56690520e-04 9.99970513e-01 2.00184327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.46, Y:-0.66, Z:0.20 [[ 9.96528148e-01 8.29016139e-02 -7.67940464e-03 6.14606323e+01] [-8.29042276e-02 9.96557519e-01 -2.20953531e-05 -6.60568613e-01] [ 7.65113670e-03 6.58673752e-04 9.99970513e-01 2.01162211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.49, Y:-0.66, Z:0.20 [[ 9.96555071e-01 8.25773452e-02 -7.67940336e-03 6.14894986e+01] [-8.25799527e-02 9.96584442e-01 -2.25335072e-05 -6.57127560e-01] [ 7.65131316e-03 6.56620647e-04 9.99970513e-01 2.00087150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.52, Y:-0.66, Z:0.20 [[ 9.96589650e-01 8.21589674e-02 -7.67940231e-03 6.15178249e+01] [-8.21615653e-02 9.96619023e-01 -2.28860698e-05 -6.55405141e-01] [ 7.65155813e-03 6.53759734e-04 9.99970513e-01 1.96799755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.55, Y:-0.65, Z:0.19 [[ 9.96625742e-01 8.17199982e-02 -7.67940124e-03 6.15452240e+01] [-8.17225858e-02 9.96655115e-01 -2.32373053e-05 -6.53075157e-01] [ 7.65181558e-03 6.50739423e-04 9.99970513e-01 1.94588635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30589822699999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:61.57, Y:-0.65, Z:0.19 [[ 9.96647873e-01 8.14496407e-02 -7.67939972e-03 6.15742199e+01] [-8.14522241e-02 9.96677247e-01 -2.37303153e-05 -6.50094395e-01] [ 7.65195015e-03 6.49154955e-04 9.99970513e-01 1.94680581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.60, Y:-0.65, Z:0.20 [[ 9.96591895e-01 8.21317359e-02 -7.67939860e-03 6.16020092e+01] [-8.21343421e-02 9.96621267e-01 -2.40864087e-05 -6.46181144e-01] [ 7.65147371e-03 6.54746672e-04 9.99970513e-01 2.04288520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.63, Y:-0.64, Z:0.21 [[ 9.96564624e-01 8.24619752e-02 -7.67939688e-03 6.16293234e+01] [-8.24645953e-02 9.96593995e-01 -2.46247999e-05 -6.44536337e-01] [ 7.65121020e-03 6.57818560e-04 9.99970513e-01 2.07742408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.66, Y:-0.64, Z:0.21 [[ 9.96541325e-01 8.27430671e-02 -7.67939521e-03 6.16573669e+01] [-8.27456994e-02 9.96570694e-01 -2.51340993e-05 -6.41908712e-01] [ 7.65098054e-03 6.60484096e-04 9.99970513e-01 2.10078972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42589822699999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:61.68, Y:-0.64, Z:0.21 [[ 9.96300835e-01 8.55901473e-02 -7.67939340e-03 6.16845541e+01] [-8.55928676e-02 9.96330196e-01 -2.56744756e-05 -6.36554884e-01] [ 7.64901406e-03 6.82880804e-04 9.99970513e-01 2.05567865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.71, Y:-0.64, Z:0.21 [[ 9.96114113e-01 8.77365451e-02 -7.67939126e-03 6.17119207e+01] [-8.77393335e-02 9.96143468e-01 -2.63012284e-05 -6.35191815e-01] [ 7.64746786e-03 6.99983695e-04 9.99970513e-01 2.06264015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.74, Y:-0.63, Z:0.21 [[ 9.96020776e-01 8.87898702e-02 -7.67938909e-03 6.17402908e+01] [-8.87926943e-02 9.96050128e-01 -2.69205978e-05 -6.34304117e-01] [ 7.64666620e-03 7.08687122e-04 9.99970513e-01 2.06298462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.515898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:61.77, Y:-0.63, Z:0.21 [[ 9.96017420e-01 8.88275107e-02 -7.67938722e-03 6.17694021e+01] [-8.88303399e-02 9.96046771e-01 -2.74421710e-05 -6.33634322e-01] [ 7.64659123e-03 7.09495457e-04 9.99970513e-01 2.06302718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.80, Y:-0.63, Z:0.21 [[ 9.96254833e-01 8.61239516e-02 -7.67938594e-03 6.17961538e+01] [-8.61267039e-02 9.96284191e-01 -2.77967171e-05 -6.31674096e-01] [ 7.64845685e-03 6.89092813e-04 9.99970513e-01 2.08749386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.575898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:61.82, Y:-0.63, Z:0.21 [[ 9.96392071e-01 8.45214030e-02 -7.67938303e-03 6.18244257e+01] [-8.45241140e-02 9.96421434e-01 -2.85778627e-05 -6.31000525e-01] [ 7.64948641e-03 6.77567802e-04 9.99970513e-01 2.05003391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.85, Y:-0.63, Z:0.21 [[ 9.96499103e-01 8.32500115e-02 -7.67938106e-03 6.18536378e+01] [-8.32526890e-02 9.96528469e-01 -2.90981913e-05 -6.31742523e-01] [ 7.65029942e-03 6.68325445e-04 9.99970513e-01 2.05467701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.88, Y:-0.63, Z:0.20 [[ 9.96774172e-01 7.98891530e-02 -7.67937973e-03 6.18820111e+01] [-7.98917341e-02 9.96803546e-01 -2.94449753e-05 -6.33381031e-01] [ 7.65248062e-03 6.42868955e-04 9.99970513e-01 2.04521156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.91, Y:-0.63, Z:0.21 [[ 9.96904816e-01 7.82420221e-02 -7.67937637e-03 6.19098771e+01] [-7.82445612e-02 9.96934194e-01 -3.02961278e-05 -6.33242871e-01] [ 7.65346247e-03 6.31071790e-04 9.99970513e-01 2.06100300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.94, Y:-0.63, Z:0.21 [[ 9.97025558e-01 7.66880960e-02 -7.67937434e-03 6.19378040e+01] [-7.66905932e-02 9.97054939e-01 -3.08019094e-05 -6.33121757e-01] [ 7.65439598e-03 6.19646065e-04 9.99970513e-01 2.07181248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.97, Y:-0.64, Z:0.21 [[ 9.97254826e-01 7.36467190e-02 -7.67937261e-03 6.19662250e+01] [-7.36491298e-02 9.97284215e-01 -3.12292844e-05 -6.36089107e-01] [ 7.65621714e-03 5.96722664e-04 9.99970513e-01 2.07359227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:61.99, Y:-0.64, Z:0.21 [[ 9.97337148e-01 7.25233818e-02 -7.67937050e-03 6.19928400e+01] [-7.25257634e-02 9.97366539e-01 -3.17397868e-05 -6.38079955e-01] [ 7.65684530e-03 5.88607476e-04 9.99970513e-01 2.06062298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.02, Y:-0.64, Z:0.21 [[ 9.97402413e-01 7.16202089e-02 -7.67936799e-03 6.20217027e+01] [-7.16225685e-02 9.97431806e-01 -3.23353998e-05 -6.39618684e-01] [ 7.65733001e-03 5.82267465e-04 9.99970513e-01 2.06223568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.05, Y:-0.64, Z:0.20 [[ 9.97435013e-01 7.11647577e-02 -7.67936655e-03 6.20491553e+01] [-7.11671065e-02 9.97464406e-01 -3.26742032e-05 -6.41731679e-01] [ 7.65756954e-03 5.79108691e-04 9.99970513e-01 2.03842316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.08, Y:-0.64, Z:0.20 [[ 9.97416265e-01 7.14270350e-02 -7.67936445e-03 6.20783826e+01] [-7.14293952e-02 9.97445658e-01 -3.31596860e-05 -6.42706221e-01] [ 7.65738023e-03 5.81606368e-04 9.99970513e-01 2.02070185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.11, Y:-0.64, Z:0.20 [[ 9.97376164e-01 7.19848182e-02 -7.67936299e-03 6.21066947e+01] [-7.19871974e-02 9.97405556e-01 -3.34943668e-05 -6.43771890e-01] [ 7.65702822e-03 5.86222303e-04 9.99970513e-01 2.02151121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.13, Y:-0.65, Z:0.20 [[ 9.97132885e-01 7.52797314e-02 -7.67936077e-03 6.21347972e+01] [-7.52822115e-02 9.97162267e-01 -3.39951198e-05 -6.45590791e-01] [ 7.65500966e-03 6.12016914e-04 9.99970513e-01 2.02646275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.935898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:62.16, Y:-0.65, Z:0.20 [[ 9.96952518e-01 7.76318527e-02 -7.67935891e-03 6.21640094e+01] [-7.76344053e-02 9.96981894e-01 -3.44104852e-05 -6.46483298e-01] [ 7.65351045e-03 6.30488082e-04 9.99970513e-01 2.01760204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.19, Y:-0.65, Z:0.20 [[ 9.96715086e-01 8.06229855e-02 -7.67935729e-03 6.21919887e+01] [-8.06256289e-02 9.96744454e-01 -3.47680624e-05 -6.47900533e-01] [ 7.65155369e-03 6.53806864e-04 9.99970513e-01 2.04706340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.22, Y:-0.65, Z:0.21 [[ 9.96476949e-01 8.35147807e-02 -7.67935480e-03 6.22206312e+01] [-8.35175135e-02 9.96506309e-01 -3.53094419e-05 -6.49161840e-01] [ 7.64957665e-03 6.76545663e-04 9.99970513e-01 2.05642818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.25, Y:-0.65, Z:0.21 [[ 9.95921826e-01 8.98929578e-02 -7.67935313e-03 6.22487684e+01] [-8.98958812e-02 9.95951168e-01 -3.56690601e-05 -6.50567933e-01] [ 7.64505433e-03 7.25865813e-04 9.99970513e-01 2.07078400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.28, Y:-0.65, Z:0.21 [[ 9.95685012e-01 9.24791065e-02 -7.67935021e-03 6.22766265e+01] [-9.24821109e-02 9.95714346e-01 -3.62886267e-05 -6.50256538e-01] [ 7.64308323e-03 7.46334559e-04 9.99970513e-01 2.07359903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.31, Y:-0.65, Z:0.21 [[ 9.95481600e-01 9.46436070e-02 -7.67934772e-03 6.23050027e+01] [-9.46466791e-02 9.95510927e-01 -3.68066136e-05 -6.49680204e-01] [ 7.64139106e-03 7.63465066e-04 9.99970513e-01 2.06900830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.33, Y:-0.65, Z:0.20 [[ 9.95296121e-01 9.65746335e-02 -7.67934513e-03 6.23334778e+01] [-9.65777666e-02 9.95325441e-01 -3.73402922e-05 -6.48811218e-01] [ 7.63984145e-03 7.78818650e-04 9.99970513e-01 2.04881000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.36, Y:-0.65, Z:0.20 [[ 9.95355468e-01 9.59610335e-02 -7.67934334e-03 6.23602357e+01] [-9.59641513e-02 9.95384790e-01 -3.77045720e-05 -6.48176391e-01] [ 7.64028339e-03 7.74471118e-04 9.99970513e-01 2.04357633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.39, Y:-0.65, Z:0.20 [[ 9.95529932e-01 9.41338557e-02 -7.67934016e-03 6.23878974e+01] [-9.41369245e-02 9.95559259e-01 -3.83407794e-05 -6.47547926e-01] [ 7.64162904e-03 7.61078859e-04 9.99970513e-01 2.04818014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.42, Y:-0.65, Z:0.21 [[ 9.95739855e-01 9.18867228e-02 -7.67933753e-03 6.24164532e+01] [-9.18897295e-02 9.95769188e-01 -3.88620045e-05 -6.47556743e-01] [ 7.64327679e-03 7.44348694e-04 9.99970513e-01 2.06610334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.45, Y:-0.65, Z:0.21 [[ 9.96240073e-01 8.62945218e-02 -7.67933572e-03 6.24453964e+01] [-8.62973663e-02 9.96269423e-01 -3.92152062e-05 -6.47254184e-01] [ 7.64730331e-03 7.01774208e-04 9.99970513e-01 2.10546390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.47, Y:-0.65, Z:0.21 [[ 9.96392090e-01 8.45211859e-02 -7.67933387e-03 6.24724186e+01] [-8.45239810e-02 9.96421445e-01 -3.95751218e-05 -6.46949883e-01] [ 7.64850801e-03 6.88520208e-04 9.99970513e-01 2.12332001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.50, Y:-0.65, Z:0.21 [[ 9.96562955e-01 8.24821495e-02 -7.67929044e-03 6.25016469e+01] [-8.24849477e-02 9.96592309e-01 -4.78466428e-05 -6.46081410e-01] [ 7.64917530e-03 6.81108062e-04 9.99970513e-01 2.11072832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.53, Y:-0.64, Z:0.21 [[ 9.96758256e-01 8.00875021e-02 -7.67932938e-03 6.25309466e+01] [-8.00901733e-02 9.96787622e-01 -4.04549205e-05 -6.43494400e-01] [ 7.65142053e-03 6.55362597e-04 9.99970513e-01 2.08409696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.56, Y:-0.64, Z:0.21 [[ 9.96850424e-01 7.89319923e-02 -7.67932747e-03 6.25574918e+01] [-7.89346322e-02 9.96879793e-01 -4.08148595e-05 -6.40730570e-01] [ 7.65214478e-03 6.46851199e-04 9.99970513e-01 2.08349572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.59, Y:-0.64, Z:0.21 [[ 9.96903455e-01 7.82593679e-02 -7.67932407e-03 6.25853870e+01] [-7.82619928e-02 9.96932826e-01 -4.14436742e-05 -6.37784096e-01] [ 7.65252689e-03 6.42314547e-04 9.99970513e-01 2.09833933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.61, Y:-0.64, Z:0.21 [[ 9.97024102e-01 7.67070239e-02 -7.67932122e-03 6.26142866e+01] [-7.67096071e-02 9.97053476e-01 -4.19648041e-05 -6.35071738e-01] [ 7.65347493e-03 6.30917635e-04 9.99970513e-01 2.12310669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.64, Y:-0.63, Z:0.21 [[ 9.97094824e-01 7.57821935e-02 -7.67931923e-03 6.26409444e+01] [-7.57847521e-02 9.97124200e-01 -4.23271133e-05 -6.34543928e-01] [ 7.65402740e-03 6.24179450e-04 9.99970513e-01 2.12053934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.67, Y:-0.63, Z:0.21 [[ 9.97151722e-01 7.50298094e-02 -7.67931571e-03 6.26691072e+01] [-7.50323507e-02 9.97181099e-01 -4.29564899e-05 -6.33838572e-01] [ 7.65444546e-03 6.19031247e-04 9.99970513e-01 2.11581377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:-0.63, Z:0.21 [[ 9.97316266e-01 7.28099823e-02 -7.67931259e-03 6.26962287e+01] [-7.28124624e-02 9.97345649e-01 -4.35070676e-05 -6.31320053e-01] [ 7.65576125e-03 6.02539966e-04 9.99970513e-01 2.12809422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.72, Y:-0.63, Z:0.21 [[ 9.97367311e-01 7.21073898e-02 -7.67930891e-03 6.27233343e+01] [-7.21098542e-02 9.97396695e-01 -4.41472819e-05 -6.29853889e-01] [ 7.65613398e-03 5.97784901e-04 9.99970513e-01 2.13581029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.75, Y:-0.63, Z:0.21 [[ 9.97377266e-01 7.19695645e-02 -7.67930535e-03 6.27516922e+01] [-7.19720295e-02 9.97406650e-01 -4.47584093e-05 -6.29192000e-01] [ 7.65616897e-03 5.97336210e-04 9.99970513e-01 2.13245073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.78, Y:-0.63, Z:0.21 [[ 9.97389093e-01 7.18054635e-02 -7.67930220e-03 6.27801336e+01] [-7.18079276e-02 9.97418478e-01 -4.52916479e-05 -6.28864611e-01] [ 7.65622572e-03 5.96608172e-04 9.99970513e-01 2.12551913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.81, Y:-0.63, Z:0.21 [[ 9.97494303e-01 7.03288323e-02 -7.67929891e-03 6.28072977e+01] [-7.03312572e-02 9.97523690e-01 -4.58423799e-05 -6.28306749e-01] [ 7.65705855e-03 5.85822260e-04 9.99970513e-01 2.11717374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.83, Y:-0.63, Z:0.21 [[ 9.97555504e-01 6.94553466e-02 -7.67929507e-03 6.28348402e+01] [-6.94577507e-02 9.97584893e-01 -4.64779665e-05 -6.28049786e-01] [ 7.65752060e-03 5.79750913e-04 9.99970513e-01 2.13289901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.86, Y:-0.63, Z:0.21 [[ 9.97638084e-01 6.82589318e-02 -7.67929289e-03 6.28614342e+01] [-6.82613034e-02 9.97667476e-01 -4.68343707e-05 -6.27763044e-01] [ 7.65818389e-03 5.70922294e-04 9.99970513e-01 2.14217680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:-0.63, Z:0.21 [[ 9.97783159e-01 6.61044307e-02 -7.67928908e-03 6.28899983e+01] [-6.61067434e-02 9.97812556e-01 -4.74508513e-05 -6.29085208e-01] [ 7.65935435e-03 5.54998453e-04 9.99970513e-01 2.12548164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.92, Y:-0.63, Z:0.21 [[ 9.97865324e-01 6.48523300e-02 -7.67928694e-03 6.29181557e+01] [-6.48546085e-02 9.97894723e-01 -4.77959590e-05 -6.29859405e-01] [ 7.66002023e-03 5.45731078e-04 9.99970513e-01 2.12473019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.95, Y:-0.63, Z:0.22 [[ 9.97917675e-01 6.40417218e-02 -7.67928423e-03 6.29456819e+01] [-6.40439797e-02 9.97947076e-01 -4.82268531e-05 -6.30664827e-01] [ 7.66043071e-03 5.39938352e-04 9.99970513e-01 2.16039075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.97, Y:-0.63, Z:0.22 [[ 9.97920812e-01 6.39928248e-02 -7.67923682e-03 6.29741706e+01] [-6.39951383e-02 9.97950209e-01 -5.56701738e-05 -6.30365642e-01] [ 7.65993350e-03 5.46988248e-04 9.99970513e-01 2.16258433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.00, Y:-0.63, Z:0.22 [[ 9.98006738e-01 6.26384847e-02 -7.67923482e-03 6.30032216e+01] [-6.26407607e-02 9.98036138e-01 -5.59822776e-05 -6.31857144e-01] [ 7.66064722e-03 5.36903801e-04 9.99970513e-01 2.18742228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.03, Y:-0.63, Z:0.22 [[ 9.98016700e-01 6.24795649e-02 -7.67927760e-03 6.30317055e+01] [-6.24817852e-02 9.98046103e-01 -4.93223727e-05 -6.32890540e-01] [ 7.66119144e-03 5.29039525e-04 9.99970513e-01 2.17824870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.06, Y:-0.63, Z:0.22 [[ 9.98035870e-01 6.21725879e-02 -7.67927523e-03 6.30591717e+01] [-6.21748020e-02 9.98065274e-01 -4.96880769e-05 -6.33837039e-01] [ 7.66132870e-03 5.27047900e-04 9.99970513e-01 2.16219739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:-0.63, Z:0.22 [[ 9.98057557e-01 6.18234791e-02 -7.67927187e-03 6.30882493e+01] [-6.18256868e-02 9.98086961e-01 -5.02019813e-05 -6.34244927e-01] [ 7.66147746e-03 5.24880724e-04 9.99970513e-01 2.16209878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:-0.64, Z:0.22 [[ 9.98104318e-01 6.10638936e-02 -7.67926945e-03 6.31156751e+01] [-6.10660818e-02 9.98133724e-01 -5.05696919e-05 -6.35211328e-01] [ 7.66184983e-03 5.19416724e-04 9.99970513e-01 2.18887641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:-0.64, Z:0.22 [[ 9.98142927e-01 6.04295191e-02 -7.67926641e-03 6.31434179e+01] [-6.04316920e-02 9.98172334e-01 -5.10268451e-05 -6.36604177e-01] [ 7.66214775e-03 5.15003147e-04 9.99970513e-01 2.20790475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.015898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:63.17, Y:-0.64, Z:0.22 [[ 9.98190123e-01 5.96448364e-02 -7.67926341e-03 6.31726760e+01] [-5.96469896e-02 9.98219532e-01 -5.14751528e-05 -6.38647502e-01] [ 7.66252050e-03 5.09426934e-04 9.99970513e-01 2.19325156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.20, Y:-0.64, Z:0.22 [[ 9.98338750e-01 5.71031503e-02 -7.67926103e-03 6.32019544e+01] [-5.71052313e-02 9.98368163e-01 -5.18273047e-05 -6.44492674e-01] [ 7.66377023e-03 4.90267184e-04 9.99970513e-01 2.21784784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.23, Y:-0.65, Z:0.22 [[ 9.98400936e-01 5.60053622e-02 -7.67925853e-03 6.32296981e+01] [-5.60074138e-02 9.98430352e-01 -5.21953763e-05 -6.47504425e-01] [ 7.66428157e-03 4.82207323e-04 9.99970513e-01 2.21195350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.105898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:63.26, Y:-0.65, Z:0.22 [[ 9.98413038e-01 5.57891946e-02 -7.67925539e-03 6.32586271e+01] [-5.57912433e-02 9.98442454e-01 -5.26532332e-05 -6.50511695e-01] [ 7.66435712e-03 4.81004880e-04 9.99970513e-01 2.18639394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.29, Y:-0.66, Z:0.22 [[ 9.98257547e-01 5.85055428e-02 -7.67925285e-03 6.32860441e+01] [-5.85076744e-02 9.98286957e-01 -5.30213045e-05 -6.57222859e-01] [ 7.66299592e-03 5.02224142e-04 9.99970513e-01 2.22982912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:-0.66, Z:0.22 [[ 9.98102850e-01 6.10878850e-02 -7.67924967e-03 6.33147088e+01] [-6.10900961e-02 9.98132254e-01 -5.34769573e-05 -6.58637038e-01] [ 7.66164000e-03 5.22501604e-04 9.99970513e-01 2.24049391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.34, Y:-0.66, Z:0.22 [[ 9.97882558e-01 6.45866041e-02 -7.67924709e-03 6.33422515e+01] [-6.45889211e-02 9.97911954e-01 -5.38460420e-05 -6.58384922e-01] [ 7.65973473e-03 5.49726311e-04 9.99970513e-01 2.24514176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.37, Y:-0.66, Z:0.22 [[ 9.97608436e-01 6.86908908e-02 -7.67924384e-03 6.33711077e+01] [-6.86933323e-02 9.97637822e-01 -5.43054120e-05 -6.57469208e-01] [ 7.65737381e-03 5.81688386e-04 9.99970513e-01 2.24336709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.40, Y:-0.66, Z:0.22 [[ 9.96942715e-01 7.77576509e-02 -7.67924123e-03 6.33991650e+01] [-7.77603622e-02 9.96972077e-01 -5.46717811e-05 -6.57967036e-01] [ 7.65173793e-03 6.51645213e-04 9.99970513e-01 2.20808215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.43, Y:-0.66, Z:0.22 [[ 9.96618802e-01 8.18045989e-02 -7.67923796e-03 6.34280641e+01] [-8.18074329e-02 9.96648153e-01 -5.51265781e-05 -6.58533658e-01] [ 7.64898873e-03 6.83158929e-04 9.99970513e-01 2.22041604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.46, Y:-0.66, Z:0.22 [[ 9.96384555e-01 8.46099747e-02 -7.67923537e-03 6.34560040e+01] [-8.46128941e-02 9.96413897e-01 -5.54857468e-05 -6.58659527e-01] [ 7.64700220e-03 7.05047470e-04 9.99970513e-01 2.22936995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34589822699999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:63.48, Y:-0.66, Z:0.22 [[ 9.96216375e-01 8.65676849e-02 -7.67923212e-03 6.34848326e+01] [-8.65706653e-02 9.96245711e-01 -5.59324587e-05 -6.59206771e-01] [ 7.64556012e-03 7.20517064e-04 9.99970513e-01 2.19070976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.375898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:63.51, Y:-0.66, Z:0.22 [[ 9.96234505e-01 8.63587846e-02 -7.67922948e-03 6.35126577e+01] [-8.63617616e-02 9.96263842e-01 -5.62923931e-05 -6.58818585e-01] [ 7.64567732e-03 7.19272210e-04 9.99970513e-01 2.16698251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.54, Y:-0.66, Z:0.22 [[ 9.96301258e-01 8.55852349e-02 -7.67922617e-03 6.35403555e+01] [-8.55881925e-02 9.96330597e-01 -5.67397773e-05 -6.57629360e-01] [ 7.64619191e-03 7.13781000e-04 9.99970513e-01 2.19739244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.57, Y:-0.65, Z:0.22 [[ 9.96308491e-01 8.55009931e-02 -7.67922210e-03 6.35683501e+01] [-8.55039524e-02 9.96337830e-01 -5.72855202e-05 -6.52927116e-01] [ 7.64620151e-03 7.13677892e-04 9.99970513e-01 2.22788051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.60, Y:-0.65, Z:0.22 [[ 9.96242953e-01 8.62612813e-02 -7.67921870e-03 6.35961308e+01] [-8.62642664e-02 9.96272289e-01 -5.77374534e-05 -6.49506232e-01] [ 7.64561228e-03 7.19962699e-04 9.99970513e-01 2.23770366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.63, Y:-0.64, Z:0.22 [[ 9.95992381e-01 8.91078361e-02 -7.67921462e-03 6.36252490e+01] [-8.91109092e-02 9.96021708e-01 -5.82751110e-05 -6.43599212e-01] [ 7.64347169e-03 7.42343364e-04 9.99970513e-01 2.20005114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.65, Y:-0.64, Z:0.22 [[ 9.95888898e-01 9.02570374e-02 -7.67921185e-03 6.36530982e+01] [-9.02601471e-02 9.95918221e-01 -5.86377419e-05 -6.40165361e-01] [ 7.64257454e-03 7.51523468e-04 9.99970513e-01 2.17124850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.68, Y:-0.64, Z:0.22 [[ 9.95826211e-01 9.09460708e-02 -7.67920839e-03 6.36817000e+01] [-9.09492042e-02 9.95855531e-01 -5.90880547e-05 -6.36963580e-01] [ 7.64200832e-03 7.57259326e-04 9.99970513e-01 2.15045644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.71, Y:-0.63, Z:0.22 [[ 9.95969835e-01 8.93594808e-02 -7.67920563e-03 6.37091381e+01] [-8.93625702e-02 9.95999160e-01 -5.94448922e-05 -6.32735725e-01] [ 7.64317039e-03 7.45438871e-04 9.99970513e-01 2.16154810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:-0.63, Z:0.22 [[ 9.96184724e-01 8.69311542e-02 -7.67920157e-03 6.37383085e+01] [-8.69341761e-02 9.96214056e-01 -5.99646237e-05 -6.30675432e-01] [ 7.64491575e-03 7.27320903e-04 9.99970513e-01 2.18109482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.77, Y:-0.63, Z:0.22 [[ 9.96426043e-01 8.41199781e-02 -7.67919883e-03 6.37666088e+01] [-8.41229199e-02 9.96455383e-01 -6.03129946e-05 -6.28142845e-01] [ 7.64690549e-03 7.06094067e-04 9.99970513e-01 2.19386878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.79, Y:-0.63, Z:0.22 [[ 9.96618513e-01 8.18081218e-02 -7.67919469e-03 6.37949887e+01] [-8.18109994e-02 9.96647860e-01 -6.08352854e-05 -6.26009251e-01] [ 7.64847614e-03 6.88872164e-04 9.99970513e-01 2.20414064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.82, Y:-0.62, Z:0.22 [[ 9.96907580e-01 7.82068179e-02 -7.67919036e-03 6.38217853e+01] [-7.82095937e-02 9.96936937e-01 -6.13769536e-05 -6.24139959e-01] [ 7.65086842e-03 6.61773509e-04 9.99970513e-01 2.19674872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73589822699999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:63.85, Y:-0.62, Z:0.22 [[ 9.96992313e-01 7.71191089e-02 -7.67918528e-03 6.38495024e+01] [-7.71218575e-02 9.97021672e-01 -6.20068413e-05 -6.23430435e-01] [ 7.65153224e-03 6.54053377e-04 9.99970513e-01 2.17451021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.88, Y:-0.62, Z:0.22 [[ 9.97025551e-01 7.66882025e-02 -7.67918107e-03 6.38772343e+01] [-7.66909424e-02 9.97054911e-01 -6.25240657e-05 -6.23143285e-01] [ 7.65177034e-03 6.51261724e-04 9.99970513e-01 2.21421383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.91, Y:-0.62, Z:0.22 [[ 9.97053014e-01 7.63303240e-02 -7.67917682e-03 6.39050219e+01] [-7.63330572e-02 9.97082374e-01 -6.30415965e-05 -6.21985659e-01] [ 7.65195987e-03 6.49030857e-04 9.99970513e-01 2.22835844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.93, Y:-0.62, Z:0.22 [[ 9.97098998e-01 7.57272647e-02 -7.67917219e-03 6.39322471e+01] [-7.57299845e-02 9.97128360e-01 -6.36001655e-05 -6.20089296e-01] [ 7.65230410e-03 6.44959252e-04 9.99970513e-01 2.22470449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.96, Y:-0.62, Z:0.22 [[ 9.97131145e-01 7.53027834e-02 -7.67916676e-03 6.39600951e+01] [-7.53054956e-02 9.97160508e-01 -6.42490417e-05 -6.19711869e-01] [ 7.65252370e-03 6.42348180e-04 9.99970513e-01 2.24094380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.99, Y:-0.62, Z:0.23 [[ 9.97170861e-01 7.47750235e-02 -7.67916311e-03 6.39867123e+01] [-7.47777235e-02 9.97200225e-01 -6.46830480e-05 -6.19331885e-01] [ 7.65282650e-03 6.38730387e-04 9.99970513e-01 2.25258714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.01, Y:-0.62, Z:0.23 [[ 9.97127330e-01 7.53532945e-02 -7.67915799e-03 6.40149234e+01] [-7.53560161e-02 9.97156691e-01 -6.52854309e-05 -6.17964717e-01] [ 7.65240430e-03 6.43768641e-04 9.99970513e-01 2.27032256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.04, Y:-0.62, Z:0.23 [[ 9.97045724e-01 7.64254902e-02 -7.67915333e-03 6.40424667e+01] [-7.64282475e-02 9.97075082e-01 -6.58284089e-05 -6.16917278e-01] [ 7.65166147e-03 6.52538165e-04 9.99970513e-01 2.27261972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:-0.62, Z:0.23 [[ 9.96970363e-01 7.74023654e-02 -7.67914854e-03 6.40712815e+01] [-7.74051557e-02 9.96999718e-01 -6.63824537e-05 -6.15069772e-01] [ 7.65097077e-03 6.60587028e-04 9.99970513e-01 2.29819123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.10, Y:-0.61, Z:0.23 [[ 9.96756955e-01 8.01037024e-02 -7.67914541e-03 6.40984847e+01] [-8.01065750e-02 9.96786302e-01 -6.67429061e-05 -6.09202817e-01] [ 7.64912060e-03 6.81676494e-04 9.99970513e-01 2.31126098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.13, Y:-0.60, Z:0.23 [[ 9.96632527e-01 8.16372232e-02 -7.67913988e-03 6.41268506e+01] [-8.16401458e-02 9.96661869e-01 -6.73728317e-05 -6.04650538e-01] [ 7.64800578e-03 6.94072055e-04 9.99970513e-01 2.29575111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.15, Y:-0.60, Z:0.23 [[ 9.96531115e-01 8.28659577e-02 -7.67913511e-03 6.41541924e+01] [-8.28689206e-02 9.96560453e-01 -6.79125925e-05 -5.99870036e-01] [ 7.64709472e-03 7.04038649e-04 9.99970513e-01 2.26625384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:-0.60, Z:0.22 [[ 9.96483394e-01 8.34378547e-02 -7.67913114e-03 6.41830750e+01] [-8.34408379e-02 9.96512730e-01 -6.83585059e-05 -5.95924687e-01] [ 7.64664825e-03 7.08871253e-04 9.99970513e-01 2.24155925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.21, Y:-0.59, Z:0.23 [[ 9.96651321e-01 8.14074607e-02 -7.67912797e-03 6.42115081e+01] [-8.14103868e-02 9.96680663e-01 -6.87126084e-05 -5.89620339e-01] [ 7.64804464e-03 6.93643291e-04 9.99970513e-01 2.26055968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.24, Y:-0.59, Z:0.23 [[ 9.96840273e-01 7.90601173e-02 -7.67912469e-03 6.42388738e+01] [-7.90629771e-02 9.96869621e-01 -6.90773347e-05 -5.86844984e-01] [ 7.64962486e-03 6.75993529e-04 9.99970513e-01 2.27494769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.27, Y:-0.58, Z:0.23 [[ 9.97055248e-01 7.63011333e-02 -7.67912058e-03 6.42680246e+01] [-7.63039153e-02 9.97084604e-01 -6.95315868e-05 -5.84715925e-01] [ 7.65142756e-03 6.55273800e-04 9.99970513e-01 2.29442390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:-0.58, Z:0.23 [[ 9.97410980e-01 7.15008310e-02 -7.67911726e-03 6.42947653e+01] [-7.15034744e-02 9.97440348e-01 -6.98963128e-05 -5.81577608e-01] [ 7.65446375e-03 6.18798914e-04 9.99970513e-01 2.27914042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.32, Y:-0.58, Z:0.23 [[ 9.97531525e-01 6.97989039e-02 -7.67911228e-03 6.43231236e+01] [-6.98015014e-02 9.97560898e-01 -7.04394748e-05 -5.79048494e-01] [ 7.65546554e-03 6.06279163e-04 9.99970513e-01 2.27785050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.35, Y:-0.57, Z:0.23 [[ 9.97554247e-01 6.94734103e-02 -7.67910892e-03 6.43498223e+01] [-6.94760010e-02 9.97583621e-01 -7.08033121e-05 -5.74222826e-01] [ 7.65563433e-03 6.04143924e-04 9.99970513e-01 2.28215584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:-0.57, Z:0.23 [[ 9.97489459e-01 7.03975174e-02 -7.67910303e-03 6.43779443e+01] [-7.04001401e-02 9.97518829e-01 -7.14369890e-05 -5.72975339e-01] [ 7.65502088e-03 6.11867573e-04 9.99970513e-01 2.28376854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.41, Y:-0.57, Z:0.23 [[ 9.97431595e-01 7.12126677e-02 -7.67909796e-03 6.44063139e+01] [-7.12153186e-02 9.97460963e-01 -7.19777151e-05 -5.71822287e-01] [ 7.65447472e-03 6.18662255e-04 9.99970513e-01 2.27670480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.43, Y:-0.57, Z:0.23 [[ 9.97350635e-01 7.23377004e-02 -7.67909284e-03 6.44333421e+01] [-7.23403886e-02 9.97379999e-01 -7.25198633e-05 -5.70479394e-01] [ 7.65372769e-03 6.27836291e-04 9.99970513e-01 2.26014935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.46, Y:-0.57, Z:0.23 [[ 9.97142788e-01 7.51484598e-02 -7.67908687e-03 6.44610324e+01] [-7.51512356e-02 9.97172145e-01 -7.31465912e-05 -5.66332227e-01] [ 7.65187467e-03 6.50030462e-04 9.99970513e-01 2.26522878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.49, Y:-0.57, Z:0.23 [[ 9.97033662e-01 7.65826954e-02 -7.67908182e-03 6.44894783e+01] [-7.65855174e-02 9.97063014e-01 -7.36723764e-05 -5.65365425e-01] [ 7.65088644e-03 6.61560294e-04 9.99970513e-01 2.26870633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.52, Y:-0.56, Z:0.23 [[ 9.97012065e-01 7.68633467e-02 -7.67913385e-03 6.45168184e+01] [-7.68661357e-02 9.97041420e-01 -6.82783437e-05 -5.64661334e-01] [ 7.65116642e-03 6.58339677e-04 9.99970513e-01 2.29379529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.55, Y:-0.57, Z:0.23 [[ 9.97032306e-01 7.66003388e-02 -7.67907234e-03 6.45457084e+01] [-7.66031685e-02 9.97061658e-01 -7.46090936e-05 -5.65312412e-01] [ 7.65079352e-03 6.62628949e-04 9.99970513e-01 2.30245564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.57, Y:-0.57, Z:0.23 [[ 9.97214486e-01 7.41909700e-02 -7.67906887e-03 6.45743418e+01] [-7.41937314e-02 9.97243844e-01 -7.49650745e-05 -5.67063243e-01] [ 7.65234243e-03 6.44495031e-04 9.99970513e-01 2.33337975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.60, Y:-0.57, Z:0.24 [[ 9.97377673e-01 7.19639414e-02 -7.67912505e-03 6.46009623e+01] [-7.19665937e-02 9.97407041e-01 -6.92760837e-05 -5.67156927e-01] [ 7.65422801e-03 6.21734892e-04 9.99970513e-01 2.35552357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.63, Y:-0.57, Z:0.24 [[ 9.97674279e-01 6.77278699e-02 -7.67904900e-03 6.46293605e+01] [-6.77304556e-02 9.97703653e-01 -7.68738085e-05 -5.70569475e-01] [ 7.65620874e-03 5.96800509e-04 9.99970513e-01 2.35893390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.66, Y:-0.57, Z:0.23 [[ 9.97796526e-01 6.59023909e-02 -7.67904341e-03 6.46559943e+01] [-6.59049271e-02 9.97825904e-01 -7.74279453e-05 -5.72645704e-01] [ 7.65724574e-03 5.83344131e-04 9.99970513e-01 2.34820157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.68, Y:-0.57, Z:0.23 [[ 9.97898877e-01 6.43340034e-02 -7.67903687e-03 6.46844470e+01] [-6.43364983e-02 9.97928258e-01 -7.80705187e-05 -5.74504395e-01] [ 7.65810531e-03 5.71948826e-04 9.99970513e-01 2.33368489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.71, Y:-0.58, Z:0.23 [[ 9.97952288e-01 6.35001054e-02 -7.67903133e-03 6.47122905e+01] [-6.35025799e-02 9.97981671e-01 -7.86116896e-05 -5.77979984e-01] [ 7.65854067e-03 5.66089017e-04 9.99970513e-01 2.32733710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.74, Y:-0.58, Z:0.23 [[ 9.97906392e-01 6.42173269e-02 -7.67902670e-03 6.47403990e+01] [-6.42198260e-02 9.97935773e-01 -7.90617428e-05 -5.80240784e-01] [ 7.65809832e-03 5.72041977e-04 9.99970513e-01 2.32943298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.77, Y:-0.58, Z:0.23 [[ 9.97911016e-01 6.41454308e-02 -7.67902195e-03 6.47688818e+01] [-6.41479313e-02 9.97940397e-01 -7.95200899e-05 -5.79817603e-01] [ 7.65810537e-03 5.71947346e-04 9.99970513e-01 2.33162107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.80, Y:-0.59, Z:0.23 [[ 9.97690875e-01 6.74829584e-02 -7.67901619e-03 6.47966617e+01] [-6.74855614e-02 9.97720248e-01 -8.00733276e-05 -5.85550091e-01] [ 7.65610635e-03 5.98111147e-04 9.99970513e-01 2.33836837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78589822699999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:64.83, Y:-0.59, Z:0.23 [[ 9.97579390e-01 6.91114555e-02 -7.67901017e-03 6.48250049e+01] [-6.91141108e-02 9.97608758e-01 -8.06465469e-05 -5.87763917e-01] [ 7.65507419e-03 6.11179293e-04 9.99970513e-01 2.31432482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.85, Y:-0.59, Z:0.23 [[ 9.97497866e-01 7.02783098e-02 -7.67900372e-03 6.48528987e+01] [-7.02810041e-02 9.97527230e-01 -8.12552407e-05 -5.91050966e-01] [ 7.65430483e-03 6.20740022e-04 9.99970513e-01 2.34297056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.88, Y:-0.59, Z:0.23 [[ 9.97432027e-01 7.12066329e-02 -7.67899791e-03 6.48798796e+01] [-7.12093588e-02 9.97461388e-01 -8.18013093e-05 -5.94821918e-01] [ 7.65367912e-03 6.28407763e-04 9.99970513e-01 2.33002868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.91, Y:-0.60, Z:0.23 [[ 9.97424678e-01 7.13094951e-02 -7.67899113e-03 6.49090341e+01] [-7.13122288e-02 9.97454039e-01 -8.24330942e-05 -6.04090076e-01] [ 7.65356245e-03 6.29826774e-04 9.99970513e-01 2.31050763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.94, Y:-0.61, Z:0.23 [[ 9.97463972e-01 7.07577409e-02 -7.67898727e-03 6.49364778e+01] [-7.07604611e-02 9.97493333e-01 -8.27906776e-05 -6.07904843e-01] [ 7.65388053e-03 6.25949398e-04 9.99970513e-01 2.31649469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.935898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.97, Y:-0.61, Z:0.23 [[ 9.97511258e-01 7.00879719e-02 -7.67898049e-03 6.49651068e+01] [-7.00906772e-02 9.97540621e-01 -8.34146180e-05 -6.11320565e-01] [ 7.65424861e-03 6.21431963e-04 9.99970513e-01 2.32292949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.99, Y:-0.62, Z:0.23 [[ 9.97551577e-01 6.95117565e-02 -7.67897655e-03 6.49929552e+01] [-6.95144475e-02 9.97580941e-01 -8.37762592e-05 -6.15243126e-01] [ 7.65457722e-03 6.17370952e-04 9.99970513e-01 2.34972728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.02, Y:-0.62, Z:0.24 [[ 9.97511764e-01 7.00807641e-02 -7.67897162e-03 6.50213358e+01] [-7.00834753e-02 9.97541127e-01 -8.42256286e-05 -6.22373832e-01] [ 7.65418740e-03 6.22185073e-04 9.99970513e-01 2.38002529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:-0.62, Z:0.24 [[ 9.97372636e-01 7.20337248e-02 -7.67896676e-03 6.50503016e+01] [-7.20364969e-02 9.97401993e-01 -8.46660901e-05 -6.24138501e-01] [ 7.65291794e-03 6.37609507e-04 9.99970513e-01 2.36965013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:65.08, Y:-0.62, Z:0.23 [[ 9.97145355e-01 7.51144083e-02 -7.67896288e-03 6.50787027e+01] [-7.51172738e-02 9.97174703e-01 -8.50170936e-05 -6.24537815e-01] [ 7.65088152e-03 6.61597157e-04 9.99970513e-01 2.33595095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08589822699999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:65.11, Y:-0.62, Z:0.23 [[ 9.96614851e-01 8.18527509e-02 -7.67895882e-03 6.51062102e+01] [-8.18558175e-02 9.96644178e-01 -8.53820164e-05 -6.24682856e-01] [ 7.64620085e-03 7.13660437e-04 9.99970513e-01 2.29020819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.13, Y:-0.62, Z:0.23 [[ 9.96448015e-01 8.38593274e-02 -7.67895374e-03 6.51339883e+01] [-8.38624565e-02 9.96477336e-01 -8.58362587e-05 -6.24351339e-01] [ 7.64470520e-03 7.29507294e-04 9.99970513e-01 2.32890425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.16, Y:-0.62, Z:0.24 [[ 9.96367406e-01 8.48117099e-02 -7.67894783e-03 6.51628996e+01] [-8.48148710e-02 9.96396723e-01 -8.63618595e-05 -6.23428005e-01] [ 7.64395396e-03 7.37337112e-04 9.99970513e-01 2.35672521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.19, Y:-0.62, Z:0.24 [[ 9.96466386e-01 8.36407562e-02 -7.67894381e-03 6.51903215e+01] [-8.36438856e-02 9.96495706e-01 -8.67177373e-05 -6.20721829e-01] [ 7.64478140e-03 7.28708008e-04 9.99970513e-01 2.38926009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.22, Y:-0.62, Z:0.24 [[ 9.96585740e-01 8.22064267e-02 -7.67893795e-03 6.52187541e+01] [-8.22095178e-02 9.96615065e-01 -8.72336640e-05 -6.19485832e-01] [ 7.64577408e-03 7.18217612e-04 9.99970513e-01 2.37727485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.25, Y:-0.62, Z:0.23 [[ 9.96731219e-01 8.04233190e-02 -7.67893382e-03 6.52466492e+01] [-8.04263604e-02 9.96760549e-01 -8.75957534e-05 -6.18657304e-01] [ 7.64701355e-03 7.04898121e-04 9.99970513e-01 2.34916031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.28, Y:-0.62, Z:0.23 [[ 9.96865745e-01 7.87383074e-02 -7.67892865e-03 6.52753776e+01] [-7.87413026e-02 9.96895079e-01 -8.80463290e-05 -6.17645861e-01] [ 7.64815357e-03 6.92419214e-04 9.99970513e-01 2.33142761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.295898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:65.30, Y:-0.62, Z:0.23 [[ 9.96956936e-01 7.75751372e-02 -7.67892464e-03 6.53030815e+01] [-7.75781009e-02 9.96986274e-01 -8.83947097e-05 -6.15978273e-01] [ 7.64892524e-03 6.83842110e-04 9.99970513e-01 2.31065420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.33, Y:-0.61, Z:0.24 [[ 9.97109087e-01 7.55943244e-02 -7.67891837e-03 6.53312804e+01] [-7.55972339e-02 9.97138431e-01 -8.89359084e-05 -6.12683890e-01] [ 7.65022157e-03 6.69183791e-04 9.99970513e-01 2.35293740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.36, Y:-0.61, Z:0.24 [[ 9.97179889e-01 7.46545592e-02 -7.67891314e-03 6.53599299e+01] [-7.46574445e-02 9.97209235e-01 -8.93854281e-05 -6.11522007e-01] [ 7.65081007e-03 6.62421383e-04 9.99970513e-01 2.37945719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.39, Y:-0.61, Z:0.24 [[ 9.97239552e-01 7.38533007e-02 -7.67890883e-03 6.53878864e+01] [-7.38561653e-02 9.97268900e-01 -8.97542375e-05 -6.10260992e-01] [ 7.65130832e-03 6.56641236e-04 9.99970513e-01 2.39515269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.42, Y:-0.61, Z:0.24 [[ 9.97249362e-01 7.37207251e-02 -7.67890234e-03 6.54154743e+01] [-7.37235900e-02 9.97278709e-01 -9.03061418e-05 -6.08838606e-01] [ 7.65134838e-03 6.56173990e-04 9.99970513e-01 2.38923508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.44, Y:-0.61, Z:0.24 [[ 9.97216138e-01 7.41687847e-02 -7.67889694e-03 6.54444108e+01] [-7.41716662e-02 9.97245484e-01 -9.07634014e-05 -6.06623689e-01] [ 7.65101348e-03 6.60067309e-04 9.99970513e-01 2.38557736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.47, Y:-0.60, Z:0.23 [[ 9.96940790e-01 7.77823609e-02 -7.67889257e-03 6.54724411e+01] [-7.77853516e-02 9.96970125e-01 -9.11308865e-05 -6.00667356e-01] [ 7.64853812e-03 6.88157457e-04 9.99970513e-01 2.32176399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:-0.60, Z:0.23 [[ 9.96779905e-01 7.98176400e-02 -7.67888713e-03 6.55001418e+01] [-7.98206941e-02 9.96809234e-01 -9.15876017e-05 -5.97047786e-01] [ 7.64707529e-03 7.04226781e-04 9.99970513e-01 2.27923796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.53, Y:-0.59, Z:0.23 [[ 9.96623092e-01 8.17523481e-02 -7.67888170e-03 6.55287698e+01] [-8.17554626e-02 9.96652415e-01 -9.20407676e-05 -5.94197563e-01] [ 7.64565144e-03 7.19520480e-04 9.99970513e-01 2.27237336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.56, Y:-0.59, Z:0.23 [[ 9.96513440e-01 8.30782652e-02 -7.67887735e-03 6.55564913e+01] [-8.30814214e-02 9.96542758e-01 -9.24020792e-05 -5.92028021e-01] [ 7.64465301e-03 7.30051958e-04 9.99970513e-01 2.31117291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:-0.59, Z:0.25 [[ 9.96486928e-01 8.33956633e-02 -7.67887192e-03 6.55845622e+01] [-8.33988323e-02 9.96516245e-01 -9.28510413e-05 -5.91027475e-01] [ 7.64437723e-03 7.32933801e-04 9.99970513e-01 2.48350135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.61, Y:-0.59, Z:0.25 [[ 9.96599171e-01 8.20434481e-02 -7.67886555e-03 6.56130048e+01] [-8.20465813e-02 9.96628491e-01 -9.33747047e-05 -5.90889428e-01] [ 7.64531541e-03 7.23081820e-04 9.99970513e-01 2.54038397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.655898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.64, Y:-0.59, Z:0.25 [[ 9.96723413e-01 8.05200127e-02 -7.67886130e-03 6.56419315e+01] [-8.05231037e-02 9.96752738e-01 -9.37229671e-05 -5.91183776e-01] [ 7.64637945e-03 7.11741621e-04 9.99970513e-01 2.52740929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.67, Y:-0.59, Z:0.24 [[ 9.97015435e-01 7.68196427e-02 -7.67885692e-03 6.56694353e+01] [-7.68226276e-02 9.97044771e-01 -9.40808393e-05 -5.92378786e-01] [ 7.64893688e-03 6.83710014e-04 9.99970513e-01 2.40128762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.70, Y:-0.59, Z:0.23 [[ 9.97106129e-01 7.56333484e-02 -7.67885143e-03 6.56979166e+01] [-7.56363018e-02 9.97135468e-01 -9.45268879e-05 -5.92393457e-01] [ 7.64970572e-03 6.75053263e-04 9.99970513e-01 2.33569698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.73, Y:-0.59, Z:0.23 [[ 9.97118227e-01 7.54736818e-02 -7.67884704e-03 6.57258620e+01] [-7.54766332e-02 9.97147566e-01 -9.48820122e-05 -5.92031626e-01] [ 7.64978254e-03 6.74182105e-04 9.99970513e-01 2.31222289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.76, Y:-0.59, Z:0.23 [[ 9.97052419e-01 7.63381267e-02 -7.67884157e-03 6.57550268e+01] [-7.63411069e-02 9.97081755e-01 -9.53224665e-05 -5.91570298e-01] [ 7.64915609e-03 6.81252761e-04 9.99970513e-01 2.34517887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80589822699999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:65.78, Y:-0.59, Z:0.24 [[ 9.96773480e-01 7.98978403e-02 -7.67883712e-03 6.57830318e+01] [-7.99009280e-02 9.96802805e-01 -9.56791657e-05 -5.91271607e-01] [ 7.64664183e-03 7.08916667e-04 9.99970513e-01 2.41762139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:65.81, Y:-0.59, Z:0.24 [[ 9.96650650e-01 8.14157079e-02 -7.67883005e-03 6.58110477e+01] [-8.14188446e-02 9.96679970e-01 -9.62434049e-05 -5.90339410e-01] [ 7.64550038e-03 7.21122522e-04 9.99970513e-01 2.44244291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.84, Y:-0.59, Z:0.25 [[ 9.96544871e-01 8.27004003e-02 -7.67882343e-03 6.58391669e+01] [-8.27035788e-02 9.96574186e-01 -9.67689971e-05 -5.89155683e-01] [ 7.64451438e-03 7.31500826e-04 9.99970513e-01 2.45347501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.87, Y:-0.59, Z:0.24 [[ 9.96394422e-01 8.44937402e-02 -7.67881791e-03 6.58676967e+01] [-8.44969747e-02 9.96423731e-01 -9.72052443e-05 -5.85717176e-01] [ 7.64314315e-03 7.45691646e-04 9.99970513e-01 2.35768387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.90, Y:-0.58, Z:0.23 [[ 9.96366567e-01 8.48215784e-02 -7.67881347e-03 6.58964133e+01] [-8.48248253e-02 9.96395875e-01 -9.75548093e-05 -5.82853884e-01] [ 7.64286331e-03 7.48554361e-04 9.99970513e-01 2.32858103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.92, Y:-0.58, Z:0.23 [[ 9.96359272e-01 8.49072293e-02 -7.67880875e-03 6.59239344e+01] [-8.49104815e-02 9.96388579e-01 -9.79246316e-05 -5.79967349e-01] [ 7.64276283e-03 7.49579463e-04 9.99970513e-01 2.30790459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.95, Y:-0.58, Z:0.24 [[ 9.96483060e-01 8.34418800e-02 -7.67880284e-03 6.59524201e+01] [-8.34450926e-02 9.96512372e-01 -9.83859534e-05 -5.75981879e-01] [ 7.64381252e-03 7.38798350e-04 9.99970513e-01 2.37919671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.98, Y:-0.57, Z:0.24 [[ 9.96584941e-01 8.22161225e-02 -7.67879813e-03 6.59801402e+01] [-8.22193019e-02 9.96614257e-01 -9.87519678e-05 -5.74423693e-01] [ 7.64468069e-03 7.29760146e-04 9.99970513e-01 2.41486653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.01, Y:-0.57, Z:0.24 [[ 9.96714644e-01 8.06285033e-02 -7.67879225e-03 6.60074113e+01] [-8.06316394e-02 9.96743964e-01 -9.92075630e-05 -5.72735673e-01] [ 7.64579086e-03 7.18035238e-04 9.99970513e-01 2.42530678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.04, Y:-0.57, Z:0.24 [[ 9.96877104e-01 7.85943799e-02 -7.67878432e-03 6.60363221e+01] [-7.85974609e-02 9.96906430e-01 -9.98175894e-05 -5.70784783e-01] [ 7.64718435e-03 7.03038819e-04 9.99970513e-01 2.42042002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.07, Y:-0.57, Z:0.24 [[ 9.97024552e-01 7.67012357e-02 -7.67877994e-03 6.60650879e+01] [-7.67042635e-02 9.97053883e-01 -1.00153449e-04 -5.69586233e-01] [ 7.64847546e-03 6.88850608e-04 9.99970513e-01 2.42172842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.135898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:66.09, Y:-0.57, Z:0.23 [[ 9.97188169e-01 7.45438827e-02 -7.67886077e-03 6.60925445e+01] [-7.45467997e-02 9.97217512e-01 -9.39578813e-05 -5.68384357e-01] [ 7.65049044e-03 6.66128183e-04 9.99970513e-01 2.34100745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.12, Y:-0.57, Z:0.24 [[ 9.97257258e-01 7.36138453e-02 -7.67876755e-03 6.61216555e+01] [-7.36167891e-02 9.97286598e-01 -1.01042068e-04 -5.67226860e-01] [ 7.65049387e-03 6.66051147e-04 9.99970513e-01 2.38513235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.15, Y:-0.57, Z:0.24 [[ 9.97350954e-01 7.23333391e-02 -7.67876287e-03 6.61508615e+01] [-7.23362479e-02 9.97380297e-01 -1.01395939e-04 -5.65497740e-01] [ 7.65131249e-03 6.56580231e-04 9.99970513e-01 2.42910426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.18, Y:-0.56, Z:0.25 [[ 9.97498248e-01 7.02729151e-02 -7.67875812e-03 6.61781457e+01] [-7.02757660e-02 9.97527597e-01 -1.01754887e-04 -5.64949303e-01] [ 7.65262252e-03 6.41130930e-04 9.99970513e-01 2.50651766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25589822699999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.21, Y:-0.57, Z:0.25 [[ 9.97567230e-01 6.92867896e-02 -7.67875227e-03 6.62057590e+01] [-6.92896149e-02 9.97596581e-01 -1.02194517e-04 -5.66132438e-01] [ 7.65321628e-03 6.34003689e-04 9.99970513e-01 2.49900805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:-0.57, Z:0.25 [[ 9.97629549e-01 6.83836221e-02 -7.67874456e-03 6.62325793e+01] [-6.83864252e-02 9.97658903e-01 -1.02770324e-04 -5.68225977e-01] [ 7.65374007e-03 6.27648603e-04 9.99970513e-01 2.47170257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:-0.57, Z:0.24 [[ 9.97684981e-01 6.75700849e-02 -7.67873554e-03 6.62613169e+01] [-6.75728692e-02 9.97714336e-01 -1.03440167e-04 -5.69819168e-01] [ 7.65419507e-03 6.22074893e-04 9.99970513e-01 2.42363283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:66.29, Y:-0.57, Z:0.24 [[ 9.97708397e-01 6.72234415e-02 -7.67873064e-03 6.62900249e+01] [-6.72262184e-02 9.97737754e-01 -1.03802775e-04 -5.70114371e-01] [ 7.65438147e-03 6.19776923e-04 9.99970513e-01 2.37343079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.32, Y:-0.57, Z:0.24 [[ 9.97574661e-01 6.91797177e-02 -7.67872565e-03 6.63186151e+01] [-6.91825550e-02 9.97604011e-01 -1.04170020e-04 -5.68761179e-01] [ 7.65312106e-03 6.35151232e-04 9.99970513e-01 2.43358889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.35, Y:-0.57, Z:0.25 [[ 9.97442580e-01 7.10586862e-02 -7.67872061e-03 6.63463076e+01] [-7.10615816e-02 9.97471925e-01 -1.04540781e-04 -5.67210772e-01] [ 7.65187969e-03 6.49935457e-04 9.99970513e-01 2.47786058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.37, Y:-0.57, Z:0.25 [[ 9.97297056e-01 7.30726979e-02 -7.67871432e-03 6.63745026e+01] [-7.30756560e-02 9.97326395e-01 -1.05000701e-04 -5.65815924e-01] [ 7.65051178e-03 6.65843976e-04 9.99970513e-01 2.50003020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.40, Y:-0.56, Z:0.25 [[ 9.97176626e-01 7.46981526e-02 -7.67870669e-03 6.64027334e+01] [-7.47011628e-02 9.97205959e-01 -1.05555481e-04 -5.64843950e-01] [ 7.64936727e-03 6.78865776e-04 9.99970513e-01 2.47336220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.43, Y:-0.56, Z:0.24 [[ 9.97055129e-01 7.63027390e-02 -7.67870038e-03 6.64313878e+01] [-7.63057998e-02 9.97084457e-01 -1.06012729e-04 -5.63208232e-01] [ 7.64822373e-03 6.91629909e-04 9.99970513e-01 2.37887715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52589822699998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:66.46, Y:-0.56, Z:0.24 [[ 9.97085710e-01 7.59020729e-02 -7.67869535e-03 6.64598457e+01] [-7.59051248e-02 9.97115039e-01 -1.06375662e-04 -5.61479214e-01] [ 7.64846848e-03 6.88917982e-04 9.99970513e-01 2.35584748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.49, Y:-0.56, Z:0.24 [[ 9.97133611e-01 7.52701755e-02 -7.67868763e-03 6.64874946e+01] [-7.52732130e-02 9.97162942e-01 -1.06929931e-04 -5.59891902e-01] [ 7.64885411e-03 6.84622918e-04 9.99970513e-01 2.40291849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.51, Y:-0.56, Z:0.24 [[ 9.97196596e-01 7.44310878e-02 -7.67868121e-03 6.65149110e+01] [-7.44341042e-02 9.97225929e-01 -1.07389267e-04 -5.57468165e-01] [ 7.64938690e-03 6.78643968e-04 9.99970513e-01 2.43193997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.54, Y:-0.56, Z:0.24 [[ 9.97201627e-01 7.43636496e-02 -7.67867481e-03 6.65433923e+01] [-7.43666674e-02 9.97230960e-01 -1.07845013e-04 -5.56938567e-01] [ 7.64939250e-03 6.78580678e-04 9.99970513e-01 2.43412805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.57, Y:-0.55, Z:0.24 [[ 9.97316780e-01 7.28030068e-02 -7.67866748e-03 6.65719368e+01] [-7.28059827e-02 9.97346117e-01 -1.08364292e-04 -5.54005496e-01] [ 7.65039995e-03 6.67126459e-04 9.99970513e-01 2.42684587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.60, Y:-0.55, Z:0.24 [[ 9.97350308e-01 7.23422529e-02 -7.67866232e-03 6.66002284e+01] [-7.23452180e-02 9.97379646e-01 -1.08728768e-04 -5.54161778e-01] [ 7.65067582e-03 6.63955170e-04 9.99970513e-01 2.39793527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.63, Y:-0.55, Z:0.24 [[ 9.97381828e-01 7.19063795e-02 -7.67865585e-03 6.66278403e+01] [-7.19093352e-02 9.97411167e-01 -1.09183815e-04 -5.54500530e-01] [ 7.65092607e-03 6.61064991e-04 9.99970513e-01 2.40099155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.66, Y:-0.55, Z:0.25 [[ 9.97317045e-01 7.27993830e-02 -7.67864936e-03 6.66567928e+01] [-7.28023685e-02 9.97346381e-01 -1.09638197e-04 -5.53875567e-01] [ 7.65029155e-03 6.68367903e-04 9.99970513e-01 2.52830225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.68, Y:-0.55, Z:0.26 [[ 9.97249152e-01 7.37235901e-02 -7.67864425e-03 6.66837369e+01] [-7.37266056e-02 9.97278484e-01 -1.09995008e-04 -5.51709133e-01] [ 7.64963747e-03 6.75812804e-04 9.99970513e-01 2.56085661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.71, Y:-0.55, Z:0.25 [[ 9.97161188e-01 7.49039661e-02 -7.67863525e-03 6.67120607e+01] [-7.49070211e-02 9.97190516e-01 -1.10619262e-04 -5.49537382e-01] [ 7.64877643e-03 6.85488928e-04 9.99970513e-01 2.53916658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.74, Y:-0.55, Z:0.25 [[ 9.97118650e-01 7.54681205e-02 -7.67862748e-03 6.67402705e+01] [-7.54711961e-02 9.97147976e-01 -1.11156070e-04 -5.46932881e-01] [ 7.64833911e-03 6.90350991e-04 9.99970513e-01 2.48403306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.77, Y:-0.55, Z:0.24 [[ 9.97101638e-01 7.56925503e-02 -7.67861879e-03 6.67683721e+01] [-7.56956370e-02 9.97130963e-01 -1.11753098e-04 -5.45609258e-01] [ 7.64812968e-03 6.92667139e-04 9.99970513e-01 2.42904167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.80, Y:-0.55, Z:0.24 [[ 9.97140242e-01 7.51822928e-02 -7.67861234e-03 6.67970850e+01] [-7.51853679e-02 9.97169568e-01 -1.12195089e-04 -5.45744874e-01] [ 7.64844346e-03 6.89193532e-04 9.99970513e-01 2.44753780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.82, Y:-0.55, Z:0.25 [[ 9.97186524e-01 7.45659185e-02 -7.67860714e-03 6.68243018e+01] [-7.45689782e-02 9.97215852e-01 -1.12549815e-04 -5.46224610e-01] [ 7.64883638e-03 6.84819048e-04 9.99970513e-01 2.49316049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.85, Y:-0.55, Z:0.25 [[ 9.97265865e-01 7.34971711e-02 -7.67853711e-03 6.68534939e+01] [-7.35002355e-02 9.97295193e-01 -1.17277940e-04 -5.46170859e-01] [ 7.64914855e-03 6.81331572e-04 9.99970513e-01 2.51355393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.88, Y:-0.55, Z:0.25 [[ 9.97429965e-01 7.12355564e-02 -7.67858019e-03 6.68818754e+01] [-7.12385322e-02 9.97459302e-01 -1.14386447e-04 -5.45018233e-01] [ 7.65092285e-03 6.61103252e-04 9.99970513e-01 2.54899338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.91, Y:-0.54, Z:0.25 [[ 9.97498798e-01 7.02651166e-02 -7.67857235e-03 6.69098997e+01] [-7.02680678e-02 9.97528138e-01 -1.14910056e-04 -5.43919745e-01] [ 7.65151781e-03 6.54181086e-04 9.99970513e-01 2.54657209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.94, Y:-0.54, Z:0.25 [[ 9.97538662e-01 6.96968912e-02 -7.67855862e-03 6.69372822e+01] [-6.96998327e-02 9.97568003e-01 -1.15820516e-04 -5.42491980e-01] [ 7.65181205e-03 6.50729694e-04 9.99970513e-01 2.52920181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:66.97, Y:-0.54, Z:0.25 [[ 9.97448569e-01 7.09745939e-02 -7.67854602e-03 6.69659417e+01] [-7.09775793e-02 9.97477904e-01 -1.16649938e-04 -5.40480643e-01] [ 7.65090081e-03 6.61356923e-04 9.99970513e-01 2.54167393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.99, Y:-0.54, Z:0.26 [[ 9.97321484e-01 7.27385505e-02 -7.67854047e-03 6.69924838e+01] [-7.27415906e-02 9.97350815e-01 -1.17013850e-04 -5.40108526e-01] [ 7.64968718e-03 6.75249674e-04 9.99970513e-01 2.56314993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.02, Y:-0.54, Z:0.25 [[ 9.97225666e-01 7.40406065e-02 -7.67853077e-03 6.70193982e+01] [-7.40436897e-02 9.97254992e-01 -1.17647303e-04 -5.39422834e-01] [ 7.64874246e-03 6.85867660e-04 9.99970513e-01 2.54892050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.05, Y:-0.54, Z:0.25 [[ 9.97061322e-01 7.62217800e-02 -7.67852129e-03 6.70470906e+01] [-7.62249320e-02 9.97090641e-01 -1.18262478e-04 -5.39567932e-01] [ 7.64716754e-03 7.03209706e-04 9.99970513e-01 2.48142771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.07, Y:-0.54, Z:0.25 [[ 9.97039858e-01 7.65020419e-02 -7.67851263e-03 6.70746641e+01] [-7.65052065e-02 9.97069175e-01 -1.18822293e-04 -5.39758066e-01] [ 7.64691810e-03 7.05916756e-04 9.99970513e-01 2.45872286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.10, Y:-0.54, Z:0.25 [[ 9.97070814e-01 7.60975141e-02 -7.67850608e-03 6.71031760e+01] [-7.61006700e-02 9.97100132e-01 -1.19243749e-04 -5.40076525e-01] [ 7.64716528e-03 7.03233919e-04 9.99970513e-01 2.47334029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.13, Y:-0.54, Z:0.25 [[ 9.97126772e-01 7.53607468e-02 -7.67850062e-03 6.71307876e+01] [-7.53638837e-02 9.97156091e-01 -1.19594448e-04 -5.40264108e-01] [ 7.64765094e-03 6.97932453e-04 9.99970513e-01 2.47753471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.16, Y:-0.54, Z:0.25 [[ 9.97260140e-01 7.35748174e-02 -7.67849382e-03 6.71582097e+01] [-7.35779051e-02 9.97289465e-01 -1.20029893e-04 -5.41338917e-01] [ 7.64884981e-03 6.84668517e-04 9.99970513e-01 2.52052001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.19, Y:-0.54, Z:0.26 [[ 9.97291078e-01 7.31542710e-02 -7.67848730e-03 6.71874837e+01] [-7.31573495e-02 9.97320404e-01 -1.20445317e-04 -5.42951423e-01] [ 7.64910096e-03 6.81856819e-04 9.99970513e-01 2.55492901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:-0.55, Z:0.26 [[ 9.97311549e-01 7.28746523e-02 -7.67848156e-03 6.72146853e+01] [-7.28777254e-02 9.97340876e-01 -1.20810319e-04 -5.45457392e-01] [ 7.64925951e-03 6.80075797e-04 9.99970513e-01 2.56131987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.24, Y:-0.55, Z:0.25 [[ 9.97304743e-01 7.29677439e-02 -7.67846876e-03 6.72428648e+01] [-7.29708258e-02 9.97334068e-01 -1.21617962e-04 -5.47813707e-01] [ 7.64912430e-03 6.81594377e-04 9.99970513e-01 2.54305178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.27, Y:-0.55, Z:0.25 [[ 9.97200353e-01 7.43807546e-02 -7.67846090e-03 6.72719491e+01] [-7.43838819e-02 9.97229674e-01 -1.22112527e-04 -5.49020355e-01] [ 7.64810624e-03 6.92924384e-04 9.99970513e-01 2.52466586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.30, Y:-0.55, Z:0.25 [[ 9.97106417e-01 7.56295925e-02 -7.67845517e-03 6.72998069e+01] [-7.56327592e-02 9.97135733e-01 -1.22471683e-04 -5.48097943e-01] [ 7.64719954e-03 7.02860052e-04 9.99970513e-01 2.51167384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.33, Y:-0.55, Z:0.25 [[ 9.96940454e-01 7.77867140e-02 -7.67844800e-03 6.73289303e+01] [-7.77899476e-02 9.96969763e-01 -1.22919820e-04 -5.47715918e-01] [ 7.64561895e-03 7.19849808e-04 9.99970513e-01 2.49464915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.36, Y:-0.55, Z:0.25 [[ 9.96890416e-01 7.84253772e-02 -7.67844220e-03 6.73568812e+01] [-7.84286323e-02 9.96919723e-01 -1.23281011e-04 -5.47754337e-01] [ 7.64512211e-03 7.25107378e-04 9.99970513e-01 2.48179420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.39, Y:-0.55, Z:0.25 [[ 9.96849198e-01 7.89475638e-02 -7.67843496e-03 6.73860881e+01] [-7.89508377e-02 9.96878503e-01 -1.23730101e-04 -5.47527780e-01] [ 7.64469856e-03 7.29559124e-04 9.99970513e-01 2.50251350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.41, Y:-0.55, Z:0.25 [[ 9.96823739e-01 7.92683779e-02 -7.67842919e-03 6.74141387e+01] [-7.92716640e-02 9.96853042e-01 -1.24087000e-04 -5.47279153e-01] [ 7.64442933e-03 7.32374726e-04 9.99970513e-01 2.53678891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.44, Y:-0.55, Z:0.26 [[ 9.96784813e-01 7.97563753e-02 -7.67842203e-03 6.74429496e+01] [-7.97596791e-02 9.96814114e-01 -1.24528979e-04 -5.46934341e-01] [ 7.64402747e-03 7.36557072e-04 9.99970513e-01 2.56860163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.47, Y:-0.54, Z:0.26 [[ 9.96725886e-01 8.04894458e-02 -7.67841626e-03 6.74705697e+01] [-8.04927739e-02 9.96755184e-01 -1.24883697e-04 -5.44738057e-01] [ 7.64344939e-03 7.42531837e-04 9.99970513e-01 2.57782219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.50, Y:-0.54, Z:0.26 [[ 9.96718248e-01 8.05839756e-02 -7.67840740e-03 6.74973995e+01] [-8.05873106e-02 9.96747546e-01 -1.25426134e-04 -5.43109282e-01] [ 7.64332639e-03 7.43796718e-04 9.99970513e-01 2.55677716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.53, Y:-0.54, Z:0.25 [[ 9.96759163e-01 8.00762907e-02 -7.67839475e-03 6.75265094e+01] [-8.00796166e-02 9.96788463e-01 -1.26195841e-04 -5.41417762e-01] [ 7.64363000e-03 7.40669768e-04 9.99970513e-01 2.54524047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.56, Y:-0.54, Z:0.25 [[ 9.96908493e-01 7.81952664e-02 -7.67838902e-03 6.75552992e+01] [-7.81985397e-02 9.96937798e-01 -1.26543087e-04 -5.38528225e-01] [ 7.64498117e-03 7.26590687e-04 9.99970513e-01 2.50152208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.58, Y:-0.54, Z:0.25 [[ 9.97023555e-01 7.67142337e-02 -7.67838330e-03 6.75834967e+01] [-7.67174661e-02 9.97052864e-01 -1.26889320e-04 -5.36874465e-01] [ 7.64601985e-03 7.15577752e-04 9.99970513e-01 2.50488416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.61, Y:-0.54, Z:0.25 [[ 9.97143661e-01 7.51369587e-02 -7.67837463e-03 6.76111952e+01] [-7.51401487e-02 9.97172975e-01 -1.27411728e-04 -5.35955144e-01] [ 7.64709434e-03 7.04002009e-04 9.99970513e-01 2.53555173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.64, Y:-0.54, Z:0.26 [[ 9.97244404e-01 7.37878139e-02 -7.67836494e-03 6.76396977e+01] [-7.37909687e-02 9.97273722e-01 -1.27992925e-04 -5.36212281e-01] [ 7.64798727e-03 6.94234215e-04 9.99970513e-01 2.58681356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.67, Y:-0.54, Z:0.26 [[ 9.97317625e-01 7.27914645e-02 -7.67835888e-03 6.76673653e+01] [-7.27945928e-02 9.97346946e-01 -1.28355390e-04 -5.37284275e-01] [ 7.64864461e-03 6.86954101e-04 9.99970513e-01 2.62894604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.70, Y:-0.54, Z:0.26 [[ 9.97485297e-01 7.04565501e-02 -7.67829516e-03 6.76964185e+01] [-7.04596388e-02 9.97514622e-01 -1.32161284e-04 -5.39593499e-01] [ 7.64990007e-03 6.72838841e-04 9.99970513e-01 2.56003155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.73, Y:-0.54, Z:0.25 [[ 9.97586378e-01 6.90105868e-02 -7.67834518e-03 6.77252509e+01] [-6.90136103e-02 9.97615710e-01 -1.29188267e-04 -5.40852020e-01] [ 7.65112242e-03 6.58786777e-04 9.99970513e-01 2.54897299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.75, Y:-0.54, Z:0.25 [[ 9.97699185e-01 6.73600750e-02 -7.67833921e-03 6.77541517e+01] [-6.73630526e-02 9.97728521e-01 -1.29541806e-04 -5.41478629e-01] [ 7.65217209e-03 6.46480123e-04 9.99970513e-01 2.52747714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.78, Y:-0.54, Z:0.25 [[ 9.97788604e-01 6.60223053e-02 -7.67832846e-03 6.77825582e+01] [-6.60252484e-02 9.97817944e-01 -1.30175911e-04 -5.42282033e-01] [ 7.65297941e-03 6.36851585e-04 9.99970513e-01 2.51939284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.81, Y:-0.54, Z:0.25 [[ 9.97809585e-01 6.57044560e-02 -7.67832235e-03 6.78112192e+01] [-6.57073925e-02 9.97838926e-01 -1.30535779e-04 -5.43918314e-01] [ 7.65315214e-03 6.34772392e-04 9.99970513e-01 2.52985345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.84, Y:-0.54, Z:0.25 [[ 9.97744340e-01 6.66878995e-02 -7.67831622e-03 6.78395759e+01] [-6.66908677e-02 9.97773677e-01 -1.30895349e-04 -5.44508618e-01] [ 7.65249267e-03 6.42673664e-04 9.99970513e-01 2.54722354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02589822699998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:67.87, Y:-0.54, Z:0.26 [[ 9.97635056e-01 6.83032850e-02 -7.67831001e-03 6.78672439e+01] [-6.83063035e-02 9.97664388e-01 -1.31258163e-04 -5.44910962e-01] [ 7.65141110e-03 6.55424719e-04 9.99970513e-01 2.55237198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.90, Y:-0.55, Z:0.26 [[ 9.97317706e-01 7.27903665e-02 -7.67830229e-03 6.78962482e+01] [-7.27935203e-02 9.97347024e-01 -1.31708298e-04 -5.46551038e-01] [ 7.64834485e-03 6.90285672e-04 9.99970513e-01 2.61857177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.92, Y:-0.54, Z:0.26 [[ 9.97182106e-01 7.46250023e-02 -7.67829631e-03 6.79246659e+01] [-7.46282127e-02 9.97211418e-01 -1.32056026e-04 -5.44825133e-01] [ 7.64703007e-03 7.04701437e-04 9.99970513e-01 2.60072631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.95, Y:-0.54, Z:0.26 [[ 9.96993939e-01 7.70981813e-02 -7.67828882e-03 6.79538485e+01] [-7.71014678e-02 9.97023243e-01 -1.32490204e-04 -5.42614667e-01] [ 7.64521766e-03 7.24099268e-04 9.99970513e-01 2.56920977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.98, Y:-0.54, Z:0.25 [[ 9.96587739e-01 8.21822471e-02 -7.67828261e-03 6.79823009e+01] [-8.21856857e-02 9.96617025e-01 -1.32849427e-04 -5.38172057e-01] [ 7.64138931e-03 7.63441031e-04 9.99970513e-01 2.51646802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.01, Y:-0.53, Z:0.25 [[ 9.96435016e-01 8.40137062e-02 -7.67827622e-03 6.80097611e+01] [-8.40172014e-02 9.96464295e-01 -1.33217451e-04 -5.34680402e-01] [ 7.63993601e-03 7.77849813e-04 9.99970513e-01 2.52009592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.04, Y:-0.53, Z:0.26 [[ 9.96353548e-01 8.49744172e-02 -7.67826826e-03 6.80371740e+01] [-8.49779442e-02 9.96382824e-01 -1.33674417e-04 -5.30492119e-01] [ 7.63913571e-03 7.85670431e-04 9.99970513e-01 2.56518819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:-0.53, Z:0.26 [[ 9.96343458e-01 8.50926487e-02 -7.67826077e-03 6.80661584e+01] [-8.50961824e-02 9.96372732e-01 -1.34103301e-04 -5.26060338e-01] [ 7.63899846e-03 7.87003626e-04 9.99970513e-01 2.60771851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.09, Y:-0.52, Z:0.26 [[ 9.96555300e-01 8.25746837e-02 -7.67825457e-03 6.80936847e+01] [-8.25781461e-02 9.96584583e-01 -1.34457364e-04 -5.21897561e-01] [ 7.64092736e-03 7.68050226e-04 9.99970513e-01 2.58968977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.12, Y:-0.52, Z:0.25 [[ 9.96795650e-01 7.96208252e-02 -7.67824507e-03 6.81212317e+01] [-7.96242049e-02 9.96824943e-01 -1.34997659e-04 -5.21852034e-01] [ 7.64311759e-03 7.45939238e-04 9.99970513e-01 2.54697839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.15, Y:-0.52, Z:0.25 [[ 9.97260227e-01 7.35736656e-02 -7.67823714e-03 6.81501140e+01] [-7.35768710e-02 9.97289540e-01 -1.35447542e-04 -5.21882268e-01] [ 7.64746021e-03 7.00017110e-04 9.99970513e-01 2.54410068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.18, Y:-0.52, Z:0.26 [[ 9.97399114e-01 7.16662551e-02 -7.67823074e-03 6.81781787e+01] [-7.16694072e-02 9.97428432e-01 -1.35809272e-04 -5.21207821e-01] [ 7.64875271e-03 6.85750294e-04 9.99970513e-01 2.58194800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.21, Y:-0.52, Z:0.26 [[ 9.97502702e-01 7.02097117e-02 -7.67823402e-03 6.82063969e+01] [-7.02128196e-02 9.97532025e-01 -1.35624458e-04 -5.20680317e-01] [ 7.64976218e-03 6.74396223e-04 9.99970513e-01 2.57123056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.23, Y:-0.52, Z:0.26 [[ 9.97543655e-01 6.96254299e-02 -7.67821620e-03 6.82348691e+01] [-6.96285282e-02 9.97572979e-01 -1.36625854e-04 -5.21287910e-01] [ 7.65006838e-03 6.70913147e-04 9.99970513e-01 2.60121372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.26, Y:-0.52, Z:0.26 [[ 9.97526665e-01 6.98684314e-02 -7.67823784e-03 6.82622150e+01] [-6.98715277e-02 9.97555989e-01 -1.35414471e-04 -5.21602952e-01] [ 7.65001095e-03 6.71569754e-04 9.99970513e-01 2.62396054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:-0.52, Z:0.26 [[ 9.97508121e-01 7.01326873e-02 -7.67819908e-03 6.82914325e+01] [-7.01358078e-02 9.97537443e-01 -1.37577918e-04 -5.20953972e-01] [ 7.64964236e-03 6.75751786e-04 9.99970513e-01 2.60936627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.32, Y:-0.52, Z:0.26 [[ 9.97479429e-01 7.05395977e-02 -7.67819247e-03 6.83207397e+01] [-7.05427330e-02 9.97508749e-01 -1.37945681e-04 -5.21534053e-01] [ 7.64933353e-03 6.79238661e-04 9.99970513e-01 2.59439400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.35, Y:-0.52, Z:0.26 [[ 9.97484481e-01 7.04681216e-02 -7.67818589e-03 6.83492186e+01] [-7.04712576e-02 9.97513801e-01 -1.38311026e-04 -5.20895892e-01] [ 7.64934987e-03 6.79054518e-04 9.99970513e-01 2.59658197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.38, Y:-0.52, Z:0.26 [[ 9.97493702e-01 7.03374663e-02 -7.67817594e-03 6.83757895e+01] [-7.03406027e-02 9.97523022e-01 -1.38861212e-04 -5.21823554e-01] [ 7.64939012e-03 6.78600707e-04 9.99970513e-01 2.59051920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:-0.53, Z:0.26 [[ 9.97590557e-01 6.89501710e-02 -7.67816434e-03 6.84042760e+01] [-6.89532715e-02 9.97619881e-01 -1.39499631e-04 -5.26090395e-01] [ 7.65027087e-03 6.68598065e-04 9.99970513e-01 2.62953734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.43, Y:-0.53, Z:0.26 [[ 9.97645167e-01 6.81554632e-02 -7.67815765e-03 6.84309064e+01] [-6.81585431e-02 9.97674493e-01 -1.39867056e-04 -5.27712324e-01] [ 7.65076933e-03 6.62869732e-04 9.99970513e-01 2.63564444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.655898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.46, Y:-0.53, Z:0.26 [[ 9.97685827e-01 6.75576558e-02 -7.67814595e-03 6.84592555e+01] [-6.75607230e-02 9.97715154e-01 -1.40506412e-04 -5.29275303e-01] [ 7.65111028e-03 6.58922348e-04 9.99970513e-01 2.62032109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:-0.53, Z:0.26 [[ 9.97736506e-01 6.68050154e-02 -7.67813619e-03 6.84872462e+01] [-6.68080646e-02 9.97765836e-01 -1.41037512e-04 -5.31265477e-01] [ 7.65155996e-03 6.53679693e-04 9.99970513e-01 2.62749578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.52, Y:-0.53, Z:0.27 [[ 9.97847889e-01 6.51201685e-02 -7.67812625e-03 6.85151007e+01] [-6.51231723e-02 9.97877223e-01 -1.41576684e-04 -5.34567851e-01] [ 7.65260780e-03 6.41295933e-04 9.99970513e-01 2.66200927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:-0.54, Z:0.27 [[ 9.97899567e-01 6.43234065e-02 -7.67811798e-03 6.85441225e+01] [-6.43263902e-02 9.97928903e-01 -1.42023728e-04 -5.35172300e-01] [ 7.65308040e-03 6.35631030e-04 9.99970513e-01 2.67337510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.57, Y:-0.54, Z:0.26 [[ 9.97975200e-01 6.31391142e-02 -7.67811125e-03 6.85723621e+01] [-6.31420659e-02 9.98004539e-01 -1.42386533e-04 -5.37755542e-01] [ 7.65379972e-03 6.26910036e-04 9.99970513e-01 2.64456663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.60, Y:-0.54, Z:0.26 [[ 9.98041857e-01 6.20765537e-02 -7.67810286e-03 6.86011691e+01] [-6.20794776e-02 9.98071199e-01 -1.42837619e-04 -5.39088309e-01] [ 7.65442646e-03 6.19210537e-04 9.99970513e-01 2.63761053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:-0.54, Z:0.26 [[ 9.98092195e-01 6.12618754e-02 -7.67809615e-03 6.86288831e+01] [-6.12647781e-02 9.98121539e-01 -1.43197724e-04 -5.40570552e-01] [ 7.65490058e-03 6.13321387e-04 9.99970513e-01 2.64808641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.66, Y:-0.54, Z:0.27 [[ 9.98124876e-01 6.07270804e-02 -7.67808773e-03 6.86590550e+01] [-6.07299708e-02 9.98154222e-01 -1.43647597e-04 -5.41269160e-01] [ 7.65519238e-03 6.09668284e-04 9.99970513e-01 2.68218858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.69, Y:-0.54, Z:0.27 [[ 9.98127272e-01 6.06877017e-02 -7.67804321e-03 6.86873814e+01] [-6.06906092e-02 9.98156615e-01 -1.46030509e-04 -5.42954368e-01] [ 7.65502736e-03 6.11742153e-04 9.99970513e-01 2.66044397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.72, Y:-0.54, Z:0.26 [[ 9.98067427e-01 6.16640685e-02 -7.67808114e-03 6.87165555e+01] [-6.16669892e-02 9.98096770e-01 -1.44008253e-04 -5.43573046e-01] [ 7.65458784e-03 6.17214093e-04 9.99970513e-01 2.63619576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.75, Y:-0.54, Z:0.26 [[ 9.97961222e-01 6.33596659e-02 -7.67807618e-03 6.87458484e+01] [-6.33626385e-02 9.97990559e-01 -1.44271771e-04 -5.44208724e-01] [ 7.65350653e-03 6.30480798e-04 9.99970513e-01 2.61497884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.77, Y:-0.54, Z:0.26 [[ 9.97856480e-01 6.49884001e-02 -7.67806938e-03 6.87736156e+01] [-6.49914234e-02 9.97885812e-01 -1.44632820e-04 -5.44385036e-01] [ 7.65243705e-03 6.43331455e-04 9.99970513e-01 2.59105303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.015898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.80, Y:-0.54, Z:0.26 [[ 9.97784769e-01 6.60802713e-02 -7.67806093e-03 6.88026453e+01] [-6.60833300e-02 9.97814097e-01 -1.45080412e-04 -5.44259569e-01] [ 7.65169048e-03 6.52150859e-04 9.99970513e-01 2.62622232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.045898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:68.83, Y:-0.54, Z:0.26 [[ 9.97789517e-01 6.60085414e-02 -7.67805413e-03 6.88303148e+01] [-6.60116007e-02 9.97818845e-01 -1.45439303e-04 -5.43155662e-01] [ 7.65170687e-03 6.51958456e-04 9.99970513e-01 2.64559063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.075898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.86, Y:-0.54, Z:0.27 [[ 9.97827855e-01 6.54264366e-02 -7.67804565e-03 6.88588277e+01] [-6.54294823e-02 9.97857185e-01 -1.45885305e-04 -5.42248042e-01] [ 7.65204827e-03 6.47938973e-04 9.99970513e-01 2.65877951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.105898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.89, Y:-0.54, Z:0.26 [[ 9.98030169e-01 6.22641863e-02 -7.67803892e-03 6.88876450e+01] [-6.22671417e-02 9.98059508e-01 -1.46238831e-04 -5.42210477e-01] [ 7.65403431e-03 6.24040303e-04 9.99970513e-01 2.63168144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:-0.54, Z:0.26 [[ 9.98135089e-01 6.05589920e-02 -7.67803220e-03 6.89162203e+01] [-6.05619000e-02 9.98164433e-01 -1.46590809e-04 -5.42498989e-01] [ 7.65506126e-03 6.11313648e-04 9.99970513e-01 2.60753075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.94, Y:-0.54, Z:0.26 [[ 9.98245948e-01 5.87032776e-02 -7.67802547e-03 6.89443917e+01] [-5.87061337e-02 9.98275297e-01 -1.46942691e-04 -5.42292266e-01] [ 7.65615713e-03 5.97432136e-04 9.99970513e-01 2.59671129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:68.97, Y:-0.54, Z:0.26 [[ 9.98317524e-01 5.74732050e-02 -7.67801705e-03 6.89720920e+01] [-5.74760283e-02 9.98346876e-01 -1.47381176e-04 -5.42394804e-01] [ 7.65685386e-03 5.88435136e-04 9.99970513e-01 2.60180723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22589822699999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:69.00, Y:-0.54, Z:0.26 [[ 9.98404863e-01 5.59354809e-02 -7.67800863e-03 6.90011485e+01] [-5.59382624e-02 9.98434219e-01 -1.47818253e-04 -5.42450505e-01] [ 7.65771827e-03 5.77076924e-04 9.99970513e-01 2.63937519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:69.03, Y:-0.54, Z:0.26 [[ 9.98416468e-01 5.57279464e-02 -7.67800176e-03 6.90286821e+01] [-5.57307245e-02 9.98445824e-01 -1.48174598e-04 -5.42537145e-01] [ 7.65781133e-03 5.75840559e-04 9.99970513e-01 2.64845829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:69.06, Y:-0.54, Z:0.26 [[ 9.98412552e-01 5.57980634e-02 -7.67799318e-03 6.90573942e+01] [-5.58008469e-02 9.98441908e-01 -1.48617963e-04 -5.42955007e-01] [ 7.65773756e-03 5.76820562e-04 9.99970513e-01 2.63575303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.09, Y:-0.54, Z:0.27 [[ 9.98418055e-01 5.56995135e-02 -7.67798609e-03 6.90854720e+01] [-5.57022969e-02 9.98447411e-01 -1.48983069e-04 -5.43076023e-01] [ 7.65776705e-03 5.76428846e-04 9.99970513e-01 2.65437459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.11, Y:-0.54, Z:0.27 [[ 9.98308073e-01 5.76371491e-02 -7.67797723e-03 6.91146093e+01] [-5.76399929e-02 9.98337422e-01 -1.49438234e-04 -5.43865488e-01] [ 7.65659880e-03 5.91743948e-04 9.99970513e-01 2.67053656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.375898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:69.14, Y:-0.54, Z:0.27 [[ 9.98255127e-01 5.85469834e-02 -7.67797008e-03 6.91421543e+01] [-5.85498568e-02 9.98284474e-01 -1.49804876e-04 -5.43840788e-01] [ 7.65602770e-03 5.99087535e-04 9.99970513e-01 2.66293147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.405898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.17, Y:-0.54, Z:0.27 [[ 9.98293850e-01 5.78829706e-02 -7.67796115e-03 6.91708244e+01] [-5.78858279e-02 9.98323198e-01 -1.50260994e-04 -5.44028406e-01] [ 7.65638918e-03 5.94449764e-04 9.99970513e-01 2.67155971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.435898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.20, Y:-0.55, Z:0.27 [[ 9.98442117e-01 5.52665245e-02 -7.67795392e-03 6.91983770e+01] [-5.52693077e-02 9.98471472e-01 -1.50629444e-04 -5.46110668e-01] [ 7.65789319e-03 5.74749979e-04 9.99970513e-01 2.67587808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.465898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:69.23, Y:-0.55, Z:0.27 [[ 9.98504334e-01 5.41307973e-02 -7.67794489e-03 6.92258987e+01] [-5.41335506e-02 9.98533693e-01 -1.51088478e-04 -5.47246176e-01] [ 7.65850813e-03 5.66496918e-04 9.99970513e-01 2.67489088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.25, Y:-0.55, Z:0.27 [[ 9.98566606e-01 5.29696301e-02 -7.67793589e-03 6.92532411e+01] [-5.29723529e-02 9.98595968e-01 -1.51544594e-04 -5.47928869e-01] [ 7.65912856e-03 5.58045700e-04 9.99970513e-01 2.69997516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52589822699998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.28, Y:-0.55, Z:0.27 [[ 9.98562996e-01 5.30376511e-02 -7.67792696e-03 6.92822235e+01] [-5.30403792e-02 9.98592357e-01 -1.51995795e-04 -5.48708712e-01] [ 7.65905767e-03 5.59017533e-04 9.99970513e-01 2.68978479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.31, Y:-0.55, Z:0.27 [[ 9.98496144e-01 5.42816803e-02 -7.67791969e-03 6.93096882e+01] [-5.42844478e-02 9.98525501e-01 -1.52361792e-04 -5.48329667e-01] [ 7.65832815e-03 5.68924292e-04 9.99970513e-01 2.69262465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58589822699999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:69.34, Y:-0.55, Z:0.27 [[ 9.98373846e-01 5.64864064e-02 -7.67791065e-03 6.93389997e+01] [-5.64892423e-02 9.98403196e-01 -1.52816256e-04 -5.48411988e-01] [ 7.65701849e-03 5.86287108e-04 9.99970513e-01 2.71221259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.37, Y:-0.55, Z:0.27 [[ 9.98153371e-01 6.02569147e-02 -7.67801932e-03 6.93655296e+01] [-6.02598196e-02 9.98182715e-01 -1.47349338e-04 -5.46693774e-01] [ 7.65518735e-03 6.09753298e-04 9.99970513e-01 2.70879127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.39, Y:-0.55, Z:0.27 [[ 9.98089276e-01 6.13094313e-02 -7.67789032e-03 6.93944112e+01] [-6.13124163e-02 9.98118612e-01 -1.53789879e-04 -5.46108716e-01] [ 7.65401646e-03 6.24246037e-04 9.99970513e-01 2.72134432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.42, Y:-0.55, Z:0.27 [[ 9.98088556e-01 6.13211598e-02 -7.67788304e-03 6.94219961e+01] [-6.13241479e-02 9.98117891e-01 -1.54152447e-04 -5.45643130e-01] [ 7.65397962e-03 6.24697429e-04 9.99970513e-01 2.73067226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:-0.55, Z:0.27 [[ 9.98277742e-01 5.81601190e-02 -7.67787397e-03 6.94513715e+01] [-5.81630177e-02 9.98307087e-01 -1.54602712e-04 -5.48487987e-01] [ 7.65588428e-03 6.00904765e-04 9.99970513e-01 2.71745134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:69.48, Y:-0.55, Z:0.27 [[ 9.98403505e-01 5.59597253e-02 -7.67786663e-03 6.94788276e+01] [-5.59625621e-02 9.98432856e-01 -1.54966389e-04 -5.50744095e-01] [ 7.65716243e-03 5.84392073e-04 9.99970513e-01 2.69138078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.765898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.51, Y:-0.55, Z:0.27 [[ 9.98528979e-01 5.36742798e-02 -7.67785745e-03 6.95081177e+01] [-5.36770528e-02 9.98558336e-01 -1.55419746e-04 -5.53126414e-01] [ 7.65844652e-03 5.67315881e-04 9.99970513e-01 2.67934510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.795898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.54, Y:-0.56, Z:0.27 [[ 9.98652256e-01 5.13295487e-02 -7.67785023e-03 6.95366663e+01] [-5.13322555e-02 9.98681619e-01 -1.55775768e-04 -5.57795031e-01] [ 7.65973199e-03 5.49687192e-04 9.99970513e-01 2.69535120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.56, Y:-0.56, Z:0.27 [[ 9.98604532e-01 5.22497826e-02 -7.67784281e-03 6.95647027e+01] [-5.22525193e-02 9.98633892e-01 -1.56140434e-04 -5.59604426e-01] [ 7.65919574e-03 5.57109175e-04 9.99970513e-01 2.69026278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.59, Y:-0.56, Z:0.27 [[ 9.98509658e-01 5.40325178e-02 -7.67783357e-03 6.95931158e+01] [-5.40353104e-02 9.98539013e-01 -1.56593664e-04 -5.61062845e-01] [ 7.65815520e-03 5.71234406e-04 9.99970513e-01 2.67238732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88589822699998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.62, Y:-0.56, Z:0.26 [[ 9.98365102e-01 5.66407438e-02 -7.67782611e-03 6.96209545e+01] [-5.66436158e-02 9.98394449e-01 -1.56958406e-04 -5.61530013e-01] [ 7.65660873e-03 5.91601628e-04 9.99970513e-01 2.62620414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.65, Y:-0.56, Z:0.26 [[ 9.97900163e-01 6.43141937e-02 -7.67781681e-03 6.96495111e+01] [-6.43172947e-02 9.97929487e-01 -1.57412328e-04 -5.60066542e-01] [ 7.65179594e-03 6.50898194e-04 9.99970513e-01 2.62318765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.68, Y:-0.56, Z:0.26 [[ 9.97684729e-01 6.75739126e-02 -7.67780943e-03 6.96776737e+01] [-6.75771122e-02 9.97714042e-01 -1.57771133e-04 -5.59127912e-01] [ 7.64959707e-03 6.76250039e-04 9.99970513e-01 2.64548829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:69.71, Y:-0.56, Z:0.27 [[ 9.97561957e-01 6.93627660e-02 -7.67780026e-03 6.97066297e+01] [-6.93660215e-02 9.97591264e-01 -1.58216330e-04 -5.58639517e-01] [ 7.64833214e-03 6.90409050e-04 9.99970513e-01 2.66004515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.73, Y:-0.56, Z:0.27 [[ 9.97480901e-01 7.05188156e-02 -7.67779282e-03 6.97340261e+01] [-7.05221078e-02 9.97510204e-01 -1.58576496e-04 -5.58099337e-01] [ 7.64749406e-03 6.99631159e-04 9.99970513e-01 2.66980087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.76, Y:-0.56, Z:0.27 [[ 9.97452968e-01 7.09128244e-02 -7.67778356e-03 6.97633171e+01] [-7.09161316e-02 9.97482269e-01 -1.59023796e-04 -5.55742314e-01] [ 7.64717614e-03 7.03097466e-04 9.99970513e-01 2.66579376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:69.79, Y:-0.55, Z:0.26 [[ 9.97424517e-01 7.13118817e-02 -7.67777789e-03 6.97915304e+01] [-7.13152027e-02 9.97453817e-01 -1.59297021e-04 -5.53189934e-01] [ 7.64686909e-03 7.06429040e-04 9.99970513e-01 2.64221600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.82, Y:-0.55, Z:0.27 [[ 9.97448926e-01 7.09696599e-02 -7.67776845e-03 6.98194581e+01] [-7.09729744e-02 9.97478226e-01 -1.59750500e-04 -5.51482465e-01] [ 7.64706942e-03 7.04257028e-04 9.99970513e-01 2.66149269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.125898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.85, Y:-0.55, Z:0.27 [[ 9.97578058e-01 6.91308131e-02 -7.67775847e-03 6.98475261e+01] [-6.91340772e-02 9.97607364e-01 -1.60228944e-04 -5.49714560e-01] [ 7.64831163e-03 6.90635625e-04 9.99970513e-01 2.67490323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:-0.55, Z:0.27 [[ 9.97653184e-01 6.80380492e-02 -7.67774939e-03 6.98765896e+01] [-6.80412845e-02 9.97682493e-01 -1.60662870e-04 -5.48449746e-01] [ 7.64902496e-03 6.82689754e-04 9.99970513e-01 2.68877829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.185898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.90, Y:-0.55, Z:0.27 [[ 9.97724742e-01 6.69805260e-02 -7.67774177e-03 6.99045945e+01] [-6.69837330e-02 9.97754055e-01 -1.61026188e-04 -5.46860324e-01] [ 7.64971236e-03 6.74943617e-04 9.99970513e-01 2.68576545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.93, Y:-0.54, Z:0.27 [[ 9.97873027e-01 6.47338792e-02 -7.67773228e-03 6.99336338e+01] [-6.47370236e-02 9.97902346e-01 -1.61477223e-04 -5.44242056e-01] [ 7.65117401e-03 6.58167301e-04 9.99970513e-01 2.69295680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.245898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.96, Y:-0.54, Z:0.27 [[ 9.97998111e-01 6.27759819e-02 -7.67772472e-03 6.99620256e+01] [-6.27790715e-02 9.98027435e-01 -1.61835803e-04 -5.42178135e-01] [ 7.65242051e-03 6.43512254e-04 9.99970513e-01 2.69151099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27589822699998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.99, Y:-0.54, Z:0.27 [[ 9.98135736e-01 6.05483741e-02 -7.67771698e-03 6.99899811e+01] [-6.05514011e-02 9.98165067e-01 -1.62202330e-04 -5.39366360e-01] [ 7.65380780e-03 6.26796462e-04 9.99970513e-01 2.69006779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.02, Y:-0.53, Z:0.27 [[ 9.98295153e-01 5.78605168e-02 -7.67770730e-03 7.00187712e+01] [-5.78634682e-02 9.98324493e-01 -1.62658975e-04 -5.34186211e-01] [ 7.65543172e-03 6.06640439e-04 9.99970513e-01 2.69183096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.05, Y:-0.53, Z:0.27 [[ 9.98313989e-01 5.75346123e-02 -7.67769938e-03 7.00474367e+01] [-5.75375570e-02 9.98343329e-01 -1.63032070e-04 -5.31115557e-01] [ 7.65559997e-03 6.04513262e-04 9.99970513e-01 2.69439039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36589822699999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.08, Y:-0.53, Z:0.27 [[ 9.98341485e-01 5.70555137e-02 -7.67769148e-03 7.00752693e+01] [-5.70584472e-02 9.98370826e-01 -1.63403466e-04 -5.28114416e-01] [ 7.65586012e-03 6.01209613e-04 9.99970513e-01 2.69964698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.10, Y:-0.53, Z:0.27 [[ 9.98357917e-01 5.67672620e-02 -7.67768160e-03 7.01040331e+01] [-5.67701905e-02 9.98387259e-01 -1.63865994e-04 -5.25556145e-01] [ 7.65599727e-03 5.99460360e-04 9.99970513e-01 2.71964886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.13, Y:-0.52, Z:0.27 [[ 9.98360660e-01 5.67190143e-02 -7.67767369e-03 7.01333504e+01] [-5.67219443e-02 9.98390001e-01 -1.64235892e-04 -5.24845715e-01] [ 7.65599735e-03 5.99459233e-04 9.99970513e-01 2.72190118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.16, Y:-0.52, Z:0.27 [[ 9.98370129e-01 5.65520990e-02 -7.67766574e-03 7.01608236e+01] [-5.65550269e-02 9.98399470e-01 -1.64606919e-04 -5.22982146e-01] [ 7.65606854e-03 5.98549224e-04 9.99970513e-01 2.74853123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.19, Y:-0.52, Z:0.27 [[ 9.98353663e-01 5.68420361e-02 -7.67765582e-03 7.01888000e+01] [-5.68449760e-02 9.98383003e-01 -1.65068172e-04 -5.22535145e-01] [ 7.65585827e-03 6.01232575e-04 9.99970513e-01 2.72653184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.515898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.22, Y:-0.52, Z:0.27 [[ 9.98380071e-01 5.63763057e-02 -7.67764546e-03 7.02178874e+01] [-5.63792357e-02 9.98409412e-01 -1.65548742e-04 -5.22607812e-01] [ 7.65610046e-03 5.98140347e-04 9.99970513e-01 2.70748114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.25, Y:-0.52, Z:0.27 [[ 9.98414032e-01 5.57716345e-02 -7.67763761e-03 7.02469464e+01] [-5.57745495e-02 9.98443375e-01 -1.65911852e-04 -5.22547225e-01] [ 7.65643323e-03 5.93865500e-04 9.99970513e-01 2.71805056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.575898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.27, Y:-0.52, Z:0.27 [[ 9.98425064e-01 5.55737791e-02 -7.67762971e-03 7.02748099e+01] [-5.55766910e-02 9.98454407e-01 -1.66276585e-04 -5.22017322e-01] [ 7.65652261e-03 5.92711964e-04 9.99970513e-01 2.71537481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.30, Y:-0.52, Z:0.27 [[ 9.98382425e-01 5.63346020e-02 -7.67761990e-03 7.03039556e+01] [-5.63375397e-02 9.98411766e-01 -1.66728299e-04 -5.21862883e-01] [ 7.65603347e-03 5.98996820e-04 9.99970513e-01 2.71287196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.33, Y:-0.52, Z:0.27 [[ 9.98192336e-01 5.96080108e-02 -7.67761204e-03 7.03315839e+01] [-5.96110475e-02 9.98221666e-01 -1.67089551e-04 -5.20465574e-01] [ 7.65399881e-03 6.24458005e-04 9.99970513e-01 2.67986962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.36, Y:-0.52, Z:0.27 [[ 9.98074670e-01 6.15467985e-02 -7.67760223e-03 7.03603754e+01] [-6.15498956e-02 9.98103994e-01 -1.67539267e-04 -5.18875000e-01] [ 7.65273394e-03 6.39772314e-04 9.99970513e-01 2.66970848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.39, Y:-0.52, Z:0.27 [[ 9.97829413e-01 6.54027247e-02 -7.67759443e-03 7.03895737e+01] [-6.54059378e-02 9.97858725e-01 -1.67895811e-04 -5.16007819e-01] [ 7.65017375e-03 6.69691642e-04 9.99970513e-01 2.68383927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72589822699999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:70.42, Y:-0.51, Z:0.27 [[ 9.97713896e-01 6.71419052e-02 -7.67758666e-03 7.04183082e+01] [-6.71451721e-02 9.97743202e-01 -1.68250177e-04 -5.13417557e-01] [ 7.64896327e-03 6.83378418e-04 9.99970513e-01 2.68609667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.45, Y:-0.51, Z:0.27 [[ 9.97680228e-01 6.76403536e-02 -7.67757894e-03 7.04472038e+01] [-6.76436378e-02 9.97709532e-01 -1.68602157e-04 -5.09954609e-01] [ 7.64858938e-03 6.87550407e-04 9.99970513e-01 2.72811390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.48, Y:-0.51, Z:0.27 [[ 9.97714049e-01 6.71396353e-02 -7.67757123e-03 7.04759261e+01] [-6.71429074e-02 9.97743354e-01 -1.68952180e-04 -5.06030090e-01] [ 7.64890229e-03 6.84060418e-04 9.99970513e-01 2.74040313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:-0.50, Z:0.27 [[ 9.97979193e-01 6.30760252e-02 -7.67756355e-03 7.05035225e+01] [-6.30791806e-02 9.98008511e-01 -1.69300779e-04 -5.01884862e-01] [ 7.65159494e-03 6.53253073e-04 9.99970513e-01 2.72202666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.53, Y:-0.50, Z:0.27 [[ 9.98176508e-01 5.98724894e-02 -7.67755399e-03 7.05321606e+01] [-5.98755540e-02 9.98205835e-01 -1.69733173e-04 -5.01123759e-01] [ 7.65361684e-03 6.29121465e-04 9.99970513e-01 2.71373108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:-0.50, Z:0.27 [[ 9.98396890e-01 5.60776789e-02 -7.67754634e-03 7.05606617e+01] [-5.60806347e-02 9.98426228e-01 -1.70078111e-04 -5.00224175e-01] [ 7.65592605e-03 6.00367129e-04 9.99970513e-01 2.72583605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:-0.50, Z:0.28 [[ 9.98735825e-01 4.96770197e-02 -7.67753869e-03 7.05881851e+01] [-4.96797900e-02 9.98765182e-01 -1.70423141e-04 -4.98075862e-01] [ 7.65959221e-03 5.51626205e-04 9.99970513e-01 2.78580685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.935898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.62, Y:-0.50, Z:0.28 [[ 9.98825063e-01 4.78492334e-02 -7.67752910e-03 7.06161259e+01] [-4.78519533e-02 9.98854425e-01 -1.70854050e-04 -4.95702685e-01] [ 7.66055867e-03 5.38038071e-04 9.99970513e-01 2.79336027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.965898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.65, Y:-0.49, Z:0.28 [[ 9.98849927e-01 4.73273628e-02 -7.67751871e-03 7.06450039e+01] [-4.73300709e-02 9.98879290e-01 -1.71319381e-04 -4.92840460e-01] [ 7.66080634e-03 5.34499856e-04 9.99970513e-01 2.78343482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.67, Y:-0.49, Z:0.28 [[ 9.98791999e-01 4.85345108e-02 -7.67751109e-03 7.06727507e+01] [-4.85372569e-02 9.98821358e-01 -1.71660491e-04 -4.87292097e-01] [ 7.66013059e-03 5.44098453e-04 9.99970513e-01 2.76854329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:-0.48, Z:0.28 [[ 9.98726322e-01 4.98677146e-02 -7.67750159e-03 7.07011369e+01] [-4.98705032e-02 9.98755677e-01 -1.72084133e-04 -4.84312427e-01] [ 7.65936686e-03 5.54745821e-04 9.99970513e-01 2.79376517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.73, Y:-0.48, Z:0.28 [[ 9.98673003e-01 5.09243572e-02 -7.67749402e-03 7.07299224e+01] [-5.09271794e-02 9.98702354e-01 -1.72421237e-04 -4.81894344e-01] [ 7.65875091e-03 5.63185550e-04 9.99970513e-01 2.82366421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.76, Y:-0.48, Z:0.28 [[ 9.98680203e-01 5.07829444e-02 -7.67748644e-03 7.07574919e+01] [-5.07857651e-02 9.98709555e-01 -1.72757884e-04 -4.79672862e-01] [ 7.65880592e-03 5.62436902e-04 9.99970513e-01 2.82181849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.79, Y:-0.48, Z:0.28 [[ 9.98732516e-01 4.97435185e-02 -7.67747621e-03 7.07859738e+01] [-4.97463121e-02 9.98761871e-01 -1.73211405e-04 -4.78469841e-01] [ 7.65935436e-03 5.54917990e-04 9.99970513e-01 2.79008506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.82, Y:-0.48, Z:0.28 [[ 9.98793894e-01 4.84954965e-02 -7.67746872e-03 7.08152263e+01] [-4.84982559e-02 9.98823252e-01 -1.73543052e-04 -4.76851139e-01] [ 7.66001822e-03 5.45677583e-04 9.99970513e-01 2.75677477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:-0.48, Z:0.28 [[ 9.98948854e-01 4.51911903e-02 -7.67746121e-03 7.08426215e+01] [-4.51938552e-02 9.98978221e-01 -1.73874341e-04 -4.75190061e-01] [ 7.66175895e-03 5.20665644e-04 9.99970513e-01 2.76292431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:-0.48, Z:0.28 [[ 9.99016601e-01 4.36679165e-02 -7.67745183e-03 7.08711310e+01] [-4.36705397e-02 9.99045972e-01 -1.74287764e-04 -4.75714235e-01] [ 7.66251654e-03 5.09394834e-04 9.99970513e-01 2.76911669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.90, Y:-0.48, Z:0.28 [[ 9.99095690e-01 4.18193526e-02 -7.67744434e-03 7.08996781e+01] [-4.18219240e-02 9.99125065e-01 -1.74616945e-04 -4.77005006e-01] [ 7.66342471e-03 4.95544531e-04 9.99970513e-01 2.76431015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.265898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.93, Y:-0.48, Z:0.28 [[ 9.99169201e-01 4.00245576e-02 -7.67743598e-03 7.09279192e+01] [-4.00270790e-02 9.99198580e-01 -1.74983897e-04 -4.81746249e-01] [ 7.66427947e-03 4.82143857e-04 9.99970513e-01 2.76391212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:-0.48, Z:0.28 [[ 9.99138913e-01 4.07736479e-02 -7.67742552e-03 7.09569814e+01] [-4.07761948e-02 9.99168290e-01 -1.75441357e-04 -4.82645483e-01] [ 7.66388675e-03 4.88346485e-04 9.99970513e-01 2.77657913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.325898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.99, Y:-0.48, Z:0.28 [[ 9.99042811e-01 4.30641367e-02 -7.67741710e-03 7.09857722e+01] [-4.30667538e-02 9.99072181e-01 -1.75809211e-04 -4.82149489e-01] [ 7.66272278e-03 5.06282361e-04 9.99970513e-01 2.76438241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:-0.48, Z:0.28 [[ 9.98880482e-01 4.66780436e-02 -7.67740858e-03 7.10140287e+01] [-4.66807698e-02 9.98909843e-01 -1.76180463e-04 -4.80824019e-01] [ 7.66081524e-03 5.34370568e-04 9.99970513e-01 2.76402886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.04, Y:-0.48, Z:0.27 [[ 9.98399461e-01 5.60318994e-02 -7.67739801e-03 7.10433330e+01] [-5.60349040e-02 9.98428795e-01 -1.76640013e-04 -4.79665815e-01] [ 7.65543776e-03 6.06559554e-04 9.99970513e-01 2.73423804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.07, Y:-0.48, Z:0.28 [[ 9.98185260e-01 5.97264186e-02 -7.67739174e-03 7.10722209e+01] [-5.97295338e-02 9.98214582e-01 -1.76911992e-04 -4.79309666e-01] [ 7.65311807e-03 6.35157972e-04 9.99970513e-01 2.75203861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:-0.48, Z:0.28 [[ 9.98040484e-01 6.20987133e-02 -7.67738336e-03 7.10995408e+01] [-6.21019010e-02 9.98069798e-01 -1.77274989e-04 -4.79056075e-01] [ 7.65155591e-03 6.53707717e-04 9.99970513e-01 2.77781009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:-0.48, Z:0.28 [[ 9.97989919e-01 6.29061135e-02 -7.67737559e-03 7.11268208e+01] [-6.29093274e-02 9.98019231e-01 -1.77610638e-04 -4.78464739e-01] [ 7.65099569e-03 6.60232162e-04 9.99970513e-01 2.80979097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:-0.48, Z:0.28 [[ 9.98080821e-01 6.14469845e-02 -7.67736348e-03 7.11555090e+01] [-6.14501595e-02 9.98110137e-01 -1.78132520e-04 -4.78993271e-01] [ 7.65190862e-03 6.49565863e-04 9.99970513e-01 2.79919393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.18, Y:-0.48, Z:0.28 [[ 9.98188248e-01 5.96764668e-02 -7.67735504e-03 7.11840944e+01] [-5.96795926e-02 9.98217569e-01 -1.78495921e-04 -4.79715509e-01] [ 7.65301867e-03 6.36353951e-04 9.99970513e-01 2.77896748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.21, Y:-0.48, Z:0.28 [[ 9.98402044e-01 5.59858681e-02 -7.67734649e-03 7.12119086e+01] [-5.59888883e-02 9.98431376e-01 -1.78862662e-04 -4.80485798e-01] [ 7.65528984e-03 6.08422943e-04 9.99970513e-01 2.80452398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.24, Y:-0.48, Z:0.28 [[ 9.98457181e-01 5.49937830e-02 -7.67733582e-03 7.12407658e+01] [-5.49967776e-02 9.98486516e-01 -1.79319572e-04 -4.79809245e-01] [ 7.65585483e-03 6.01271644e-04 9.99970513e-01 2.83409686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:-0.48, Z:0.28 [[ 9.98485255e-01 5.44816873e-02 -7.67732727e-03 7.12690926e+01] [-5.44846696e-02 9.98514591e-01 -1.79684851e-04 -4.79106966e-01] [ 7.65613377e-03 5.97709314e-04 9.99970513e-01 2.84481399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.30, Y:-0.48, Z:0.28 [[ 9.98474374e-01 5.46807449e-02 -7.67731870e-03 7.12977400e+01] [-5.46837358e-02 9.98503709e-01 -1.80050359e-04 -4.79802065e-01] [ 7.65598591e-03 5.99600137e-04 9.99970513e-01 2.80807187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:-0.48, Z:0.28 [[ 9.98453041e-01 5.50688994e-02 -7.67731009e-03 7.13254692e+01] [-5.50719046e-02 9.98482375e-01 -1.80416739e-04 -4.80177454e-01] [ 7.65572346e-03 6.02941731e-04 9.99970513e-01 2.79659699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.35, Y:-0.48, Z:0.28 [[ 9.98351125e-01 5.68866460e-02 -7.67729843e-03 7.13541384e+01] [-5.68897083e-02 9.98380453e-01 -1.80911677e-04 -4.81653527e-01] [ 7.65457322e-03 6.17372645e-04 9.99970513e-01 2.82596631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:-0.48, Z:0.28 [[ 9.98259502e-01 5.84724295e-02 -7.67728970e-03 7.13816618e+01] [-5.84755412e-02 9.98288825e-01 -1.81281347e-04 -4.81716205e-01] [ 7.65355255e-03 6.29899497e-04 9.99970513e-01 2.83494258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.41, Y:-0.48, Z:0.28 [[ 9.98184296e-01 5.97425360e-02 -7.67727884e-03 7.14105979e+01] [-5.97456885e-02 9.98213614e-01 -1.81740180e-04 -4.81296212e-01] [ 7.65270663e-03 6.40094503e-04 9.99970513e-01 2.83128435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:-0.48, Z:0.28 [[ 9.98118534e-01 6.08313420e-02 -7.67727022e-03 7.14382105e+01] [-6.08345293e-02 9.98147848e-01 -1.82103248e-04 -4.80423876e-01] [ 7.65197317e-03 6.48803748e-04 9.99970513e-01 2.81329963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83589822699999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:71.47, Y:-0.48, Z:0.28 [[ 9.98036866e-01 6.21568412e-02 -7.67725891e-03 7.14671658e+01] [-6.21600711e-02 9.98066176e-01 -1.82578783e-04 -4.79386221e-01] [ 7.65106393e-03 6.59439317e-04 9.99970513e-01 2.78656643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.50, Y:-0.48, Z:0.28 [[ 9.97869650e-01 6.47859695e-02 -7.67725023e-03 7.14960014e+01] [-6.47892794e-02 9.97898951e-01 -1.82943090e-04 -4.79298277e-01] [ 7.64926781e-03 6.79956867e-04 9.99970513e-01 2.80634693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89589822699999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:71.52, Y:-0.48, Z:0.28 [[ 9.97788566e-01 6.60230063e-02 -7.67724156e-03 7.15249659e+01] [-6.60263552e-02 9.97817863e-01 -1.83306182e-04 -4.79636245e-01] [ 7.64838634e-03 6.89801091e-04 9.99970513e-01 2.79674821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:-0.48, Z:0.28 [[ 9.97807167e-01 6.57412911e-02 -7.67723286e-03 7.15531613e+01] [-6.57446345e-02 9.97836464e-01 -1.83670032e-04 -4.80154045e-01] [ 7.64854819e-03 6.88004143e-04 9.99970513e-01 2.80715319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:-0.48, Z:0.28 [[ 9.97872069e-01 6.47487064e-02 -7.67722206e-03 7.15817049e+01] [-6.47520242e-02 9.97901369e-01 -1.84120258e-04 -4.80369246e-01] [ 7.64918885e-03 6.80844131e-04 9.99970513e-01 2.80676557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.61, Y:-0.48, Z:0.28 [[ 9.97948600e-01 6.35582632e-02 -7.67721337e-03 7.16091232e+01] [-6.35615488e-02 9.97977903e-01 -1.84482142e-04 -4.81784225e-01] [ 7.64996393e-03 6.72079267e-04 9.99970513e-01 2.80794514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:-0.49, Z:0.28 [[ 9.98110905e-01 6.09563904e-02 -7.67720156e-03 7.16380219e+01] [-6.09596033e-02 9.98140217e-01 -1.84972206e-04 -4.86002405e-01] [ 7.65164839e-03 6.52621937e-04 9.99970513e-01 2.83012692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.67, Y:-0.49, Z:0.28 [[ 9.98174377e-01 5.99080472e-02 -7.67719302e-03 7.16670811e+01] [-5.99112320e-02 9.98203692e-01 -1.85325693e-04 -4.86763735e-01] [ 7.65229992e-03 6.44937450e-04 9.99970513e-01 2.84731713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.70, Y:-0.49, Z:0.29 [[ 9.98211365e-01 5.92885413e-02 -7.67718424e-03 7.16961708e+01] [-5.92917106e-02 9.98240682e-01 -1.85688984e-04 -4.87345827e-01] [ 7.65266840e-03 6.40550241e-04 9.99970513e-01 2.86284785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.73, Y:-0.49, Z:0.29 [[ 9.98181593e-01 5.97876903e-02 -7.67717540e-03 7.17250867e+01] [-5.97908771e-02 9.98210908e-01 -1.86053696e-04 -4.88877827e-01] [ 7.65231650e-03 6.44740425e-04 9.99970513e-01 2.87399955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:-0.49, Z:0.29 [[ 9.98112892e-01 6.09238602e-02 -7.67716657e-03 7.17525893e+01] [-6.09270831e-02 9.98142202e-01 -1.86417441e-04 -4.89383112e-01] [ 7.65154667e-03 6.53813017e-04 9.99970513e-01 2.88092456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.78, Y:-0.49, Z:0.29 [[ 9.98028830e-01 6.22857662e-02 -7.67715558e-03 7.17802450e+01] [-6.22890326e-02 9.98058135e-01 -1.86868847e-04 -4.89099430e-01] [ 7.65060831e-03 6.64703091e-04 9.99970513e-01 2.88308409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:-0.49, Z:0.29 [[ 9.97825772e-01 6.54583132e-02 -7.67714490e-03 7.18091121e+01] [-6.54616761e-02 9.97855067e-01 -1.87306519e-04 -4.89863198e-01] [ 7.64841717e-03 6.89458044e-04 9.99970513e-01 2.88010044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.84, Y:-0.49, Z:0.29 [[ 9.97754754e-01 6.65320343e-02 -7.67713628e-03 7.18369632e+01] [-6.65354314e-02 9.97784045e-01 -1.87659095e-04 -4.90586047e-01] [ 7.64763876e-03 6.98039329e-04 9.99970513e-01 2.87705143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.87, Y:-0.49, Z:0.29 [[ 9.97731206e-01 6.68842488e-02 -7.67712555e-03 7.18659888e+01] [-6.68876596e-02 9.97760495e-01 -1.88097148e-04 -4.91234000e-01] [ 7.64735185e-03 7.01175355e-04 9.99970513e-01 2.86957544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.89, Y:-0.49, Z:0.29 [[ 9.97877529e-01 6.46645174e-02 -7.67711685e-03 7.18946969e+01] [-6.46678657e-02 9.97906825e-01 -1.88451686e-04 -4.91929392e-01] [ 7.64886116e-03 6.84514464e-04 9.99970513e-01 2.86478133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:-0.49, Z:0.29 [[ 9.97979934e-01 6.30643639e-02 -7.67710790e-03 7.19227347e+01] [-6.30676680e-02 9.98009235e-01 -1.88815326e-04 -4.92219328e-01] [ 7.64991707e-03 6.72611200e-04 9.99970513e-01 2.87338584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:-0.49, Z:0.29 [[ 9.97982806e-01 6.30188908e-02 -7.67709672e-03 7.19520503e+01] [-6.30221971e-02 9.98012108e-01 -1.89268922e-04 -4.91411802e-01] [ 7.64990796e-03 6.72714633e-04 9.99970513e-01 2.87563821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:-0.49, Z:0.29 [[ 9.98083067e-01 6.14105297e-02 -7.67708808e-03 7.19803782e+01] [-6.14137914e-02 9.98112374e-01 -1.89618713e-04 -4.92471804e-01] [ 7.65095202e-03 6.60734312e-04 9.99970513e-01 2.89838473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:-0.49, Z:0.29 [[ 9.98217001e-01 5.91935877e-02 -7.67707731e-03 7.20092583e+01] [-5.91967877e-02 9.98246314e-01 -1.90053701e-04 -4.94340225e-01] [ 7.65236417e-03 6.44173151e-04 9.99970513e-01 2.90594750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:-0.49, Z:0.29 [[ 9.98262315e-01 5.84244303e-02 -7.67706869e-03 7.20379083e+01] [-5.84276103e-02 9.98291630e-01 -1.90401372e-04 -4.92849916e-01] [ 7.65282932e-03 6.38623292e-04 9.99970513e-01 2.89184966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.07, Y:-0.49, Z:0.29 [[ 9.98257937e-01 5.84991776e-02 -7.67705968e-03 7.20661493e+01] [-5.85023625e-02 9.98287252e-01 -1.90764003e-04 -4.90963000e-01] [ 7.65275127e-03 6.39557808e-04 9.99970513e-01 2.85906625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.09, Y:-0.49, Z:0.28 [[ 9.98194100e-01 5.95785254e-02 -7.67704771e-03 7.20945524e+01] [-5.95817457e-02 9.98223411e-01 -1.91244475e-04 -4.88417529e-01] [ 7.65201469e-03 6.48311011e-04 9.99970513e-01 2.79509343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:-0.49, Z:0.28 [[ 9.98173451e-01 5.99234884e-02 -7.67703902e-03 7.21238103e+01] [-5.99267215e-02 9.98202761e-01 -1.91592677e-04 -4.87076472e-01] [ 7.65176064e-03 6.51302503e-04 9.99970513e-01 2.79215544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.15, Y:-0.49, Z:0.28 [[ 9.98198765e-01 5.95003255e-02 -7.67702995e-03 7.21520320e+01] [-5.95035489e-02 9.98228076e-01 -1.91955431e-04 -4.85428908e-01] [ 7.65200542e-03 6.48420201e-04 9.99970513e-01 2.78590413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.18, Y:-0.48, Z:0.28 [[ 9.98280632e-01 5.81106138e-02 -7.67701865e-03 7.21802535e+01] [-5.81137999e-02 9.98309946e-01 -1.92406299e-04 -4.81430319e-01] [ 7.65286323e-03 6.38216207e-04 9.99970513e-01 2.82836773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.21, Y:-0.48, Z:0.28 [[ 9.98333296e-01 5.71987182e-02 -7.67700725e-03 7.22081121e+01] [-5.72018809e-02 9.98362613e-01 -1.92860016e-04 -4.79816990e-01] [ 7.65340568e-03 6.31677830e-04 9.99970513e-01 2.84404959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.24, Y:-0.48, Z:0.29 [[ 9.98391261e-01 5.61778799e-02 -7.67699587e-03 7.22355474e+01] [-5.61810161e-02 9.98420581e-01 -1.93311818e-04 -4.79147089e-01] [ 7.65401083e-03 6.24302259e-04 9.99970513e-01 2.85582581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:-0.48, Z:0.28 [[ 9.98452834e-01 5.50726983e-02 -7.67698480e-03 7.22635566e+01] [-5.50758054e-02 9.98482157e-01 -1.93750481e-04 -4.78657176e-01] [ 7.65466199e-03 6.16266838e-04 9.99970513e-01 2.83763080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:-0.48, Z:0.28 [[ 9.98529986e-01 5.36556650e-02 -7.67697398e-03 7.22918871e+01] [-5.36587338e-02 9.98559314e-01 -1.94178424e-04 -4.76336056e-01] [ 7.65549509e-03 6.05829682e-04 9.99970513e-01 2.80862986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:-0.47, Z:0.28 [[ 9.98556929e-01 5.31519007e-02 -7.67696498e-03 7.23191918e+01] [-5.31549574e-02 9.98586257e-01 -1.94533581e-04 -4.74397004e-01] [ 7.65577189e-03 6.02321602e-04 9.99970513e-01 2.80430412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:-0.47, Z:0.28 [[ 9.98605422e-01 5.22328970e-02 -7.67695291e-03 7.23476387e+01] [-5.22359303e-02 9.98634753e-01 -1.95008741e-04 -4.72805517e-01] [ 7.65628610e-03 5.95749564e-04 9.99970513e-01 2.81362954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.38, Y:-0.47, Z:0.28 [[ 9.98644982e-01 5.14710081e-02 -7.67694397e-03 7.23753412e+01] [-5.14740217e-02 9.98674315e-01 -1.95359982e-04 -4.72053360e-01] [ 7.65671138e-03 5.90258446e-04 9.99970513e-01 2.83083753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.40, Y:-0.47, Z:0.29 [[ 9.98732941e-01 4.97350678e-02 -7.67693278e-03 7.24035778e+01] [-4.97380338e-02 9.98762279e-01 -1.95798788e-04 -4.70350351e-01] [ 7.65769281e-03 5.77386242e-04 9.99970513e-01 2.89613693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:-0.47, Z:0.29 [[ 9.98757223e-01 4.92450351e-02 -7.67692184e-03 7.24321123e+01] [-4.92479900e-02 9.98786562e-01 -1.96226867e-04 -4.69059494e-01] [ 7.65794317e-03 5.74055971e-04 9.99970513e-01 2.91607459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.46, Y:-0.47, Z:0.29 [[ 9.98740489e-01 4.95832617e-02 -7.67691298e-03 7.24611163e+01] [-4.95862291e-02 9.98769827e-01 -1.96572965e-04 -4.68476527e-01] [ 7.65772232e-03 5.76994545e-04 9.99970513e-01 2.91585962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.49, Y:-0.47, Z:0.29 [[ 9.98673938e-01 5.09060944e-02 -7.67690397e-03 7.24900345e+01] [-5.09091034e-02 9.98703271e-01 -1.96923991e-04 -4.68787950e-01] [ 7.65692448e-03 5.87487156e-04 9.99970513e-01 2.88173869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.52, Y:-0.47, Z:0.29 [[ 9.98628605e-01 5.17877873e-02 -7.67689484e-03 7.25179054e+01] [-5.17908249e-02 9.98657935e-01 -1.97279265e-04 -4.67870383e-01] [ 7.65637529e-03 5.94601434e-04 9.99970513e-01 2.87220225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:-0.47, Z:0.29 [[ 9.98481077e-01 5.45582741e-02 -7.67688346e-03 7.25458932e+01] [-5.45613965e-02 9.98510398e-01 -1.97721128e-04 -4.65803684e-01] [ 7.65466064e-03 6.16282287e-04 9.99970513e-01 2.91260715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.57, Y:-0.46, Z:0.29 [[ 9.98366753e-01 5.66117705e-02 -7.67687250e-03 7.25747161e+01] [-5.66149564e-02 9.98396067e-01 -1.98145836e-04 -4.64010010e-01] [ 7.65334193e-03 6.32448016e-04 9.99970513e-01 2.92209783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:-0.46, Z:0.29 [[ 9.98225181e-01 5.90555158e-02 -7.67686304e-03 7.26028321e+01] [-5.90587763e-02 9.98254487e-01 -1.98511655e-04 -4.62977205e-01] [ 7.65173977e-03 6.51545470e-04 9.99970513e-01 2.90550624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.63, Y:-0.46, Z:0.29 [[ 9.97964345e-01 6.33105993e-02 -7.67685126e-03 7.26306308e+01] [-6.33139881e-02 9.97993637e-01 -1.98966057e-04 -4.60653393e-01] [ 7.64885205e-03 6.84613100e-04 9.99970513e-01 2.86018968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09589822699999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:72.66, Y:-0.46, Z:0.28 [[ 9.97836855e-01 6.52891809e-02 -7.67683954e-03 7.26597770e+01] [-6.52926312e-02 9.97866140e-01 -1.99417173e-04 -4.58105758e-01] [ 7.64743846e-03 7.00226858e-04 9.99970513e-01 2.84488253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:-0.46, Z:0.28 [[ 9.97714738e-01 6.71294807e-02 -7.67683026e-03 7.26884172e+01] [-6.71329878e-02 9.97744016e-01 -1.99773779e-04 -4.55829499e-01] [ 7.64610075e-03 7.14685796e-04 9.99970513e-01 2.84894034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.155898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:72.72, Y:-0.45, Z:0.28 [[ 9.97561351e-01 6.93715899e-02 -7.67682088e-03 7.27160483e+01] [-6.93751655e-02 9.97590621e-01 -2.00133700e-04 -4.53374775e-01] [ 7.64444091e-03 7.32226363e-04 9.99970513e-01 2.79133268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.74, Y:-0.45, Z:0.28 [[ 9.97612934e-01 6.86257936e-02 -7.67680955e-03 7.27436677e+01] [-6.86293506e-02 9.97642206e-01 -2.00567488e-04 -4.50085932e-01] [ 7.64494511e-03 7.26943174e-04 9.99970513e-01 2.79227167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.77, Y:-0.45, Z:0.28 [[ 9.97703174e-01 6.73011327e-02 -7.67679814e-03 7.27720717e+01] [-6.73046542e-02 9.97732451e-01 -2.01003214e-04 -4.46027799e-01] [ 7.64586288e-03 7.17225789e-04 9.99970513e-01 2.80262398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:-0.44, Z:0.28 [[ 9.97790886e-01 6.59879825e-02 -7.67678864e-03 7.27996156e+01] [-6.59914682e-02 9.97820167e-01 -2.01365404e-04 -4.42289912e-01] [ 7.64676682e-03 7.07523119e-04 9.99970513e-01 2.79564022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.83, Y:-0.44, Z:0.29 [[ 9.97977223e-01 6.31072901e-02 -7.67677679e-03 7.28283074e+01] [-6.31106947e-02 9.98006513e-01 -2.01816008e-04 -4.39660569e-01] [ 7.64873717e-03 6.85894496e-04 9.99970513e-01 2.88955971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.86, Y:-0.44, Z:0.29 [[ 9.98107023e-01 6.10199742e-02 -7.67676732e-03 7.28573620e+01] [-6.10233203e-02 9.98136320e-01 -2.02175728e-04 -4.39813356e-01] [ 7.65012352e-03 6.70254845e-04 9.99970513e-01 2.91556203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.89, Y:-0.44, Z:0.29 [[ 9.98264534e-01 5.83865382e-02 -7.67675768e-03 7.28851645e+01] [-5.83898098e-02 9.98293839e-01 -2.02541004e-04 -4.39663022e-01] [ 7.65183423e-03 6.50433922e-04 9.99970513e-01 2.91874943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.91, Y:-0.44, Z:0.29 [[ 9.98436689e-01 5.53646666e-02 -7.67674807e-03 7.29137775e+01] [-5.53678523e-02 9.98466003e-01 -2.02904502e-04 -4.38828546e-01] [ 7.65373823e-03 6.27632353e-04 9.99970513e-01 2.91259648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.94, Y:-0.44, Z:0.29 [[ 9.98720348e-01 4.99873391e-02 -7.67673861e-03 7.29411575e+01] [-4.99903696e-02 9.98749679e-01 -2.03262056e-04 -4.36753571e-01] [ 7.65697969e-03 5.86764951e-04 9.99970513e-01 2.88184981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.97, Y:-0.44, Z:0.29 [[ 9.98830642e-01 4.77327567e-02 -7.67672682e-03 7.29704328e+01] [-4.77357243e-02 9.98859980e-01 -2.03706282e-04 -4.35230665e-01] [ 7.65825173e-03 5.69922192e-04 9.99970513e-01 2.87112330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.00, Y:-0.43, Z:0.29 [[ 9.98974772e-01 4.46147208e-02 -7.67671765e-03 7.29990827e+01] [-4.46175995e-02 9.99004118e-01 -2.04051252e-04 -4.32015351e-01] [ 7.65996886e-03 5.46358767e-04 9.99970513e-01 2.89818130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.03, Y:-0.43, Z:0.29 [[ 9.99026384e-01 4.34436760e-02 -7.67670788e-03 7.30267399e+01] [-4.34465231e-02 9.99055733e-01 -2.04418297e-04 -4.30067612e-01] [ 7.66057833e-03 5.37745538e-04 9.99970513e-01 2.93096772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:-0.43, Z:0.30 [[ 9.99104856e-01 4.15999369e-02 -7.67669565e-03 7.30552153e+01] [-4.16027333e-02 9.99134211e-01 -2.04876259e-04 -4.28142316e-01] [ 7.66152641e-03 5.24064388e-04 9.99970513e-01 2.97202356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.08, Y:-0.43, Z:0.30 [[ 9.99312028e-01 3.62841477e-02 -7.67668621e-03 7.30841930e+01] [-3.62867906e-02 9.99341396e-01 -2.05229339e-04 -4.27062886e-01] [ 7.66418375e-03 4.83650452e-04 9.99970513e-01 3.00482952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:-0.43, Z:0.30 [[ 9.99423695e-01 3.30657881e-02 -7.67667892e-03 7.31128711e+01] [-3.30683385e-02 9.99453072e-01 -2.05501766e-04 -4.26283881e-01] [ 7.66568525e-03 4.59238352e-04 9.99970513e-01 3.00674420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.14, Y:-0.42, Z:0.30 [[ 9.99521984e-01 2.99478350e-02 -7.67666910e-03 7.31416726e+01] [-2.99502965e-02 9.99551368e-01 -2.05868013e-04 -4.24918586e-01] [ 7.66705980e-03 4.35688120e-04 9.99970513e-01 3.00336228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.17, Y:-0.42, Z:0.30 [[ 9.99595093e-01 2.73992494e-02 -7.67665911e-03 7.31705337e+01] [-2.74016389e-02 9.99624483e-01 -2.06239783e-04 -4.23420663e-01] [ 7.66812558e-03 4.16509316e-04 9.99970513e-01 2.99856827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66589822699999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:73.20, Y:-0.42, Z:0.30 [[ 9.99633591e-01 2.59567482e-02 -7.67664916e-03 7.31982780e+01] [-2.59590981e-02 9.99662984e-01 -2.06609527e-04 -4.22379101e-01] [ 7.66869910e-03 4.05812711e-04 9.99970513e-01 2.96514299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:-0.42, Z:0.29 [[ 9.99686459e-01 2.38338817e-02 -7.67663673e-03 7.32257154e+01] [-2.38361727e-02 9.99715857e-01 -2.07070295e-04 -4.20793647e-01] [ 7.66952018e-03 3.89987009e-04 9.99970513e-01 2.94234774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:-0.42, Z:0.29 [[ 9.99696313e-01 2.34168899e-02 -7.67662683e-03 7.32548888e+01] [-2.34191714e-02 9.99725712e-01 -2.07436564e-04 -4.20480089e-01] [ 7.66966371e-03 3.87153808e-04 9.99970513e-01 2.93213927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.28, Y:-0.42, Z:0.29 [[ 9.99727097e-01 2.20635502e-02 -7.67661685e-03 7.32823545e+01] [-2.20657947e-02 9.99756499e-01 -2.07805498e-04 -4.20432680e-01] [ 7.67016266e-03 3.77139438e-04 9.99970513e-01 2.92073197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:-0.42, Z:0.29 [[ 9.99780057e-01 1.95168322e-02 -7.67660444e-03 7.33108325e+01] [-1.95190054e-02 9.99809464e-01 -2.08262780e-04 -4.20343756e-01] [ 7.67107715e-03 3.58056657e-04 9.99970513e-01 2.93342630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.34, Y:-0.42, Z:0.30 [[ 9.99894764e-01 1.23098120e-02 -7.67659476e-03 7.33396296e+01] [-1.23117759e-02 9.99924185e-01 -2.08619082e-04 -4.21602606e-01] [ 7.67344470e-03 3.03109642e-04 9.99970513e-01 2.96605487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:-0.42, Z:0.30 [[ 9.99940578e-01 7.74023492e-03 -7.67658488e-03 7.33684377e+01] [-7.74206709e-03 9.99970008e-01 -2.08981791e-04 -4.23280344e-01] [ 7.67473708e-03 2.68402008e-04 9.99970513e-01 2.96931532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.40, Y:-0.43, Z:0.30 [[ 9.99964756e-01 3.39952037e-03 -7.67657501e-03 7.33966527e+01] [-3.40122754e-03 9.99994194e-01 -2.09343846e-04 -4.26116115e-01] [ 7.67581877e-03 2.35446246e-04 9.99970513e-01 2.96069511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:-0.43, Z:0.29 [[ 9.99970333e-01 -6.34579196e-04 -7.67656100e-03 7.34255279e+01] [ 6.32986857e-04 9.99999778e-01 -2.09856474e-04 -4.28691900e-01] [ 7.67669246e-03 2.04991086e-04 9.99970513e-01 2.94691729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:-0.43, Z:0.29 [[ 9.99947050e-01 -6.85326967e-03 -7.67655114e-03 7.34536274e+01] [ 6.85185771e-03 9.99976504e-01 -2.10216581e-04 -4.33072218e-01] [ 7.67781144e-03 1.57606814e-04 9.99970513e-01 2.92898839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:-0.43, Z:0.29 [[ 9.99927948e-01 -9.22878743e-03 -7.67653881e-03 7.34802922e+01] [ 9.22744200e-03 9.99957404e-01 -2.10665684e-04 -4.34518786e-01] [ 7.67815601e-03 1.39815688e-04 9.99970513e-01 2.93184179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.51, Y:-0.44, Z:0.30 [[ 9.99901338e-01 -1.17637636e-02 -7.67652162e-03 7.35080612e+01] [ 1.17624881e-02 9.99930797e-01 -2.11290149e-04 -4.39074345e-01] [ 7.67847595e-03 1.20974309e-04 9.99970513e-01 2.95187517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02589822699998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:73.54, Y:-0.44, Z:0.29 [[ 9.99894265e-01 -1.23503621e-02 -7.67648219e-03 7.35361224e+01] [ 1.23490929e-02 9.99923724e-01 -2.12713194e-04 -4.41458006e-01] [ 7.67852375e-03 1.17893112e-04 9.99970513e-01 2.94344971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.56, Y:-0.44, Z:0.30 [[ 9.99881149e-01 -1.33701015e-02 -7.67644259e-03 7.35641760e+01] [ 1.33688514e-02 9.99910610e-01 -2.14133027e-04 -4.43406776e-01] [ 7.67861937e-03 1.11482357e-04 9.99970513e-01 2.98098668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.59, Y:-0.45, Z:0.30 [[ 9.99866576e-01 -1.44188434e-02 -7.67639963e-03 7.35917155e+01] [ 1.44176125e-02 9.99896038e-01 -2.15661978e-04 -4.45990603e-01] [ 7.67871117e-03 1.04957848e-04 9.99970513e-01 2.96727959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11589822699999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.62, Y:-0.45, Z:0.29 [[ 9.99792058e-01 -1.88921800e-02 -7.67638629e-03 7.36198968e+01] [ 1.88910773e-02 9.99821524e-01 -2.16135938e-04 -4.53340298e-01] [ 7.67909952e-03 7.10757872e-05 9.99970513e-01 2.93732416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:-0.46, Z:0.30 [[ 9.99742891e-01 -2.13360071e-02 -7.67634678e-03 7.36480513e+01] [ 2.13349658e-02 9.99772360e-01 -2.17529900e-04 -4.56674491e-01] [ 7.67924056e-03 5.36993753e-05 9.99970513e-01 2.96288860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:73.68, Y:-0.46, Z:0.30 [[ 9.99698205e-01 -2.33361052e-02 -7.67633451e-03 7.36764284e+01] [ 2.33351195e-02 9.99727675e-01 -2.17962253e-04 -4.59010086e-01] [ 7.67933044e-03 3.87682898e-05 9.99970513e-01 2.97745747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.70, Y:-0.46, Z:0.30 [[ 9.99680658e-01 -2.40760742e-02 -7.67629512e-03 7.37040451e+01] [ 2.40750997e-02 9.99710129e-01 -2.19340668e-04 -4.60703989e-01] [ 7.67935085e-03 3.44630530e-05 9.99970513e-01 3.02893828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.73, Y:-0.46, Z:0.30 [[ 9.99676358e-01 -2.42539457e-02 -7.67625310e-03 7.37325078e+01] [ 2.42529653e-02 9.99705829e-01 -2.20801514e-04 -4.59698394e-01] [ 7.67935028e-03 3.45581532e-05 9.99970513e-01 3.03112573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.76, Y:-0.46, Z:0.31 [[ 9.99732528e-01 -2.18162313e-02 -7.67621357e-03 7.37591087e+01] [ 2.18151685e-02 9.99761996e-01 -2.22167287e-04 -4.63388375e-01] [ 7.67923346e-03 5.46499708e-05 9.99970513e-01 3.06378107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.295898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:73.79, Y:-0.46, Z:0.30 [[ 9.99773277e-01 -1.98612802e-02 -7.67619520e-03 7.37870549e+01] [ 1.98601549e-02 9.99802743e-01 -2.22800372e-04 -4.64103212e-01] [ 7.67910611e-03 7.02994319e-05 9.99970513e-01 3.03787877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.81, Y:-0.46, Z:0.31 [[ 9.99808681e-01 -1.79910599e-02 -7.67615118e-03 7.38141904e+01] [ 1.79898679e-02 9.99838144e-01 -2.24306875e-04 -4.63692605e-01] [ 7.67894426e-03 8.61710152e-05 9.99970513e-01 3.05621845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.84, Y:-0.46, Z:0.30 [[ 9.99833139e-01 -1.65762225e-02 -7.67613198e-03 7.38425319e+01] [ 1.65749839e-02 9.99862600e-01 -2.24961720e-04 -4.62678641e-01] [ 7.67880630e-03 9.76924191e-05 9.99970513e-01 3.04989049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:-0.46, Z:0.30 [[ 9.99841093e-01 -1.60893056e-02 -7.67608977e-03 7.38699597e+01] [ 1.60880416e-02 9.99870553e-01 -2.26393096e-04 -4.61961819e-01] [ 7.67873863e-03 1.02863870e-04 9.99970513e-01 3.02297278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:-0.46, Z:0.30 [[ 9.99811166e-01 -1.78524685e-02 -7.67607136e-03 7.38983931e+01] [ 1.78512516e-02 9.99840628e-01 -2.27015526e-04 -4.61548724e-01] [ 7.67890080e-03 8.99451764e-05 9.99970513e-01 3.00908719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:-0.46, Z:0.30 [[ 9.99766258e-01 -2.02115563e-02 -7.67602729e-03 7.39251806e+01] [ 2.02103976e-02 9.99795723e-01 -2.28495902e-04 -4.62027765e-01] [ 7.67907752e-03 7.33069292e-05 9.99970513e-01 2.99936203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.95, Y:-0.46, Z:0.30 [[ 9.99605293e-01 -2.70247355e-02 -7.67600811e-03 7.39531418e+01] [ 2.70237727e-02 9.99634765e-01 -2.29138584e-04 -4.63623170e-01] [ 7.67939697e-03 2.16134433e-05 9.99970513e-01 2.99974198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:-0.46, Z:0.30 [[ 9.99514256e-01 -3.02048138e-02 -7.67596279e-03 7.39804320e+01] [ 3.02039332e-02 9.99543731e-01 -2.30646723e-04 -4.64709787e-01] [ 7.67942713e-03 -1.30957964e-06 9.99970513e-01 2.98420795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:-0.47, Z:0.30 [[ 9.99420584e-01 -3.31598680e-02 -7.67594316e-03 7.40081612e+01] [ 3.31590695e-02 9.99450060e-01 -2.31298145e-04 -4.66421136e-01] [ 7.67939167e-03 -2.33630055e-05 9.99970513e-01 2.95416106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.04, Y:-0.47, Z:0.29 [[ 9.99321349e-01 -3.60266907e-02 -7.67592966e-03 7.40365613e+01] [ 3.60259734e-02 9.99350827e-01 -2.31745460e-04 -4.68510508e-01] [ 7.67929567e-03 -4.49446519e-05 9.99970513e-01 2.93661702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:-0.47, Z:0.29 [[ 9.99251684e-01 -3.79097857e-02 -7.67588615e-03 7.40649362e+01] [ 3.79091129e-02 9.99281164e-01 -2.33177606e-04 -4.70379825e-01] [ 7.67920816e-03 -5.79829195e-05 9.99970513e-01 2.92748171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:-0.47, Z:0.29 [[ 9.99266596e-01 -3.75146750e-02 -7.67584099e-03 7.40931373e+01] [ 3.75139792e-02 9.99296075e-01 -2.34654975e-04 -4.73834684e-01] [ 7.67924078e-03 -5.34684609e-05 9.99970513e-01 2.90787293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.655898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:74.12, Y:-0.47, Z:0.29 [[ 9.99339374e-01 -3.55231995e-02 -7.67582693e-03 7.41213757e+01] [ 3.55224414e-02 9.99368851e-01 -2.35113882e-04 -4.74149942e-01] [ 7.67933434e-03 -3.77055531e-05 9.99970513e-01 2.90264394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:-0.47, Z:0.29 [[ 9.99444411e-01 -3.24337906e-02 -7.67578073e-03 7.41496756e+01] [ 3.24329299e-02 9.99473886e-01 -2.36612774e-04 -4.74010155e-01] [ 7.67941664e-03 -1.24667440e-05 9.99970513e-01 2.90222546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:-0.47, Z:0.29 [[ 9.99530580e-01 -2.96597623e-02 -7.67576633e-03 7.41782309e+01] [ 2.96588163e-02 9.99560052e-01 -2.37078782e-04 -4.73216371e-01] [ 7.67942110e-03 9.31334951e-06 9.99970513e-01 2.94378370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.21, Y:-0.47, Z:0.30 [[ 9.99674730e-01 -2.43211230e-02 -7.67572660e-03 7.42060976e+01] [ 2.43200097e-02 9.99704196e-01 -2.38358232e-04 -4.72957000e-01] [ 7.67925323e-03 5.16069557e-05 9.99970513e-01 2.95766025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.23, Y:-0.47, Z:0.30 [[ 9.99712908e-01 -2.26977178e-02 -7.67558204e-03 7.42343141e+01] [ 2.26965211e-02 9.99742371e-01 -2.42989490e-04 -4.72984846e-01] [ 7.67911990e-03 6.87107194e-05 9.99970513e-01 2.96871243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:-0.47, Z:0.30 [[ 9.99730127e-01 -2.19262200e-02 -7.67558142e-03 7.42616894e+01] [ 2.19250004e-02 9.99759589e-01 -2.43009360e-04 -4.72832180e-01] [ 7.67906440e-03 7.46566520e-05 9.99970513e-01 2.99424033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.29, Y:-0.47, Z:0.30 [[ 9.99721933e-01 -2.22966515e-02 -7.67564504e-03 7.42892898e+01] [ 2.22954584e-02 9.99751396e-01 -2.40983225e-04 -4.71998945e-01] [ 7.67910996e-03 6.97841911e-05 9.99970513e-01 3.02729213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.32, Y:-0.47, Z:0.31 [[ 9.99648390e-01 -2.53807466e-02 -7.67559922e-03 7.43174688e+01] [ 2.53796333e-02 9.99677856e-01 -2.42433644e-04 -4.69833555e-01] [ 7.67927972e-03 4.75445086e-05 9.99970513e-01 3.05193668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.34, Y:-0.47, Z:0.30 [[ 9.99590760e-01 -2.75571879e-02 -7.67555101e-03 7.43440602e+01] [ 2.75561270e-02 9.99620228e-01 -2.43950502e-04 -4.68489121e-01] [ 7.67935864e-03 3.23422085e-05 9.99970513e-01 3.04489193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.37, Y:-0.47, Z:0.30 [[ 9.99524787e-01 -2.98544182e-02 -7.67553001e-03 7.43708895e+01] [ 2.98534200e-02 9.99554257e-01 -2.44609591e-04 -4.67615773e-01] [ 7.67941138e-03 1.53525282e-05 9.99970513e-01 3.03402693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95589822699999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:74.40, Y:-0.47, Z:0.30 [[ 9.99368954e-01 -3.46811239e-02 -7.67550936e-03 7.43975739e+01] [ 3.46802631e-02 9.99398429e-01 -2.45255775e-04 -4.65843347e-01] [ 7.67939774e-03 -2.10876773e-05 9.99970513e-01 3.01622177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.43, Y:-0.46, Z:0.30 [[ 9.99282428e-01 -3.70906389e-02 -7.67548910e-03 7.44251482e+01] [ 3.70898444e-02 9.99311905e-01 -2.45888407e-04 -4.64321391e-01] [ 7.67932779e-03 -3.89707310e-05 9.99970513e-01 3.03207242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.45, Y:-0.46, Z:0.30 [[ 9.99196938e-01 -3.93264108e-02 -7.67544063e-03 7.44529662e+01] [ 3.93256706e-02 9.99226416e-01 -2.47391954e-04 -4.61848963e-01] [ 7.67923207e-03 -5.46485678e-05 9.99970513e-01 3.02726064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.48, Y:-0.46, Z:0.30 [[ 9.99128876e-01 -4.10192423e-02 -7.67539146e-03 7.44804135e+01] [ 4.10185404e-02 9.99158355e-01 -2.48908254e-04 -4.58883095e-01] [ 7.67914153e-03 -6.61419304e-05 9.99970513e-01 3.02470696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.51, Y:-0.45, Z:0.30 [[ 9.99088117e-01 -4.20002695e-02 -7.67534227e-03 7.45070571e+01] [ 4.19995850e-02 9.99117597e-01 -2.50416012e-04 -4.53153560e-01] [ 7.67908706e-03 -7.21735282e-05 9.99970513e-01 3.03557599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.53, Y:-0.45, Z:0.30 [[ 9.99061152e-01 -4.26368890e-02 -7.67532088e-03 7.45335883e+01] [ 4.26362182e-02 9.99090631e-01 -2.51069991e-04 -4.48855295e-01] [ 7.67904602e-03 -7.64123816e-05 9.99970513e-01 3.04124058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.56, Y:-0.44, Z:0.30 [[ 9.99024322e-01 -4.34913097e-02 -7.67528606e-03 7.45613710e+01] [ 4.34906560e-02 9.99053802e-01 -2.52129827e-04 -4.44509234e-01] [ 7.67898918e-03 -8.19193961e-05 9.99970513e-01 3.03483894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.59, Y:-0.44, Z:0.30 [[ 9.98965721e-01 -4.48171676e-02 -7.67523625e-03 7.45886313e+01] [ 4.48165414e-02 9.98995202e-01 -2.53637045e-04 -4.39401074e-01] [ 7.67889148e-03 -9.06028295e-05 9.99970513e-01 3.01970189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.62, Y:-0.43, Z:0.30 [[ 9.98820995e-01 -4.79344421e-02 -7.67520052e-03 7.46150609e+01] [ 4.79338997e-02 9.98850477e-01 -2.54713883e-04 -4.30340003e-01] [ 7.67858727e-03 -1.13488717e-04 9.99970513e-01 2.99795721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.64, Y:-0.43, Z:0.30 [[ 9.98763874e-01 -4.91102394e-02 -7.67517919e-03 7.46421320e+01] [ 4.91097268e-02 9.98793357e-01 -2.55354963e-04 -4.25397180e-01] [ 7.67845853e-03 -1.21886641e-04 9.99970513e-01 2.99594327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:-0.42, Z:0.30 [[ 9.98721412e-01 -4.99663218e-02 -7.67515819e-03 7.46702832e+01] [ 4.99658296e-02 9.98750895e-01 -2.55984520e-04 -4.20815578e-01] [ 7.67836172e-03 -1.27838425e-04 9.99970513e-01 2.99237472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.70, Y:-0.41, Z:0.30 [[ 9.98580955e-01 -5.26988565e-02 -7.67510975e-03 7.46984147e+01] [ 5.26984338e-02 9.98610439e-01 -2.57428809e-04 -4.12327984e-01] [ 7.67801092e-03 -1.47402757e-04 9.99970513e-01 2.96865978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.73, Y:-0.41, Z:0.29 [[ 9.98428223e-01 -5.55173624e-02 -7.67506625e-03 7.47262320e+01] [ 5.55170131e-02 9.98457708e-01 -2.58719107e-04 -4.07608445e-01] [ 7.67759246e-03 -1.67784295e-04 9.99970513e-01 2.93095220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.75, Y:-0.40, Z:0.29 [[ 9.98199585e-01 -5.94868262e-02 -7.67505080e-03 7.47536725e+01] [ 5.94865906e-02 9.98229071e-01 -2.59176842e-04 -4.03704469e-01] [ 7.67687643e-03 -1.97852389e-04 9.99970513e-01 2.94107723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:-0.40, Z:0.30 [[ 9.97924434e-01 -6.39368286e-02 -7.67500209e-03 7.47818377e+01] [ 6.39367135e-02 9.97953921e-01 -2.60611379e-04 -4.00452115e-01] [ 7.67596109e-03 -2.30643946e-04 9.99970513e-01 2.95673012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.81, Y:-0.40, Z:0.30 [[ 9.97424499e-01 -7.13124402e-02 -7.67495264e-03 7.48092795e+01] [ 7.13125320e-02 9.97453986e-01 -2.62059542e-04 -3.95821972e-01] [ 7.67410021e-03 -2.85935698e-04 9.99970513e-01 2.99425575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.84, Y:-0.39, Z:0.30 [[ 9.97285854e-01 -7.32258201e-02 -7.67490314e-03 7.48363527e+01] [ 7.32259573e-02 9.97315341e-01 -2.63501201e-04 -3.93504145e-01] [ 7.67359374e-03 -2.99216109e-04 9.99970513e-01 2.99967023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:-0.39, Z:0.30 [[ 9.97165817e-01 -7.48427042e-02 -7.67488153e-03 7.48641511e+01] [ 7.48428844e-02 9.97195303e-01 -2.64129050e-04 -3.91071829e-01] [ 7.67312395e-03 -3.11029812e-04 9.99970513e-01 3.00342978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:-0.39, Z:0.30 [[ 9.97067273e-01 -7.61442724e-02 -7.67483196e-03 7.48916365e+01] [ 7.61444800e-02 9.97096759e-01 -2.65561701e-04 -3.88998220e-01] [ 7.67277108e-03 -3.19613208e-04 9.99970513e-01 3.00793397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:-0.39, Z:0.30 [[ 9.97075487e-01 -7.60366357e-02 -7.67481657e-03 7.49193541e+01] [ 7.60368368e-02 9.97104974e-01 -2.66005817e-04 -3.87724825e-01] [ 7.67282396e-03 -3.18340895e-04 9.99970513e-01 3.02808220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.95, Y:-0.39, Z:0.30 [[ 9.97160360e-01 -7.49153781e-02 -7.67476613e-03 7.49467361e+01] [ 7.49155350e-02 9.97189847e-01 -2.67453227e-04 -3.86157510e-01] [ 7.67323522e-03 -3.08265454e-04 9.99970513e-01 3.04365811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:-0.38, Z:0.30 [[ 9.97301692e-01 -7.30098108e-02 -7.67474416e-03 7.49741461e+01] [ 7.30099065e-02 9.97331180e-01 -2.68082187e-04 -3.84310882e-01] [ 7.67383428e-03 -2.92973534e-04 9.99970513e-01 3.04600550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.00, Y:-0.38, Z:0.31 [[ 9.97651943e-01 -6.80565986e-02 -7.67467747e-03 7.50014932e+01] [ 6.80565332e-02 9.97681430e-01 -2.69981581e-04 -3.82367859e-01] [ 7.67525722e-03 -2.52964294e-04 9.99970513e-01 3.05186285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.03, Y:-0.38, Z:0.31 [[ 9.97777519e-01 -6.61900454e-02 -7.67467908e-03 7.50293569e+01] [ 6.61899252e-02 9.97807006e-01 -2.69936031e-04 -3.81229568e-01] [ 7.67571563e-03 -2.38650331e-04 9.99970513e-01 3.06873598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:-0.38, Z:0.31 [[ 9.97905374e-01 -6.42336681e-02 -7.67462971e-03 7.50558779e+01] [ 6.42334793e-02 9.97934861e-01 -2.71332324e-04 -3.80339389e-01] [ 7.67620920e-03 -2.22204184e-04 9.99970513e-01 3.08754825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:-0.38, Z:0.31 [[ 9.98023501e-01 -6.23714037e-02 -7.67459552e-03 7.50834045e+01] [ 6.23711525e-02 9.98052987e-01 -2.72296046e-04 -3.79120708e-01] [ 7.67663647e-03 -2.06915514e-04 9.99970513e-01 3.11501903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.11, Y:-0.38, Z:0.31 [[ 9.98089562e-01 -6.13052007e-02 -7.67454617e-03 7.51114025e+01] [ 6.13049074e-02 9.98119048e-01 -2.73679862e-04 -3.78629765e-01] [ 7.67688871e-03 -1.97330328e-04 9.99970513e-01 3.12537250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:-0.38, Z:0.31 [[ 9.98008335e-01 -6.26136220e-02 -7.67449339e-03 7.51384045e+01] [ 6.26133560e-02 9.98037821e-01 -2.75152057e-04 -3.78543982e-01] [ 7.67666292e-03 -2.05921741e-04 9.99970513e-01 3.13213645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.17, Y:-0.38, Z:0.31 [[ 9.97828411e-01 -6.54183875e-02 -7.67447046e-03 7.51663746e+01] [ 6.54181995e-02 9.97857897e-01 -2.75790126e-04 -3.79463739e-01] [ 7.67607270e-03 -2.26858817e-04 9.99970513e-01 3.12798339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.19, Y:-0.38, Z:0.31 [[ 9.97316987e-01 -7.28006256e-02 -7.67441733e-03 7.51936412e+01] [ 7.28006445e-02 9.97346474e-01 -2.77260712e-04 -3.83947311e-01] [ 7.67423782e-03 -2.82185710e-04 9.99970513e-01 3.11845110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:-0.39, Z:0.31 [[ 9.97036227e-01 -7.65497643e-02 -7.67438052e-03 7.52217377e+01] [ 7.65498863e-02 9.97065714e-01 -2.78275912e-04 -3.85565605e-01] [ 7.67316364e-03 -3.10021790e-04 9.99970513e-01 3.11505582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:-0.39, Z:0.31 [[ 9.96764593e-01 -8.00090688e-02 -7.67432933e-03 7.52484228e+01] [ 8.00092823e-02 9.96794079e-01 -2.79680469e-04 -3.86914693e-01] [ 7.67210301e-03 -3.35241994e-04 9.99970513e-01 3.11286189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.28, Y:-0.39, Z:0.31 [[ 9.96499938e-01 -8.32404840e-02 -7.67429389e-03 7.52762216e+01] [ 8.32407856e-02 9.96529424e-01 -2.80649524e-04 -3.87754309e-01] [ 7.67102107e-03 -3.59147019e-04 9.99970513e-01 3.11248211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.30, Y:-0.39, Z:0.31 [[ 9.96182815e-01 -8.69534668e-02 -7.67424000e-03 7.53042299e+01] [ 8.69538671e-02 9.96212299e-01 -2.82115560e-04 -3.88694235e-01] [ 7.66970320e-03 -3.86266173e-04 9.99970513e-01 3.10619676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:-0.39, Z:0.31 [[ 9.96132690e-01 -8.75258320e-02 -7.67418530e-03 7.53307724e+01] [ 8.75262379e-02 9.96162174e-01 -2.83595830e-04 -3.87554777e-01] [ 7.66955507e-03 -3.89193490e-04 9.99970513e-01 3.08763695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.36, Y:-0.39, Z:0.31 [[ 9.96151812e-01 -8.73079266e-02 -7.67416154e-03 7.53582359e+01] [ 8.73083211e-02 9.96181297e-01 -2.84237186e-04 -3.85419758e-01] [ 7.66967236e-03 -3.86874772e-04 9.99970513e-01 3.05269434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:-0.38, Z:0.31 [[ 9.96300646e-01 -8.55928210e-02 -7.67414548e-03 7.53862934e+01] [ 8.55931614e-02 9.96330131e-01 -2.84670133e-04 -3.82859237e-01] [ 7.67034809e-03 -3.73237335e-04 9.99970513e-01 3.05493149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.41, Y:-0.38, Z:0.31 [[ 9.96803951e-01 -7.95172423e-02 -7.67409428e-03 7.54135885e+01] [ 7.95173924e-02 9.96833438e-01 -2.86043659e-04 -3.76813429e-01] [ 7.67253919e-03 -3.25094517e-04 9.99970513e-01 3.07855976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.44, Y:-0.37, Z:0.31 [[ 9.97053980e-01 -7.63182126e-02 -7.67404183e-03 7.54410673e+01] [ 7.63182573e-02 9.97083467e-01 -2.87443941e-04 -3.72092496e-01] [ 7.67359745e-03 -2.99072374e-04 9.99970513e-01 3.10747160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.47, Y:-0.37, Z:0.31 [[ 9.97272494e-01 -7.34076449e-02 -7.67398449e-03 7.54680663e+01] [ 7.34075918e-02 9.97301981e-01 -2.88966884e-04 -3.66539985e-01] [ 7.67449231e-03 -2.75149996e-04 9.99970513e-01 3.10081647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.50, Y:-0.37, Z:0.31 [[ 9.97258789e-01 -7.35936067e-02 -7.67395947e-03 7.54965129e+01] [ 7.35935540e-02 9.97288276e-01 -2.89629803e-04 -3.65288758e-01] [ 7.67446471e-03 -2.75918084e-04 9.99970513e-01 3.10300344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:-0.36, Z:0.31 [[ 9.97371028e-01 -7.20565286e-02 -7.67390519e-03 7.55239434e+01] [ 7.20564194e-02 9.97400515e-01 -2.91060772e-04 -3.58788303e-01] [ 7.67492982e-03 -2.62658550e-04 9.99970513e-01 3.08640344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.55, Y:-0.35, Z:0.30 [[ 9.97407946e-01 -7.15436989e-02 -7.67388832e-03 7.55515857e+01] [ 7.15435712e-02 9.97437433e-01 -2.91504956e-04 -3.48165930e-01] [ 7.67507881e-03 -2.58268017e-04 9.99970513e-01 3.04218735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.245898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.58, Y:-0.34, Z:0.30 [[ 9.97331218e-01 -7.26054736e-02 -7.67375770e-03 7.55800355e+01] [ 7.26053509e-02 9.97360705e-01 -2.94935348e-04 -3.42493908e-01] [ 7.67491831e-03 -2.63007640e-04 9.99970513e-01 3.04415437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.61, Y:-0.34, Z:0.31 [[ 9.97219965e-01 -7.41178374e-02 -7.67383854e-03 7.56066924e+01] [ 7.41177758e-02 9.97249452e-01 -2.92816805e-04 -3.37342163e-01] [ 7.67443423e-03 -2.76765080e-04 9.99970513e-01 3.05388938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:-0.33, Z:0.31 [[ 9.97042293e-01 -7.64707746e-02 -7.67379887e-03 7.56357712e+01] [ 7.64707745e-02 9.97071780e-01 -2.93852695e-04 -3.32384917e-01] [ 7.67379944e-03 -2.93837778e-04 9.99970513e-01 3.07592386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.66, Y:-0.32, Z:0.31 [[ 9.96523780e-01 -8.29546197e-02 -7.67374904e-03 7.56636414e+01] [ 8.29548015e-02 9.96553267e-01 -2.95148314e-04 -3.24671290e-01] [ 7.67178359e-03 -3.42452014e-04 9.99970513e-01 3.08564358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.69, Y:-0.32, Z:0.31 [[ 9.96197919e-01 -8.67803036e-02 -7.67372319e-03 7.56912500e+01] [ 8.67805935e-02 9.96227404e-01 -2.95818850e-04 -3.20471055e-01] [ 7.67044458e-03 -3.71236130e-04 9.99970513e-01 3.08565995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.72, Y:-0.32, Z:0.31 [[ 9.95875994e-01 -9.03997785e-02 -7.67366662e-03 7.57186999e+01] [ 9.04001643e-02 9.95905478e-01 -2.97279203e-04 -3.16839194e-01] [ 7.66912060e-03 -3.97647501e-04 9.99970513e-01 3.07010452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.75, Y:-0.31, Z:0.31 [[ 9.95371327e-01 -9.57968579e-02 -7.67360955e-03 7.57457122e+01] [ 9.57973923e-02 9.95400809e-01 -2.98745118e-04 -3.10867943e-01] [ 7.66693599e-03 -4.37749459e-04 9.99970513e-01 3.06538772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:-0.31, Z:0.31 [[ 9.95204686e-01 -9.75128104e-02 -7.67358476e-03 7.57734753e+01] [ 9.75133906e-02 9.95234168e-01 -2.99380452e-04 -3.07491694e-01] [ 7.66620717e-03 -4.50332439e-04 9.99970513e-01 3.12387604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.80, Y:-0.30, Z:0.31 [[ 9.95073900e-01 -9.88385022e-02 -7.67364791e-03 7.58024628e+01] [ 9.88391341e-02 9.95103380e-01 -2.97765367e-04 -3.04188101e-01] [ 7.66550365e-03 -4.62158170e-04 9.99970513e-01 3.13868248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.83, Y:-0.30, Z:0.32 [[ 9.94981123e-01 -9.97681461e-02 -7.67351819e-03 7.58303362e+01] [ 9.97687802e-02 9.95010603e-01 -3.01071643e-04 -3.01209780e-01] [ 7.66526932e-03 -4.66016948e-04 9.99970513e-01 3.17261246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.86, Y:-0.30, Z:0.32 [[ 9.94832819e-01 -1.01236256e-01 -7.67346243e-03 7.58579549e+01] [ 1.01236923e-01 9.94862299e-01 -3.02486156e-04 -2.97396108e-01] [ 7.66466104e-03 -4.75914571e-04 9.99970513e-01 3.17549558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.89, Y:-0.30, Z:0.32 [[ 9.94785961e-01 -1.01695680e-01 -7.67340674e-03 7.58855478e+01] [ 1.01696350e-01 9.94815440e-01 -3.03892223e-04 -2.95092643e-01] [ 7.66452803e-03 -4.78049740e-04 9.99970513e-01 3.16105781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.605898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:75.91, Y:-0.29, Z:0.31 [[ 9.94774800e-01 -1.01804796e-01 -7.67335061e-03 7.59126376e+01] [ 1.01805458e-01 9.94804280e-01 -3.05302991e-04 -2.92194668e-01] [ 7.66456334e-03 -4.77481254e-04 9.99970513e-01 3.13458912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.94, Y:-0.29, Z:0.31 [[ 9.94856468e-01 -1.01003601e-01 -7.67332617e-03 7.59397866e+01] [ 1.01004235e-01 9.94885949e-01 -3.05915937e-04 -2.89648542e-01] [ 7.66498300e-03 -4.70695991e-04 9.99970513e-01 3.14938512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.97, Y:-0.28, Z:0.32 [[ 9.95013145e-01 -9.94482853e-02 -7.67330187e-03 7.59662776e+01] [ 9.94488680e-02 9.95042627e-01 -3.06524310e-04 -2.83167728e-01] [ 7.66574577e-03 -4.58105468e-04 9.99970513e-01 3.17348269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69589822699999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.99, Y:-0.28, Z:0.32 [[ 9.95039988e-01 -9.91793525e-02 -7.67327855e-03 7.59944916e+01] [ 9.91799228e-02 9.95069469e-01 -3.07107117e-04 -2.79124613e-01] [ 7.66590390e-03 -4.55451312e-04 9.99970513e-01 3.17568924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.02, Y:-0.28, Z:0.32 [[ 9.95031697e-01 -9.92624965e-02 -7.67322764e-03 7.60224733e+01] [ 9.92630595e-02 9.95061179e-01 -3.08373863e-04 -2.76174546e-01] [ 7.66594090e-03 -4.54826283e-04 9.99970513e-01 3.18572557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.05, Y:-0.27, Z:0.32 [[ 9.94815454e-01 -1.01406777e-01 -7.67320022e-03 7.60502124e+01] [ 1.01407398e-01 9.94844935e-01 -3.09054541e-04 -2.72287580e-01] [ 7.66498460e-03 -4.70667035e-04 9.99970513e-01 3.15215594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.08, Y:-0.27, Z:0.31 [[ 9.94660918e-01 -1.02911518e-01 -7.67318245e-03 7.60785499e+01] [ 1.02912181e-01 9.94690398e-01 -3.09495056e-04 -2.70292503e-01] [ 7.66429151e-03 -4.81821302e-04 9.99970513e-01 3.14232306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.11, Y:-0.27, Z:0.31 [[ 9.94574549e-01 -1.03742904e-01 -7.67313138e-03 7.61059766e+01] [ 1.03743582e-01 9.94604028e-01 -3.10756294e-04 -2.68514654e-01] [ 7.66396613e-03 -4.86967831e-04 9.99970513e-01 3.13072670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:-0.27, Z:0.31 [[ 9.94564579e-01 -1.03838441e-01 -7.67311314e-03 7.61334761e+01] [ 1.03839118e-01 9.94594058e-01 -3.11206001e-04 -2.66099164e-01] [ 7.66394788e-03 -4.87254835e-04 9.99970513e-01 3.13101503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.16, Y:-0.26, Z:0.32 [[ 9.94870131e-01 -1.00868954e-01 -7.67309519e-03 7.61618620e+01] [ 1.00869540e-01 9.94899612e-01 -3.11647794e-04 -2.61283869e-01] [ 7.66539502e-03 -4.63932500e-04 9.99970513e-01 3.15490827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.19, Y:-0.26, Z:0.31 [[ 9.95138665e-01 -9.81843286e-02 -7.67304365e-03 7.61904099e+01] [ 9.81848248e-02 9.95168148e-01 -3.12911661e-04 -2.57604819e-01] [ 7.66669166e-03 -4.41985955e-04 9.99970513e-01 3.14016696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.935898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:76.22, Y:-0.25, Z:0.31 [[ 9.95447895e-01 -9.49979450e-02 -7.67323365e-03 7.62185990e+01] [ 9.49983826e-02 9.95477379e-01 -3.08259570e-04 -2.52860122e-01] [ 7.66781455e-03 -4.22088446e-04 9.99970513e-01 3.13788583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.25, Y:-0.25, Z:0.32 [[ 9.95803688e-01 -9.11928776e-02 -7.67299354e-03 7.62469327e+01] [ 9.11931574e-02 9.95833173e-01 -3.14124647e-04 -2.48151876e-01] [ 7.66966744e-03 -3.86918026e-04 9.99970513e-01 3.16052093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.28, Y:-0.24, Z:0.32 [[ 9.96343180e-01 -8.50963758e-02 -7.67294295e-03 7.62761391e+01] [ 8.50964656e-02 9.96372667e-01 -3.15355491e-04 -2.36845798e-01] [ 7.67194625e-03 -3.38738034e-04 9.99970513e-01 3.17966135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02589822699998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:76.31, Y:-0.23, Z:0.32 [[ 9.96456899e-01 -8.37542508e-02 -7.67293934e-03 7.63060753e+01] [ 8.37543003e-02 9.96486386e-01 -3.15443439e-04 -2.30304135e-01] [ 7.67239932e-03 -3.28315874e-04 9.99970513e-01 3.17541640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:-0.22, Z:0.32 [[ 9.96484921e-01 -8.34201919e-02 -7.67293934e-03 7.63372317e+01] [ 8.34202315e-02 9.96514408e-01 -3.15443439e-04 -2.24913374e-01] [ 7.67250895e-03 -3.25743746e-04 9.99970513e-01 3.18101317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.37, Y:-0.21, Z:0.32 [[ 9.96180877e-01 -8.69757762e-02 -7.67294691e-03 7.63673163e+01] [ 8.69759224e-02 9.96210364e-01 -3.15259110e-04 -2.14802730e-01] [ 7.67128914e-03 -3.53306538e-04 9.99970513e-01 3.17787844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.40, Y:-0.21, Z:0.32 [[ 9.95882976e-01 -9.03228834e-02 -7.67295947e-03 7.63984350e+01] [ 9.03231311e-02 9.95912462e-01 -3.14953260e-04 -2.08246462e-01] [ 7.67004344e-03 -3.79389134e-04 9.99970513e-01 3.18128096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.43, Y:-0.20, Z:0.32 [[ 9.95492725e-01 -9.45270346e-02 -7.67296673e-03 7.64298158e+01] [ 9.45274081e-02 9.95522210e-01 -3.14776133e-04 -2.01981317e-01] [ 7.66836365e-03 -4.11948308e-04 9.99970513e-01 3.16716657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17589822699999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:76.46, Y:-0.19, Z:0.32 [[ 9.94435864e-01 -1.05063955e-01 -7.67319646e-03 7.64604310e+01] [ 1.05064684e-01 9.94465342e-01 -3.09162864e-04 -1.90478290e-01] [ 7.66320981e-03 -4.98739322e-04 9.99970513e-01 3.15720142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.49, Y:-0.19, Z:0.32 [[ 9.93972940e-01 -1.09356843e-01 -7.67298720e-03 7.64910453e+01] [ 1.09357659e-01 9.94002416e-01 -3.14271880e-04 -1.85249686e-01] [ 7.66133560e-03 -5.26722177e-04 9.99970513e-01 3.18292372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:-0.18, Z:0.32 [[ 9.93494106e-01 -1.13624763e-01 -7.67299069e-03 7.65232745e+01] [ 1.13625707e-01 9.93523578e-01 -3.14186732e-04 -1.79139879e-01] [ 7.65899656e-03 -5.59706329e-04 9.99970513e-01 3.21038190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:-0.17, Z:0.32 [[ 9.93058812e-01 -1.17368298e-01 -7.67320317e-03 7.65547641e+01] [ 1.17369393e-01 9.93088279e-01 -3.09000651e-04 -1.74397306e-01] [ 7.65643502e-03 -5.93743377e-04 9.99970513e-01 3.20528761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.59, Y:-0.17, Z:0.32 [[ 9.92164609e-01 -1.24701701e-01 -7.67297358e-03 7.65870624e+01] [ 1.24702971e-01 9.92194069e-01 -3.14600471e-04 -1.69647235e-01] [ 7.65231009e-03 -6.44707147e-04 9.99970513e-01 3.19978589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.62, Y:-0.17, Z:0.32 [[ 9.91783448e-01 -1.27697759e-01 -7.67298779e-03 7.66190383e+01] [ 1.27699121e-01 9.91812904e-01 -3.14253511e-04 -1.67920696e-01] [ 7.65029777e-03 -6.68162362e-04 9.99970513e-01 3.19651063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.355898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:76.65, Y:-0.16, Z:0.32 [[ 9.91452348e-01 -1.30243486e-01 -7.67300245e-03 7.66501509e+01] [ 1.30244926e-01 9.91481800e-01 -3.13895122e-04 -1.64491190e-01] [ 7.64852508e-03 -6.88157582e-04 9.99970513e-01 3.17066120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.68, Y:-0.16, Z:0.32 [[ 9.91429039e-01 -1.30420803e-01 -7.67301337e-03 7.66817334e+01] [ 1.30422250e-01 9.91458491e-01 -3.13627894e-04 -1.62410813e-01] [ 7.64837786e-03 -6.89791864e-04 9.99970513e-01 3.15879889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.71, Y:-0.16, Z:0.32 [[ 9.91892997e-01 -1.26844023e-01 -7.67303947e-03 7.67142270e+01] [ 1.26845369e-01 9.91922454e-01 -3.12988772e-04 -1.57333793e-01] [ 7.65076089e-03 -6.62838151e-04 9.99970513e-01 3.15654603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.75, Y:-0.15, Z:0.32 [[ 9.92291415e-01 -1.23688613e-01 -7.67304580e-03 7.67451919e+01] [ 1.23689866e-01 9.92320875e-01 -3.12833432e-04 -1.54876338e-01] [ 7.65281746e-03 -6.38656079e-04 9.99970513e-01 3.16364143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.78, Y:-0.15, Z:0.32 [[ 9.93066125e-01 -1.17306422e-01 -7.67305658e-03 7.67765992e+01] [ 1.17307488e-01 9.93095592e-01 -3.12568873e-04 -1.52134517e-01] [ 7.65674500e-03 -5.89705429e-04 9.99970513e-01 3.24393183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:76.81, Y:-0.15, Z:0.32 [[ 9.93274067e-01 -1.15532479e-01 -7.67292106e-03 7.68089860e+01] [ 1.15533467e-01 9.93303538e-01 -3.15897507e-04 -1.49879373e-01] [ 7.65803606e-03 -5.72706369e-04 9.99970513e-01 3.22829455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.84, Y:-0.15, Z:0.32 [[ 9.93380971e-01 -1.14609647e-01 -7.67306505e-03 7.68416855e+01] [ 1.14610635e-01 9.93410441e-01 -3.12360503e-04 -1.49548951e-01] [ 7.65830246e-03 -5.69121875e-04 9.99970513e-01 3.23251263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:-0.15, Z:0.32 [[ 9.93341610e-01 -1.14950280e-01 -7.67323111e-03 7.68724413e+01] [ 1.14951309e-01 9.93371079e-01 -3.08280165e-04 -1.49509354e-01] [ 7.65780276e-03 -5.75820443e-04 9.99970513e-01 3.22093077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:-0.15, Z:0.32 [[ 9.93136126e-01 -1.16712308e-01 -7.67285431e-03 7.69039897e+01] [ 1.16713318e-01 9.93165596e-01 -3.17542838e-04 -1.49856574e-01] [ 7.65747607e-03 -5.80161023e-04 9.99970513e-01 3.20399927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.94, Y:-0.15, Z:0.32 [[ 9.92680970e-01 -1.20522262e-01 -7.67309272e-03 7.69357710e+01] [ 1.20523430e-01 9.92710434e-01 -3.11673422e-04 -1.51304601e-01] [ 7.65472278e-03 -6.15395178e-04 9.99970513e-01 3.20355742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.97, Y:-0.15, Z:0.32 [[ 9.92505655e-01 -1.21957565e-01 -7.67310708e-03 7.69673958e+01] [ 1.21958778e-01 9.92535118e-01 -3.11319450e-04 -1.50716792e-01] [ 7.65379600e-03 -6.26816449e-04 9.99970513e-01 3.22846643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.00, Y:-0.15, Z:0.32 [[ 9.92453726e-01 -1.22379440e-01 -7.67294192e-03 7.69981992e+01] [ 1.22380635e-01 9.92483189e-01 -3.15388915e-04 -1.50252843e-01] [ 7.65386299e-03 -6.26010599e-04 9.99970513e-01 3.22968623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.03, Y:-0.15, Z:0.33 [[ 9.92559485e-01 -1.21518695e-01 -7.67306738e-03 7.70302124e+01] [ 1.21519888e-01 9.92588948e-01 -3.12297486e-04 -1.49916353e-01] [ 7.65415186e-03 -6.22456454e-04 9.99970513e-01 3.25436808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.06, Y:-0.15, Z:0.33 [[ 9.92593982e-01 -1.21236585e-01 -7.67311489e-03 7.70621104e+01] [ 1.21237779e-01 9.92623445e-01 -3.11125926e-04 -1.48760912e-01] [ 7.65423358e-03 -6.21449682e-04 9.99970513e-01 3.26328006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.09, Y:-0.15, Z:0.33 [[ 9.92632435e-01 -1.20921347e-01 -7.67312951e-03 7.70932433e+01] [ 1.20922534e-01 9.92661898e-01 -3.10764930e-04 -1.47458451e-01] [ 7.65440142e-03 -6.19378912e-04 9.99970513e-01 3.26127451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:-0.15, Z:0.33 [[ 9.92683411e-01 -1.20502155e-01 -7.67314039e-03 7.71255412e+01] [ 1.20503331e-01 9.92712874e-01 -3.10496028e-04 -1.46052138e-01] [ 7.65464069e-03 -6.16414722e-04 9.99970513e-01 3.26392425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.16, Y:-0.14, Z:0.32 [[ 9.92774229e-01 -1.19751634e-01 -7.67315446e-03 7.71571083e+01] [ 1.19752790e-01 9.92803693e-01 -3.10147950e-04 -1.43464219e-01] [ 7.65507681e-03 -6.10974766e-04 9.99970513e-01 3.24875314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.19, Y:-0.14, Z:0.32 [[ 9.92822487e-01 -1.19350879e-01 -7.67316147e-03 7.71885487e+01] [ 1.19352025e-01 9.92851952e-01 -3.09974397e-04 -1.41371890e-01] [ 7.65530906e-03 -6.08057812e-04 9.99970513e-01 3.24559400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.22, Y:-0.14, Z:0.32 [[ 9.92857210e-01 -1.19061679e-01 -7.67318363e-03 7.72192634e+01] [ 1.19062821e-01 9.92886675e-01 -3.09424999e-04 -1.39063156e-01] [ 7.65544243e-03 -6.06376050e-04 9.99970513e-01 3.23431519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:-0.14, Z:0.32 [[ 9.92846057e-01 -1.19154640e-01 -7.67319401e-03 7.72515719e+01] [ 1.19155787e-01 9.92875522e-01 -3.09167361e-04 -1.36181248e-01] [ 7.65536523e-03 -6.07349875e-04 9.99970513e-01 3.22880827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:-0.13, Z:0.32 [[ 9.92680643e-01 -1.20524944e-01 -7.67320795e-03 7.72822647e+01] [ 1.20526134e-01 9.92710107e-01 -3.08821013e-04 -1.31810951e-01] [ 7.65449171e-03 -6.18261446e-04 9.99970513e-01 3.21478522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98589822699999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:77.31, Y:-0.13, Z:0.32 [[ 9.92529361e-01 -1.21764485e-01 -7.67321837e-03 7.73143456e+01] [ 1.21765714e-01 9.92558822e-01 -3.08561891e-04 -1.28468513e-01] [ 7.65369246e-03 -6.28078176e-04 9.99970513e-01 3.21376505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.35, Y:-0.13, Z:0.32 [[ 9.92425092e-01 -1.22611415e-01 -7.67323224e-03 7.73456681e+01] [ 1.22612671e-01 9.92454552e-01 -3.08216527e-04 -1.26897766e-01] [ 7.65312513e-03 -6.34953688e-04 9.99970513e-01 3.22989775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.38, Y:-0.13, Z:0.32 [[ 9.92430398e-01 -1.22568456e-01 -7.67324256e-03 7.73783239e+01] [ 1.22569713e-01 9.92459858e-01 -3.07959327e-04 -1.25668708e-01] [ 7.65313132e-03 -6.34878943e-04 9.99970513e-01 3.23240683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:-0.12, Z:0.32 [[ 9.91978257e-01 -1.26175509e-01 -7.67325588e-03 7.74104733e+01] [ 1.26176876e-01 9.92007712e-01 -3.07627183e-04 -1.23523313e-01] [ 7.65074402e-03 -6.63027978e-04 9.99970513e-01 3.23132844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:-0.12, Z:0.32 [[ 9.91605595e-01 -1.29071552e-01 -7.67318036e-03 7.74431551e+01] [ 1.29072991e-01 9.91635047e-01 -3.09514533e-04 -1.21823388e-01] [ 7.64894409e-03 -6.83483996e-04 9.99970513e-01 3.18755743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:-0.12, Z:0.32 [[ 9.91304818e-01 -1.31361635e-01 -7.67328816e-03 7.74752156e+01] [ 1.31363162e-01 9.91334265e-01 -3.06818618e-04 -1.20126448e-01] [ 7.64709767e-03 -7.03836621e-04 9.99970513e-01 3.17220857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:-0.12, Z:0.32 [[ 9.91059187e-01 -1.33202134e-01 -7.67330216e-03 7.75072687e+01] [ 1.33203719e-01 9.91088631e-01 -3.06468104e-04 -1.18432169e-01] [ 7.64574474e-03 -7.18384355e-04 9.99970513e-01 3.15805048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.54, Y:-0.12, Z:0.31 [[ 9.91019532e-01 -1.33496845e-01 -7.67331615e-03 7.75381407e+01] [ 1.33498441e-01 9.91048976e-01 -3.06117284e-04 -1.16985751e-01] [ 7.64549780e-03 -7.21007539e-04 9.99970513e-01 3.14281396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.57, Y:-0.11, Z:0.32 [[ 9.91237833e-01 -1.31866141e-01 -7.67332658e-03 7.75703593e+01] [ 1.31867691e-01 9.91267279e-01 -3.05855702e-04 -1.14998723e-01] [ 7.64664957e-03 -7.08688114e-04 9.99970513e-01 3.16379329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:-0.11, Z:0.32 [[ 9.91502451e-01 -1.29861505e-01 -7.67334029e-03 7.76025606e+01] [ 1.29862997e-01 9.91531900e-01 -3.05511312e-04 -1.11722053e-01] [ 7.64803583e-03 -6.93567756e-04 9.99970513e-01 3.18511141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:-0.10, Z:0.32 [[ 9.92083532e-01 -1.25345061e-01 -7.67335422e-03 7.76330792e+01] [ 1.25346422e-01 9.92112988e-01 -3.05161101e-04 -1.04932900e-01] [ 7.65108482e-03 -6.59082194e-04 9.99970513e-01 3.21187568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.66, Y:-0.10, Z:0.32 [[ 9.92330746e-01 -1.23372649e-01 -7.67336464e-03 7.76643492e+01] [ 1.23373953e-01 9.92360204e-01 -3.04898747e-04 -1.00264589e-01] [ 7.65235787e-03 -6.44132930e-04 9.99970513e-01 3.21187790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34589822699999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.70, Y:-0.10, Z:0.32 [[ 9.92515913e-01 -1.21874041e-01 -7.67337487e-03 7.76962353e+01] [ 1.21875304e-01 9.92545373e-01 -3.04641188e-04 -9.58552473e-02] [ 7.65330057e-03 -6.32833664e-04 9.99970513e-01 3.19768709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:-0.09, Z:0.32 [[ 9.92750719e-01 -1.19946358e-01 -7.67338855e-03 7.77274640e+01] [ 1.19947566e-01 9.92780182e-01 -3.04296090e-04 -8.84993433e-02] [ 7.65448729e-03 -6.18314114e-04 9.99970513e-01 3.19678359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:-0.08, Z:0.32 [[ 9.92804939e-01 -1.19496743e-01 -7.67339877e-03 7.77595870e+01] [ 1.19497940e-01 9.92834402e-01 -3.04038089e-04 -8.38497816e-02] [ 7.65474585e-03 -6.15104827e-04 9.99970513e-01 3.20828220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:-0.08, Z:0.32 [[ 9.92728526e-01 -1.20129898e-01 -7.67341241e-03 7.77907373e+01] [ 1.20131116e-01 9.92757988e-01 -3.03693605e-04 -7.91395365e-02] [ 7.65432415e-03 -6.20330290e-04 9.99970513e-01 3.20877567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:-0.08, Z:0.32 [[ 9.92590774e-01 -1.21262827e-01 -7.67342259e-03 7.78226516e+01] [ 1.21264080e-01 9.92620235e-01 -3.03436027e-04 -7.50683973e-02] [ 7.65359005e-03 -6.29322734e-04 9.99970513e-01 3.21070648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:-0.07, Z:0.32 [[ 9.92018132e-01 -1.25861609e-01 -7.67343614e-03 7.78530892e+01] [ 1.25863002e-01 9.92047586e-01 -3.03093192e-04 -6.87777802e-02] [ 7.65056159e-03 -6.65127765e-04 9.99970513e-01 3.22715573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.89, Y:-0.07, Z:0.33 [[ 9.91698249e-01 -1.28357756e-01 -7.67265678e-03 7.78861542e+01] [ 1.28359071e-01 9.91727707e-01 -3.22833934e-04 -6.67256664e-02] [ 7.65062455e-03 -6.64701251e-04 9.99970513e-01 3.26065634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:-0.06, Z:0.33 [[ 9.91311561e-01 -1.31310723e-01 -7.67350392e-03 7.79177716e+01] [ 1.31312292e-01 9.91341007e-01 -3.01255918e-04 -6.29737878e-02] [ 7.64661723e-03 -7.08986911e-04 9.99970513e-01 3.27636455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:-0.06, Z:0.33 [[ 9.90980357e-01 -1.33787329e-01 -7.67352086e-03 7.79497701e+01] [ 1.33788975e-01 9.91009798e-01 -3.00823803e-04 -5.91820381e-02] [ 7.64478077e-03 -7.28522008e-04 9.99970513e-01 3.28717816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:-0.05, Z:0.32 [[ 9.90573852e-01 -1.36764621e-01 -7.67349777e-03 7.79817107e+01] [ 1.36766350e-01 9.90603288e-01 -3.01413688e-04 -5.39086907e-02] [ 7.64261485e-03 -7.50903762e-04 9.99970513e-01 3.24637083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:-0.05, Z:0.32 [[ 9.90478969e-01 -1.37450098e-01 -7.67355118e-03 7.80143152e+01] [ 1.37451858e-01 9.90508403e-01 -3.00047545e-04 -5.14941690e-02] [ 7.64195849e-03 -7.57553086e-04 9.99970513e-01 3.22796025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:-0.05, Z:0.32 [[ 9.90415852e-01 -1.37904153e-01 -7.67356402e-03 7.80475041e+01] [ 1.37905930e-01 9.90445286e-01 -2.99719023e-04 -4.90557035e-02] [ 7.64157780e-03 -7.61383507e-04 9.99970513e-01 3.23312206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:-0.05, Z:0.32 [[ 9.90365694e-01 -1.38263909e-01 -7.67358407e-03 7.80791824e+01] [ 1.38265699e-01 9.90395127e-01 -2.99204564e-04 -4.67891762e-02] [ 7.64124946e-03 -7.64671533e-04 9.99970513e-01 3.23657760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73589822699999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:78.11, Y:-0.04, Z:0.32 [[ 9.90123604e-01 -1.39987017e-01 -7.67360067e-03 7.81113681e+01] [ 1.39988862e-01 9.90153033e-01 -2.98778312e-04 -4.33240922e-02] [ 7.63986406e-03 -7.78391170e-04 9.99970513e-01 3.24210791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:-0.04, Z:0.33 [[ 9.90065123e-01 -1.40400029e-01 -7.67361353e-03 7.81429530e+01] [ 1.40401889e-01 9.90094551e-01 -2.98447709e-04 -4.22358664e-02] [ 7.63950501e-03 -7.81907169e-04 9.99970513e-01 3.25776645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:-0.04, Z:0.32 [[ 9.90121125e-01 -1.40004549e-01 -7.67362957e-03 7.81746668e+01] [ 1.40006401e-01 9.90150554e-01 -2.98034669e-04 -3.97531045e-02] [ 7.63977478e-03 -7.79266833e-04 9.99970513e-01 3.24485621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:-0.04, Z:0.32 [[ 9.90239587e-01 -1.39164202e-01 -7.67364284e-03 7.82076537e+01] [ 1.39166031e-01 9.90269018e-01 -2.97692611e-04 -3.73544510e-02] [ 7.64039891e-03 -7.73123411e-04 9.99970513e-01 3.24629392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.24, Y:-0.04, Z:0.33 [[ 9.90404339e-01 -1.37986813e-01 -7.67366275e-03 7.82402867e+01] [ 1.37988611e-01 9.90433771e-01 -2.97178450e-04 -3.50081389e-02] [ 7.64126145e-03 -7.64551236e-04 9.99970513e-01 3.25229665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88589822699998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.27, Y:-0.03, Z:0.32 [[ 9.90595521e-01 -1.36607568e-01 -7.67368266e-03 7.82720436e+01] [ 1.36609329e-01 9.90624956e-01 -2.96663580e-04 -3.23099159e-02] [ 7.64226803e-03 -7.54423029e-04 9.99970513e-01 3.24293928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.30, Y:-0.03, Z:0.32 [[ 9.90964446e-01 -1.33905118e-01 -7.67371551e-03 7.83026990e+01] [ 1.33906805e-01 9.90993885e-01 -2.95811413e-04 -2.98663442e-02] [ 7.64421581e-03 -7.34424135e-04 9.99970513e-01 3.23968860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.33, Y:-0.03, Z:0.32 [[ 9.91141724e-01 -1.32586563e-01 -7.67372529e-03 7.83346893e+01] [ 1.32588213e-01 9.91171165e-01 -2.95557515e-04 -2.76144297e-02] [ 7.64516219e-03 -7.24506141e-04 9.99970513e-01 3.24608506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.37, Y:-0.03, Z:0.33 [[ 9.91318435e-01 -1.31258807e-01 -7.67374138e-03 7.83679666e+01] [ 1.31260421e-01 9.91347878e-01 -2.95138962e-04 -2.52820059e-02] [ 7.64608682e-03 -7.14681830e-04 9.99970513e-01 3.26022898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:78.40, Y:-0.02, Z:0.33 [[ 9.91391840e-01 -1.30703226e-01 -7.67376141e-03 7.84010034e+01] [ 1.30704827e-01 9.91421283e-01 -2.94617367e-04 -2.26343775e-02] [ 7.64643783e-03 -7.10916407e-04 9.99970513e-01 3.25916785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.43, Y:-0.02, Z:0.33 [[ 9.91350485e-01 -1.31016524e-01 -7.67378228e-03 7.84317832e+01] [ 1.31018138e-01 9.91379928e-01 -2.94072671e-04 -2.35513708e-02] [ 7.64616210e-03 -7.13875585e-04 9.99970513e-01 3.25663123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.46, Y:-0.02, Z:0.32 [[ 9.91256244e-01 -1.31727646e-01 -7.67379262e-03 7.84636219e+01] [ 1.31729284e-01 9.91285685e-01 -2.93802633e-04 -2.32856751e-02] [ 7.64562271e-03 -7.19629510e-04 9.99970513e-01 3.24873232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:-0.02, Z:0.33 [[ 9.91189610e-01 -1.32228097e-01 -7.67381282e-03 7.84932994e+01] [ 1.32229754e-01 9.91219051e-01 -2.93274174e-04 -2.25948230e-02] [ 7.64520854e-03 -7.24016066e-04 9.99970513e-01 3.28579267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:-0.02, Z:0.33 [[ 9.91053926e-01 -1.33241262e-01 -7.67345335e-03 7.85266506e+01] [ 1.33242877e-01 9.91083369e-01 -3.02709003e-04 -2.17333989e-02] [ 7.64536533e-03 -7.22432056e-04 9.99970513e-01 3.27965997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.155898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:78.56, Y:-0.02, Z:0.33 [[ 9.91129549e-01 -1.32677536e-01 -7.67386527e-03 7.85581693e+01] [ 1.32679217e-01 9.91158988e-01 -2.91879209e-04 -1.97189778e-02] [ 7.64474635e-03 -7.28872330e-04 9.99970513e-01 3.26513598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.59, Y:-0.02, Z:0.33 [[ 9.91366140e-01 -1.30898007e-01 -7.67389820e-03 7.85902649e+01] [ 1.30899641e-01 9.91395582e-01 -2.91010814e-04 -1.80009340e-02] [ 7.64596151e-03 -7.16012256e-04 9.99970513e-01 3.27727395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.62, Y:-0.02, Z:0.33 [[ 9.91672154e-01 -1.28559134e-01 -7.67391116e-03 7.86224982e+01] [ 1.28560702e-01 9.91701599e-01 -2.90668744e-04 -1.57553448e-02] [ 7.64759809e-03 -6.98315305e-04 9.99970513e-01 3.26642824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:-0.01, Z:0.33 [[ 9.92259176e-01 -1.23946914e-01 -7.67392730e-03 7.86542407e+01] [ 1.23948349e-01 9.92288629e-01 -2.90242001e-04 -1.12379401e-02] [ 7.65072540e-03 -6.63175326e-04 9.99970513e-01 3.29045810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.69, Y:-0.01, Z:0.33 [[ 9.92593588e-01 -1.21239763e-01 -7.67394040e-03 7.86850263e+01] [ 1.21241119e-01 9.92623044e-01 -2.89895298e-04 -8.48768813e-03] [ 7.65247691e-03 -6.42648910e-04 9.99970513e-01 3.30895505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:-0.00, Z:0.33 [[ 9.92928821e-01 -1.18462932e-01 -7.67395020e-03 7.87178610e+01] [ 1.18464208e-01 9.92958281e-01 -2.89635636e-04 -4.86818197e-03] [ 7.65422348e-03 -6.21500865e-04 9.99970513e-01 3.32914913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:0.00, Z:0.33 [[ 9.93344069e-01 -1.14928980e-01 -7.67396989e-03 7.87495967e+01] [ 1.14930155e-01 9.93373533e-01 -2.89112797e-04 2.68203574e-03] [ 7.65634602e-03 -5.94782070e-04 9.99970513e-01 3.31674528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.78, Y:0.01, Z:0.33 [[ 9.93322994e-01 -1.15110987e-01 -7.67400229e-03 7.87822888e+01] [ 1.15112174e-01 9.93352457e-01 -2.88250355e-04 7.23758781e-03] [ 7.65616981e-03 -5.97045381e-04 9.99970513e-01 3.31572858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:0.01, Z:0.33 [[ 9.93177953e-01 -1.16355760e-01 -7.67402181e-03 7.88152695e+01] [ 1.16356989e-01 9.93207415e-01 -2.87729643e-04 1.22610610e-02] [ 7.65537437e-03 -6.07159332e-04 9.99970513e-01 3.31751648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:0.02, Z:0.33 [[ 9.93022921e-01 -1.17671521e-01 -7.67404126e-03 7.88468137e+01] [ 1.17672793e-01 9.93052381e-01 -2.87210138e-04 1.60344282e-02] [ 7.65452139e-03 -6.17819614e-04 9.99970513e-01 3.32276965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:0.02, Z:0.33 [[ 9.92705285e-01 -1.20321757e-01 -7.67405731e-03 7.88782746e+01] [ 1.20323111e-01 9.92734741e-01 -2.86780580e-04 2.10262176e-02] [ 7.65280924e-03 -6.38677849e-04 9.99970513e-01 3.32141957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.91, Y:0.02, Z:0.33 [[ 9.92532438e-01 -1.21739347e-01 -7.67408853e-03 7.89116136e+01] [ 1.21740749e-01 9.92561891e-01 -2.85942591e-04 2.40976155e-02] [ 7.65181829e-03 -6.50441991e-04 9.99970513e-01 3.31914118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.94, Y:0.03, Z:0.33 [[ 9.92389835e-01 -1.22896392e-01 -7.67410724e-03 7.89433156e+01] [ 1.22897832e-01 9.92419287e-01 -2.85439687e-04 2.76700057e-02] [ 7.65101154e-03 -6.59863698e-04 9.99970513e-01 3.30558895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:0.03, Z:0.33 [[ 9.92214635e-01 -1.24302958e-01 -7.67412013e-03 7.89748088e+01] [ 1.24304443e-01 9.92244085e-01 -2.85092700e-04 3.28477060e-02] [ 7.65003817e-03 -6.71054078e-04 9.99970513e-01 3.26050987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:0.04, Z:0.33 [[ 9.92199485e-01 -1.24423828e-01 -7.67412972e-03 7.90078011e+01] [ 1.24425318e-01 9.92228935e-01 -2.84834300e-04 3.50961231e-02] [ 7.64993373e-03 -6.72243585e-04 9.99970513e-01 3.26331434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.04, Y:0.04, Z:0.33 [[ 9.92237624e-01 -1.24119321e-01 -7.67414807e-03 7.90398067e+01] [ 1.24120805e-01 9.92267073e-01 -2.84339117e-04 3.72957232e-02] [ 7.65009642e-03 -6.70389469e-04 9.99970513e-01 3.28140325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.07, Y:0.04, Z:0.33 [[ 9.92315145e-01 -1.23498016e-01 -7.67416035e-03 7.90721948e+01] [ 1.23499484e-01 9.92344596e-01 -2.84007103e-04 3.99740269e-02] [ 7.65048587e-03 -6.65930298e-04 9.99970513e-01 3.30677970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66589822699999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.11, Y:0.05, Z:0.33 [[ 9.92497666e-01 -1.22022500e-01 -7.67417301e-03 7.91050101e+01] [ 1.22023928e-01 9.92527118e-01 -2.83664842e-04 4.56452224e-02] [ 7.65143831e-03 -6.54896040e-04 9.99970513e-01 3.31121484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.14, Y:0.05, Z:0.33 [[ 9.92621325e-01 -1.21012445e-01 -7.67419235e-03 7.91366791e+01] [ 1.21013846e-01 9.92650779e-01 -2.83140531e-04 4.75954281e-02] [ 7.65205654e-03 -6.47632204e-04 9.99970513e-01 3.31315490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:0.05, Z:0.33 [[ 9.92725162e-01 -1.20157644e-01 -7.67422429e-03 7.91683440e+01] [ 1.20159027e-01 9.92754616e-01 -2.82272099e-04 4.97116002e-02] [ 7.65253874e-03 -6.41908711e-04 9.99970513e-01 3.28883730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.20, Y:0.05, Z:0.33 [[ 9.92772237e-01 -1.19768075e-01 -7.67427144e-03 7.92000202e+01] [ 1.19769456e-01 9.92801691e-01 -2.80984421e-04 5.20662019e-02] [ 7.65268263e-03 -6.40189785e-04 9.99970513e-01 3.29138341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78589822699999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:79.23, Y:0.06, Z:0.33 [[ 9.92857875e-01 -1.19056058e-01 -7.67428390e-03 7.92316108e+01] [ 1.19057421e-01 9.92887331e-01 -2.80643673e-04 5.60502208e-02] [ 7.65311159e-03 -6.35041170e-04 9.99970513e-01 3.29675449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.26, Y:0.06, Z:0.33 [[ 9.92863593e-01 -1.19008360e-01 -7.67431476e-03 7.92632732e+01] [ 1.19009728e-01 9.92893049e-01 -2.79797185e-04 5.73302205e-02] [ 7.65307199e-03 -6.35517672e-04 9.99970513e-01 3.33132071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.30, Y:0.06, Z:0.33 [[ 9.92804244e-01 -1.19502459e-01 -7.67432731e-03 7.92965498e+01] [ 1.19503845e-01 9.92833699e-01 -2.79452569e-04 5.84061492e-02] [ 7.65272604e-03 -6.39669923e-04 9.99970513e-01 3.33544881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.33, Y:0.06, Z:0.33 [[ 9.92458293e-01 -1.22342310e-01 -7.67434611e-03 7.93288449e+01] [ 1.22343783e-01 9.92487743e-01 -2.78935409e-04 5.83112974e-02] [ 7.65082005e-03 -6.62076776e-04 9.99970513e-01 3.33766856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.36, Y:0.06, Z:0.34 [[ 9.92199807e-01 -1.24421245e-01 -7.67438870e-03 7.93610075e+01] [ 1.24422790e-01 9.92229254e-01 -2.77758543e-04 5.84442593e-02] [ 7.64931204e-03 -6.79276878e-04 9.99970513e-01 3.37259153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.39, Y:0.06, Z:0.34 [[ 9.91894068e-01 -1.26835574e-01 -7.67430341e-03 7.93930964e+01] [ 1.26837172e-01 9.91923512e-01 -2.80121100e-04 5.78266965e-02] [ 7.64785131e-03 -6.95536481e-04 9.99970513e-01 3.37430589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.43, Y:0.06, Z:0.34 [[ 9.91902219e-01 -1.26771803e-01 -7.67444996e-03 7.94266053e+01] [ 1.26773430e-01 9.91931662e-01 -2.76046955e-04 5.89129843e-02] [ 7.64752487e-03 -6.99104758e-04 9.99970513e-01 3.37686750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.46, Y:0.06, Z:0.34 [[ 9.91583844e-01 -1.29238475e-01 -7.67446767e-03 7.94592965e+01] [ 1.29240179e-01 9.91613282e-01 -2.75553778e-04 5.77371354e-02] [ 7.64571622e-03 -7.18614901e-04 9.99970513e-01 3.38926129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:0.05, Z:0.34 [[ 9.91068144e-01 -1.33135403e-01 -7.67448544e-03 7.94923573e+01] [ 1.33137227e-01 9.91097575e-01 -2.75057884e-04 5.41312935e-02] [ 7.64278385e-03 -7.49158604e-04 9.99970513e-01 3.37975449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.52, Y:0.05, Z:0.34 [[ 9.90973125e-01 -1.33840826e-01 -7.67450329e-03 7.95235289e+01] [ 1.33842674e-01 9.91002555e-01 -2.74558863e-04 5.35807018e-02] [ 7.64219955e-03 -7.55095589e-04 9.99970513e-01 3.37260435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.56, Y:0.05, Z:0.34 [[ 9.91020382e-01 -1.33490469e-01 -7.67451215e-03 7.95562916e+01] [ 1.33492309e-01 9.91049811e-01 -2.74311073e-04 5.29700919e-02] [ 7.64244173e-03 -7.52640479e-04 9.99970513e-01 3.37450721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.59, Y:0.05, Z:0.34 [[ 9.91226800e-01 -1.31948976e-01 -7.67452986e-03 7.95887601e+01] [ 1.31950774e-01 9.91256232e-01 -2.73814643e-04 5.08046101e-02] [ 7.64355512e-03 -7.41247743e-04 9.99970513e-01 3.41509220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:0.05, Z:0.34 [[ 9.91416424e-01 -1.30516576e-01 -7.67454166e-03 7.96218058e+01] [ 1.30518334e-01 9.91445858e-01 -2.73483433e-04 5.04909919e-02] [ 7.64458667e-03 -7.30532423e-04 9.99970513e-01 3.44393400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.65, Y:0.05, Z:0.35 [[ 9.91687485e-01 -1.28440777e-01 -7.67456063e-03 7.96534950e+01] [ 1.28442478e-01 9.91716923e-01 -2.72950285e-04 5.11149659e-02] [ 7.64604960e-03 -7.15058202e-04 9.99970513e-01 3.45574346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:0.05, Z:0.35 [[ 9.92031524e-01 -1.25755942e-01 -7.67459190e-03 7.96869066e+01] [ 1.25757569e-01 9.92060966e-01 -2.72068083e-04 5.20846386e-02] [ 7.64787723e-03 -6.95237908e-04 9.99970513e-01 3.45290281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:0.05, Z:0.34 [[ 9.92767548e-01 -1.19806911e-01 -7.67460998e-03 7.97185203e+01] [ 1.19808366e-01 9.92796999e-01 -2.71557079e-04 5.03549898e-02] [ 7.65186417e-03 -6.49889428e-04 9.99970513e-01 3.41122151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.75, Y:0.05, Z:0.34 [[ 9.93057663e-01 -1.17377925e-01 -7.67461900e-03 7.97506157e+01] [ 1.17379310e-01 9.93087118e-01 -2.71302011e-04 4.91340369e-02] [ 7.65341013e-03 -6.31422938e-04 9.99970513e-01 3.39621264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.78, Y:0.05, Z:0.34 [[ 9.93280278e-01 -1.15478953e-01 -7.67463389e-03 7.97826534e+01] [ 1.15480285e-01 9.93309735e-01 -2.70880137e-04 4.79576674e-02] [ 7.65456951e-03 -6.17209008e-04 9.99970513e-01 3.39433275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.81, Y:0.05, Z:0.34 [[ 9.93518822e-01 -1.13408334e-01 -7.67464601e-03 7.98142752e+01] [ 1.13409607e-01 9.93548282e-01 -2.70536165e-04 4.73945891e-02] [ 7.65581241e-03 -6.01595815e-04 9.99970513e-01 3.38510792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.85, Y:0.05, Z:0.34 [[ 9.93997095e-01 -1.09136953e-01 -7.67465504e-03 7.98450308e+01] [ 1.09138101e-01 9.94026560e-01 -2.70279944e-04 4.67653665e-02] [ 7.65830847e-03 -5.68939800e-04 9.99970513e-01 3.36822141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.88, Y:0.05, Z:0.34 [[ 9.94204670e-01 -1.07229534e-01 -7.67466384e-03 7.98778047e+01] [ 1.07230628e-01 9.94234137e-01 -2.70029680e-04 4.83072776e-02] [ 7.65936794e-03 -5.54494251e-04 9.99970513e-01 3.38049177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.91, Y:0.05, Z:0.34 [[ 9.94382381e-01 -1.05568842e-01 -7.67468222e-03 7.99106692e+01] [ 1.05569891e-01 9.94411849e-01 -2.69506386e-04 5.06384752e-02] [ 7.66024641e-03 -5.42222962e-04 9.99970513e-01 3.40023129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:79.94, Y:0.06, Z:0.34 [[ 9.94811417e-01 -1.01446259e-01 -7.67470134e-03 7.99419369e+01] [ 1.01447189e-01 9.94840890e-01 -2.68960830e-04 5.59333775e-02] [ 7.66239178e-03 -5.11011573e-04 9.99970513e-01 3.40322910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.97, Y:0.06, Z:0.34 [[ 9.95041826e-01 -9.91607940e-02 -7.67471084e-03 7.99743050e+01] [ 9.91616589e-02 9.95071301e-01 -2.68689450e-04 5.78094493e-02] [ 7.66352795e-03 -4.93679817e-04 9.99970513e-01 3.43839947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.01, Y:0.06, Z:0.34 [[ 9.95223495e-01 -9.73205725e-02 -7.67472287e-03 8.00067137e+01] [ 9.73213855e-02 9.95252971e-01 -2.68345384e-04 6.03765040e-02] [ 7.66440626e-03 -4.79851032e-04 9.99970513e-01 3.44996126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.04, Y:0.07, Z:0.35 [[ 9.95326843e-01 -9.62578513e-02 -7.67473522e-03 8.00384099e+01] [ 9.62586355e-02 9.95356320e-01 -2.67991648e-04 6.68440814e-02] [ 7.66489250e-03 -4.72020260e-04 9.99970513e-01 3.45370109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.07, Y:0.07, Z:0.34 [[ 9.95273609e-01 -9.68067192e-02 -7.67475056e-03 8.00694898e+01] [ 9.68075231e-02 9.95303085e-01 -2.67551541e-04 7.18713876e-02] [ 7.66460370e-03 -4.76686605e-04 9.99970513e-01 3.44835447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59589822699999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.10, Y:0.08, Z:0.34 [[ 9.95194503e-01 -9.76165891e-02 -7.67475945e-03 8.01016643e+01] [ 9.76174189e-02 9.95223979e-01 -2.67296467e-04 7.67928205e-02] [ 7.66419720e-03 -4.83178233e-04 9.99970513e-01 3.42394098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.13, Y:0.08, Z:0.34 [[ 9.95076979e-01 -9.88074055e-02 -7.67477113e-03 8.01331893e+01] [ 9.88082732e-02 9.95106454e-01 -2.66960735e-04 8.08309429e-02] [ 7.66359197e-03 -4.92684400e-04 9.99970513e-01 3.42741705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:0.09, Z:0.34 [[ 9.94903823e-01 -1.00535966e-01 -7.67478570e-03 8.01660901e+01] [ 1.00536888e-01 9.94933296e-01 -2.66541183e-04 8.53635530e-02] [ 7.66269680e-03 -5.06416230e-04 9.99970513e-01 3.43453216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:0.09, Z:0.35 [[ 9.94626577e-01 -1.03242750e-01 -7.67502952e-03 8.01979053e+01] [ 1.03243807e-01 9.94656046e-01 -2.59501838e-04 9.36759835e-02] [ 7.66080620e-03 -5.34291840e-04 9.99970513e-01 3.46399413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.23, Y:0.10, Z:0.35 [[ 9.94488532e-01 -1.04564127e-01 -7.67481274e-03 8.02302735e+01] [ 1.04565175e-01 9.94518001e-01 -2.65762147e-04 9.83825094e-02] [ 7.66052861e-03 -5.38220727e-04 9.99970513e-01 3.48138165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:0.11, Z:0.35 [[ 9.94191034e-01 -1.07355876e-01 -7.67482704e-03 8.02633386e+01] [ 1.07357009e-01 9.94220500e-01 -2.65348706e-04 1.05915373e-01] [ 7.65895711e-03 -5.60139173e-04 9.99970513e-01 3.50270509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.30, Y:0.11, Z:0.35 [[ 9.94109728e-01 -1.08106166e-01 -7.67499232e-03 8.02952978e+01] [ 1.08107358e-01 9.94139191e-01 -2.60550520e-04 1.09786426e-01] [ 7.65817777e-03 -5.70707338e-04 9.99970513e-01 3.47040449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.33, Y:0.11, Z:0.35 [[ 9.94048700e-01 -1.08665902e-01 -7.67488409e-03 8.03276544e+01] [ 1.08667087e-01 9.94078163e-01 -2.63700300e-04 1.13729160e-01] [ 7.65808991e-03 -5.71876354e-04 9.99970513e-01 3.46346134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.36, Y:0.12, Z:0.35 [[ 9.94000163e-01 -1.09108990e-01 -7.67491311e-03 8.03609392e+01] [ 1.09110195e-01 9.94029625e-01 -2.62853032e-04 1.17672858e-01] [ 7.65777063e-03 -5.76135306e-04 9.99970513e-01 3.46552361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.39, Y:0.12, Z:0.35 [[ 9.93864747e-01 -1.10335668e-01 -7.67493036e-03 8.03932249e+01] [ 1.10336913e-01 9.93894208e-01 -2.62348554e-04 1.22286367e-01] [ 7.65701523e-03 -5.86089142e-04 9.99970513e-01 3.48034433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.43, Y:0.12, Z:0.35 [[ 9.93700774e-01 -1.11802804e-01 -7.67497296e-03 8.04263385e+01] [ 1.11804102e-01 9.93730232e-01 -2.61096079e-04 1.24831813e-01] [ 7.65604394e-03 -5.98642085e-04 9.99970513e-01 3.48893185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.46, Y:0.13, Z:0.35 [[ 9.93526348e-01 -1.13342361e-01 -7.67499083e-03 8.04591827e+01] [ 1.13343708e-01 9.93555804e-01 -2.60569846e-04 1.26736652e-01] [ 7.65506529e-03 -6.11028913e-04 9.99970513e-01 3.48224920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.49, Y:0.13, Z:0.34 [[ 9.93137774e-01 -1.16698141e-01 -7.67500883e-03 8.04900876e+01] [ 1.16699592e-01 9.93167225e-01 -2.60038690e-04 1.29135430e-01] [ 7.65291325e-03 -6.37416154e-04 9.99970513e-01 3.43655378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.52, Y:0.13, Z:0.34 [[ 9.92914534e-01 -1.18582556e-01 -7.67504732e-03 8.05210917e+01] [ 1.18584071e-01 9.92943982e-01 -2.58897471e-04 1.30499366e-01] [ 7.65159277e-03 -6.53075298e-04 9.99970513e-01 3.41700549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:0.13, Z:0.34 [[ 9.92675942e-01 -1.20563543e-01 -7.67506907e-03 8.05532241e+01] [ 1.20565122e-01 9.92705387e-01 -2.58251178e-04 1.32006464e-01] [ 7.65021808e-03 -6.68985908e-04 9.99970513e-01 3.41726624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.58, Y:0.13, Z:0.34 [[ 9.92578015e-01 -1.21367115e-01 -7.67508070e-03 8.05844192e+01] [ 1.21368721e-01 9.92607459e-01 -2.57905135e-04 1.34253008e-01] [ 7.64964355e-03 -6.75523757e-04 9.99970513e-01 3.40268703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.62, Y:0.14, Z:0.34 [[ 9.92678733e-01 -1.20540553e-01 -7.67511812e-03 8.06170397e+01] [ 1.20542143e-01 9.92708178e-01 -2.56786686e-04 1.36234859e-01] [ 7.65010573e-03 -6.70268502e-04 9.99970513e-01 3.41884572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:0.14, Z:0.34 [[ 9.92911603e-01 -1.18607087e-01 -7.67513544e-03 8.06494572e+01] [ 1.18608624e-01 9.92941050e-01 -2.56267728e-04 1.38306689e-01] [ 7.65135222e-03 -6.55886050e-04 9.99970513e-01 3.40345901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.68, Y:0.14, Z:0.34 [[ 9.93162875e-01 -1.16484311e-01 -7.67517813e-03 8.06825530e+01] [ 1.16485795e-01 9.93192325e-01 -2.54983000e-04 1.41404507e-01] [ 7.65262953e-03 -6.40809574e-04 9.99970513e-01 3.42783819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:0.15, Z:0.35 [[ 9.93689252e-01 -1.11905145e-01 -7.67522384e-03 8.07138613e+01] [ 1.11906503e-01 9.93718708e-01 -2.53599449e-04 1.47627800e-01] [ 7.65539260e-03 -6.06908415e-04 9.99970513e-01 3.45857910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.75, Y:0.15, Z:0.35 [[ 9.93888620e-01 -1.10120396e-01 -7.67523523e-03 8.07459980e+01] [ 1.10121704e-01 9.93918078e-01 -2.53254382e-04 1.51111253e-01] [ 7.65644352e-03 -5.93503332e-04 9.99970513e-01 3.48007748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:0.15, Z:0.35 [[ 9.93973376e-01 -1.09352725e-01 -7.67527740e-03 8.07779008e+01] [ 1.09354020e-01 9.94002834e-01 -2.51969829e-04 1.54406446e-01] [ 7.65680107e-03 -5.88871137e-04 9.99970513e-01 3.48941857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.81, Y:0.16, Z:0.35 [[ 9.93989170e-01 -1.09209064e-01 -7.67531900e-03 8.08106141e+01] [ 1.09210365e-01 9.94018628e-01 -2.50695937e-04 1.57484030e-01] [ 7.65678834e-03 -5.89035340e-04 9.99970513e-01 3.50038323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.84, Y:0.17, Z:0.35 [[ 9.93926260e-01 -1.09780137e-01 -7.67533572e-03 8.08437509e+01] [ 1.09781459e-01 9.93955718e-01 -2.50183245e-04 1.65027565e-01] [ 7.65640897e-03 -5.93945853e-04 9.99970513e-01 3.52450723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31589822699999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:80.88, Y:0.17, Z:0.35 [[ 9.93898753e-01 -1.10028893e-01 -7.67536617e-03 8.08764218e+01] [ 1.10030229e-01 9.93928210e-01 -2.49245433e-04 1.69786331e-01] [ 7.65618716e-03 -5.96797573e-04 9.99970513e-01 3.52032121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.91, Y:0.17, Z:0.35 [[ 9.93918563e-01 -1.09849796e-01 -7.67541076e-03 8.09091307e+01] [ 1.09851138e-01 9.93948020e-01 -2.47864760e-04 1.72458248e-01] [ 7.65618722e-03 -5.96795218e-04 9.99970513e-01 3.54269863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.94, Y:0.18, Z:0.35 [[ 9.93877663e-01 -1.10219232e-01 -7.67545470e-03 8.09401244e+01] [ 1.10220595e-01 9.93907118e-01 -2.46496478e-04 1.77105785e-01] [ 7.65585771e-03 -6.01005843e-04 9.99970513e-01 3.53599135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.97, Y:0.18, Z:0.35 [[ 9.93844708e-01 -1.10516031e-01 -7.67478615e-03 8.09729893e+01] [ 1.10517243e-01 9.93874171e-01 -2.67350290e-04 1.77471021e-01] [ 7.65731821e-03 -5.82491535e-04 9.99970513e-01 3.53848867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.01, Y:0.18, Z:0.35 [[ 9.93723811e-01 -1.11597819e-01 -7.67550790e-03 8.10055164e+01] [ 1.11599237e-01 9.93753264e-01 -2.44712204e-04 1.78947210e-01] [ 7.65487038e-03 -6.13404478e-04 9.99970513e-01 3.54592432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.04, Y:0.18, Z:0.36 [[ 9.93429571e-01 -1.14187449e-01 -7.67554881e-03 8.10382402e+01] [ 1.14188953e-01 9.93459020e-01 -2.43422300e-04 1.80669873e-01] [ 7.65313897e-03 -6.34639969e-04 9.99970513e-01 3.57435894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.07, Y:0.18, Z:0.36 [[ 9.93297877e-01 -1.15327412e-01 -7.67559244e-03 8.10706996e+01] [ 1.15328961e-01 9.93327324e-01 -2.42038683e-04 1.82602561e-01] [ 7.65228939e-03 -6.44801588e-04 9.99970513e-01 3.57029051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.10, Y:0.18, Z:0.36 [[ 9.93254960e-01 -1.15696452e-01 -7.67561954e-03 8.11036826e+01] [ 1.15698018e-01 9.93284406e-01 -2.41176059e-04 1.83521861e-01] [ 7.65197641e-03 -6.48504650e-04 9.99970513e-01 3.55371123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.14, Y:0.18, Z:0.35 [[ 9.93238963e-01 -1.15833700e-01 -7.67566290e-03 8.11353536e+01] [ 1.15835280e-01 9.93268408e-01 -2.39788408e-04 1.82246668e-01] [ 7.65176904e-03 -6.50945374e-04 9.99970513e-01 3.53060335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:0.18, Z:0.35 [[ 9.93215670e-01 -1.16033255e-01 -7.67570314e-03 8.11671298e+01] [ 1.16034852e-01 9.93245114e-01 -2.38493129e-04 1.81949575e-01] [ 7.65152777e-03 -6.53773963e-04 9.99970513e-01 3.54567134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:0.18, Z:0.36 [[ 9.93186117e-01 -1.16285937e-01 -7.67574209e-03 8.12003347e+01] [ 1.16287551e-01 9.93215560e-01 -2.37233015e-04 1.82098494e-01] [ 7.65125334e-03 -6.56976712e-04 9.99970513e-01 3.56835257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:0.18, Z:0.36 [[ 9.93135355e-01 -1.16718677e-01 -7.67578370e-03 8.12332457e+01] [ 1.16720314e-01 9.93164796e-01 -2.35879023e-04 1.82659584e-01] [ 7.65084964e-03 -6.61660088e-04 9.99970513e-01 3.58115354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:0.18, Z:0.36 [[ 9.93188454e-01 -1.16265977e-01 -7.67582580e-03 8.12650332e+01] [ 1.16267612e-01 9.93217895e-01 -2.34500860e-04 1.80904496e-01] [ 7.65103202e-03 -6.59546387e-04 9.99970513e-01 3.55941589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.30, Y:0.18, Z:0.36 [[ 9.93238929e-01 -1.15833982e-01 -7.67586503e-03 8.12982229e+01] [ 1.15835614e-01 9.93268371e-01 -2.33209604e-04 1.80486584e-01] [ 7.65120755e-03 -6.57505678e-04 9.99970513e-01 3.55151855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:0.18, Z:0.35 [[ 9.93380150e-01 -1.14616570e-01 -7.67590558e-03 8.13301238e+01] [ 1.14618175e-01 9.93409593e-01 -2.31867105e-04 1.81050192e-01] [ 7.65189406e-03 -6.49466112e-04 9.99970513e-01 3.54937886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.36, Y:0.18, Z:0.36 [[ 9.93677852e-01 -1.12006276e-01 -7.67591848e-03 8.13618280e+01] [ 1.12007808e-01 9.93707300e-01 -2.31439525e-04 1.82827268e-01] [ 7.65353890e-03 -6.29786471e-04 9.99970513e-01 3.55195521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.39, Y:0.19, Z:0.36 [[ 9.94651546e-01 -1.03001854e-01 -7.67595695e-03 8.13944059e+01] [ 1.03003128e-01 9.94681005e-01 -2.30156335e-04 1.87690012e-01] [ 7.65883511e-03 -5.61722224e-04 9.99970513e-01 3.56469236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:0.19, Z:0.36 [[ 9.95174853e-01 -9.78166245e-02 -7.67598528e-03 8.14247340e+01] [ 9.78177527e-02 9.95204318e-01 -2.29207466e-04 1.90893849e-01] [ 7.66159400e-03 -5.22746124e-04 9.99970513e-01 3.61555986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.46, Y:0.19, Z:0.36 [[ 9.95180594e-01 -9.77582020e-02 -7.67592751e-03 8.14574140e+01] [ 9.77593136e-02 9.95210060e-01 -2.31145075e-04 1.91775674e-01] [ 7.66175661e-03 -5.20362313e-04 9.99970513e-01 3.61807808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.49, Y:0.19, Z:0.36 [[ 9.95655012e-01 -9.28018109e-02 -7.67594290e-03 8.14891122e+01] [ 9.28027798e-02 9.95684484e-01 -2.30627839e-04 1.94880160e-01] [ 7.66421992e-03 -4.82723075e-04 9.99970513e-01 3.63058249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.52, Y:0.20, Z:0.37 [[ 9.96369502e-01 -8.47873483e-02 -7.67603775e-03 8.15210363e+01] [ 8.47881046e-02 9.96398979e-01 -2.27426424e-04 2.00815797e-01] [ 7.66767906e-03 -4.24235939e-04 9.99970513e-01 3.69879932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.55, Y:0.20, Z:0.37 [[ 9.96638037e-01 -8.15702298e-02 -7.67605023e-03 8.15534850e+01] [ 8.15708942e-02 9.96667516e-01 -2.27004609e-04 2.04238099e-01] [ 7.66898673e-03 -3.99900853e-04 9.99970513e-01 3.70804019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.59, Y:0.21, Z:0.37 [[ 9.96880465e-01 -7.85519965e-02 -7.67606061e-03 8.15853561e+01] [ 7.85525744e-02 9.96909947e-01 -2.26652860e-04 2.07432792e-01] [ 7.67014521e-03 -3.77028514e-04 9.99970513e-01 3.70056798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.62, Y:0.21, Z:0.37 [[ 9.97297183e-01 -7.30712432e-02 -7.67609920e-03 8.16171778e+01] [ 7.30716690e-02 9.97326667e-01 -2.25338307e-04 2.12841657e-01] [ 7.67204418e-03 -3.36176121e-04 9.99970513e-01 3.67323399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:81.65, Y:0.22, Z:0.36 [[ 9.97477740e-01 -7.05636963e-02 -7.67611844e-03 8.16501951e+01] [ 7.05640531e-02 9.97507225e-01 -2.24681078e-04 2.16183155e-01] [ 7.67283793e-03 -3.17543655e-04 9.99970513e-01 3.64756437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.68, Y:0.22, Z:0.37 [[ 9.97663330e-01 -6.78892970e-02 -7.67613370e-03 8.16821839e+01] [ 6.78895788e-02 9.97692816e-01 -2.24158556e-04 2.18170684e-01] [ 7.67364141e-03 -2.97494712e-04 9.99970513e-01 3.68439906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.71, Y:0.22, Z:0.37 [[ 9.97828230e-01 -6.54209470e-02 -7.67615886e-03 8.17145721e+01] [ 6.54211625e-02 9.97857716e-01 -2.23293644e-04 2.20649407e-01] [ 7.67432243e-03 -2.79374535e-04 9.99970513e-01 3.68240612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:0.22, Z:0.37 [[ 9.98119110e-01 -6.08220364e-02 -7.67607522e-03 8.17474588e+01] [ 6.08220938e-02 9.98148597e-01 -2.26180278e-04 2.23270228e-01] [ 7.67562046e-03 -2.41120109e-04 9.99970513e-01 3.70716936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.78, Y:0.22, Z:0.37 [[ 9.98264057e-01 -5.83947696e-02 -7.67621485e-03 8.17790930e+01] [ 5.83947925e-02 9.98293544e-01 -2.21337849e-04 2.24186125e-01] [ 7.67604069e-03 -2.27297354e-04 9.99970513e-01 3.69548534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.81, Y:0.22, Z:0.37 [[ 9.98395431e-01 -5.61038125e-02 -7.67625277e-03 8.18121959e+01] [ 5.61037779e-02 9.98424918e-01 -2.20014788e-04 2.24499269e-01] [ 7.67650571e-03 -2.11005021e-04 9.99970513e-01 3.66935467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.84, Y:0.22, Z:0.37 [[ 9.98594348e-01 -5.24442814e-02 -7.67626770e-03 8.18438421e+01] [ 5.24441427e-02 9.98623835e-01 -2.19492570e-04 2.23954157e-01] [ 7.67721502e-03 -1.83391239e-04 9.99970513e-01 3.65001996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:0.22, Z:0.36 [[ 9.98649471e-01 -5.13839279e-02 -7.67629229e-03 8.18768752e+01] [ 5.13837646e-02 9.98678958e-01 -2.18629130e-04 2.24126029e-01] [ 7.67738561e-03 -1.76102931e-04 9.99970513e-01 3.64700391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:0.22, Z:0.36 [[ 9.98676944e-01 -5.08471771e-02 -7.67630717e-03 8.19095872e+01] [ 5.08470019e-02 9.98706431e-01 -2.18105409e-04 2.24144897e-01] [ 7.67746738e-03 -1.72500362e-04 9.99970513e-01 3.64653517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.94, Y:0.22, Z:0.36 [[ 9.98713603e-01 -5.01219745e-02 -7.67632224e-03 8.19429548e+01] [ 5.01217820e-02 9.98743090e-01 -2.17573837e-04 2.22941344e-01] [ 7.67757902e-03 -1.67456999e-04 9.99970513e-01 3.64355495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.97, Y:0.22, Z:0.36 [[ 9.98796049e-01 -4.84512705e-02 -7.67633762e-03 8.19743215e+01] [ 4.84510329e-02 9.98825535e-01 -2.17029793e-04 2.19535758e-01] [ 7.67783740e-03 -1.55157987e-04 9.99970513e-01 3.63624026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.01, Y:0.22, Z:0.36 [[ 9.98822901e-01 -4.78945313e-02 -7.67632180e-03 8.20051744e+01] [ 4.78942729e-02 9.98852387e-01 -2.17590573e-04 2.18575876e-01] [ 7.67793375e-03 -1.50317404e-04 9.99970513e-01 3.62456308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.04, Y:0.22, Z:0.36 [[ 9.98842557e-01 -4.74828418e-02 -7.67635496e-03 8.20368427e+01] [ 4.74825803e-02 9.98872043e-01 -2.16414479e-04 2.18282650e-01] [ 7.67797233e-03 -1.48329149e-04 9.99970513e-01 3.62578676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.07, Y:0.22, Z:0.36 [[ 9.98853937e-01 -4.72428334e-02 -7.67636735e-03 8.20697370e+01] [ 4.72425682e-02 9.98883423e-01 -2.15973863e-04 2.18769955e-01] [ 7.67799932e-03 -1.46924965e-04 9.99970513e-01 3.64156289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.10, Y:0.22, Z:0.37 [[ 9.98888802e-01 -4.64998355e-02 -7.67638408e-03 8.21026989e+01] [ 4.64995530e-02 9.98918288e-01 -2.15377829e-04 2.17565735e-01] [ 7.67809547e-03 -1.41809926e-04 9.99970513e-01 3.67228299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48589822699999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:82.14, Y:0.22, Z:0.37 [[ 9.98882751e-01 -4.66296244e-02 -7.67639873e-03 8.21355172e+01] [ 4.66293497e-02 9.98912237e-01 -2.14854242e-04 2.16975064e-01] [ 7.67806720e-03 -1.43331285e-04 9.99970513e-01 3.66046573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.17, Y:0.21, Z:0.37 [[ 9.98889754e-01 -4.64793571e-02 -7.67649213e-03 8.21670673e+01] [ 4.64791036e-02 9.98919240e-01 -2.11515831e-04 2.14662126e-01] [ 7.67802680e-03 -1.45515476e-04 9.99970513e-01 3.70359091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:0.21, Z:0.37 [[ 9.98834216e-01 -4.76579612e-02 -7.67641447e-03 8.21978931e+01] [ 4.76577211e-02 9.98863702e-01 -2.14297690e-04 2.12018225e-01] [ 7.67790476e-03 -1.51792555e-04 9.99970513e-01 3.71805827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:0.21, Z:0.37 [[ 9.98812267e-01 -4.81157673e-02 -7.67642200e-03 8.22295714e+01] [ 4.81155428e-02 9.98841754e-01 -2.14027467e-04 2.11279526e-01] [ 7.67782891e-03 -1.55581952e-04 9.99970513e-01 3.73019965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.26, Y:0.21, Z:0.37 [[ 9.98815514e-01 -4.80483255e-02 -7.67643429e-03 8.22615055e+01] [ 4.80481025e-02 9.98845000e-01 -2.13585717e-04 2.10180449e-01] [ 7.67783045e-03 -1.55505374e-04 9.99970513e-01 3.74284109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:0.21, Z:0.37 [[ 9.98834880e-01 -4.76440308e-02 -7.67645798e-03 8.22939554e+01] [ 4.76438024e-02 9.98864367e-01 -2.12730949e-04 2.08466119e-01] [ 7.67787570e-03 -1.53252555e-04 9.99970513e-01 3.74306574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:0.20, Z:0.38 [[ 9.98849634e-01 -4.73337202e-02 -7.67646787e-03 8.23254212e+01] [ 4.73334854e-02 9.98879120e-01 -2.12373453e-04 2.04836019e-01] [ 7.67791589e-03 -1.51224834e-04 9.99970513e-01 3.75434604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:0.20, Z:0.38 [[ 9.98852278e-01 -4.72778825e-02 -7.67647527e-03 8.23585630e+01] [ 4.72776480e-02 9.98881764e-01 -2.12105464e-04 2.03477852e-01] [ 7.67791906e-03 -1.51063670e-04 9.99970513e-01 3.75244718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:0.20, Z:0.38 [[ 9.98862053e-01 -4.70709017e-02 -7.67648974e-03 8.23912078e+01] [ 4.70706651e-02 9.98891540e-01 -2.11580540e-04 2.00992578e-01] [ 7.67793994e-03 -1.49997706e-04 9.99970513e-01 3.75058745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.42, Y:0.20, Z:0.38 [[ 9.98875722e-01 -4.67799453e-02 -7.67650655e-03 8.24242345e+01] [ 4.67797049e-02 9.98905208e-01 -2.10968785e-04 1.98008068e-01] [ 7.67797149e-03 -1.48373113e-04 9.99970513e-01 3.75044377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.46, Y:0.19, Z:0.38 [[ 9.98932682e-01 -4.55474213e-02 -7.67652114e-03 8.24564124e+01] [ 4.55471486e-02 9.98962168e-01 -2.10436731e-04 1.91998443e-01] [ 7.67813905e-03 -1.39431521e-04 9.99970513e-01 3.76269895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.49, Y:0.19, Z:0.38 [[ 9.98985505e-01 -4.43737747e-02 -7.67653081e-03 8.24896797e+01] [ 4.43734701e-02 9.99014990e-01 -2.10083223e-04 1.89769115e-01] [ 7.67829154e-03 -1.30764216e-04 9.99970513e-01 3.76689533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.52, Y:0.19, Z:0.38 [[ 9.99046058e-01 -4.29888912e-02 -7.67654553e-03 8.25211609e+01] [ 4.29885499e-02 9.99075543e-01 -2.09544216e-04 1.87282170e-01] [ 7.67845696e-03 -1.20659238e-04 9.99970513e-01 3.76307424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.55, Y:0.18, Z:0.37 [[ 9.99095735e-01 -4.18184421e-02 -7.67656382e-03 8.25541853e+01] [ 4.18180713e-02 9.99125220e-01 -2.08871872e-04 1.84441067e-01] [ 7.67858321e-03 -1.12336097e-04 9.99970513e-01 3.74909996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.59, Y:0.18, Z:0.37 [[ 9.99141722e-01 -4.07048993e-02 -7.67657835e-03 8.25867760e+01] [ 4.07044998e-02 9.99171207e-01 -2.08336384e-04 1.78888562e-01] [ 7.67869637e-03 -1.04313708e-04 9.99970513e-01 3.74369049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:0.18, Z:0.38 [[ 9.99137063e-01 -4.08191143e-02 -7.67659043e-03 8.26185284e+01] [ 4.08187216e-02 9.99166547e-01 -2.07890432e-04 1.78224983e-01] [ 7.67867826e-03 -1.05637572e-04 9.99970513e-01 3.75792940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:0.18, Z:0.38 [[ 9.99129280e-01 -4.10091583e-02 -7.67660033e-03 8.26502314e+01] [ 4.10087741e-02 9.99158765e-01 -2.07524108e-04 1.77738390e-01] [ 7.67865290e-03 -1.07464556e-04 9.99970513e-01 3.79252183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99589822699998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:82.68, Y:0.18, Z:0.38 [[ 9.99065752e-01 -4.25287373e-02 -7.67661016e-03 8.26821993e+01] [ 4.25284007e-02 9.99095237e-01 -2.07160029e-04 1.76970768e-01] [ 7.67847490e-03 -1.19507462e-04 9.99970513e-01 3.78029930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.72, Y:0.18, Z:0.38 [[ 9.99005669e-01 -4.39174491e-02 -7.67661965e-03 8.27157138e+01] [ 4.39171561e-02 9.99035155e-01 -2.06807828e-04 1.76675630e-01] [ 7.67829537e-03 -1.30533111e-04 9.99970513e-01 3.78388412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:0.18, Z:0.38 [[ 9.98916259e-01 -4.59061751e-02 -7.67663405e-03 8.27463797e+01] [ 4.59059449e-02 9.98945745e-01 -2.06271836e-04 1.77252686e-01] [ 7.67801007e-03 -1.46354849e-04 9.99970513e-01 3.77558767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.78, Y:0.18, Z:0.38 [[ 9.98793617e-01 -4.85013344e-02 -7.67663881e-03 8.27795556e+01] [ 4.85011822e-02 9.98823104e-01 -2.06094509e-04 1.77673358e-01] [ 7.67760006e-03 -1.66480178e-04 9.99970513e-01 3.76865569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.81, Y:0.17, Z:0.38 [[ 9.98456251e-01 -5.50107674e-02 -7.67665295e-03 8.28110340e+01] [ 5.50108115e-02 9.98485738e-01 -2.05566638e-04 1.74868243e-01] [ 7.67633686e-03 -2.17049614e-04 9.99970513e-01 3.78783527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.84, Y:0.17, Z:0.38 [[ 9.98309291e-01 -5.76162153e-02 -7.67665994e-03 8.28438403e+01] [ 5.76163384e-02 9.98338778e-01 -2.05305239e-04 1.73587359e-01] [ 7.67573621e-03 -2.37342909e-04 9.99970513e-01 3.77095712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.87, Y:0.17, Z:0.38 [[ 9.98322254e-01 -5.73911638e-02 -7.67667463e-03 8.28748534e+01] [ 5.73912845e-02 9.98351741e-01 -2.04754404e-04 1.70757598e-01] [ 7.67577257e-03 -2.36163339e-04 9.99970513e-01 3.79754695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.91, Y:0.17, Z:0.38 [[ 9.98481327e-01 -5.45537170e-02 -7.67668191e-03 8.29079320e+01] [ 5.45537559e-02 9.98510814e-01 -2.04480909e-04 1.70799584e-01] [ 7.67640510e-03 -2.14621462e-04 9.99970513e-01 3.79613083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.94, Y:0.17, Z:0.38 [[ 9.98695462e-01 -5.04820944e-02 -7.67669619e-03 8.29401329e+01] [ 5.04820173e-02 9.98724949e-01 -2.03943333e-04 1.71199928e-01] [ 7.67720350e-03 -1.83857828e-04 9.99970513e-01 3.80564930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.97, Y:0.17, Z:0.38 [[ 9.99184058e-01 -3.96520672e-02 -7.67671970e-03 8.29726052e+01] [ 3.96516772e-02 9.99213542e-01 -2.03054643e-04 1.71626510e-01] [ 7.67873382e-03 -1.01505849e-04 9.99970513e-01 3.80510945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.00, Y:0.17, Z:0.38 [[ 9.99410521e-01 -3.34616070e-02 -7.67673132e-03 8.30042112e+01] [ 3.34610378e-02 9.99440002e-01 -2.02614274e-04 1.72607969e-01] [ 7.67921217e-03 -5.43765592e-05 9.99970513e-01 3.81339684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.04, Y:0.17, Z:0.38 [[ 9.99585289e-01 -2.77545813e-02 -7.67673830e-03 8.30366866e+01] [ 2.77538458e-02 9.99614767e-01 -2.02349571e-04 1.73981627e-01] [ 7.67939710e-03 -1.07933566e-05 9.99970513e-01 3.82811241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.07, Y:0.18, Z:0.38 [[ 9.99716661e-01 -2.25314354e-02 -7.67674736e-03 8.30674937e+01] [ 2.25305485e-02 9.99746135e-01 -2.02005323e-04 1.75031472e-01] [ 7.67934997e-03 2.89867582e-05 9.99970513e-01 3.83830235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.10, Y:0.18, Z:0.38 [[ 9.99839113e-01 -1.62116140e-02 -7.67675415e-03 8.30990761e+01] [ 1.62105428e-02 9.99868580e-01 -2.01746988e-04 1.76031004e-01] [ 7.67901592e-03 7.72701776e-05 9.99970513e-01 3.83283059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.13, Y:0.18, Z:0.38 [[ 9.99866336e-01 -1.44353062e-02 -7.67676090e-03 8.31307126e+01] [ 1.44341846e-02 9.99895801e-01 -2.01489890e-04 1.76090913e-01] [ 7.67886956e-03 9.06551741e-05 9.99970513e-01 3.82081190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:0.18, Z:0.38 [[ 9.99883423e-01 -1.31987443e-02 -7.67676544e-03 8.31620253e+01] [ 1.31975876e-02 9.99912888e-01 -2.01316543e-04 1.75806851e-01] [ 7.67875383e-03 9.99782902e-05 9.99970513e-01 3.80701184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.19, Y:0.18, Z:0.38 [[ 9.99894873e-01 -1.23008004e-02 -7.67677017e-03 8.31936785e+01] [ 1.22996187e-02 9.99924337e-01 -2.01136147e-04 1.75698412e-01] [ 7.67866345e-03 1.06693656e-04 9.99970513e-01 3.80692494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.22, Y:0.18, Z:0.38 [[ 9.99898965e-01 -1.19635290e-02 -7.67677500e-03 8.32238617e+01] [ 1.19623387e-02 9.99928428e-01 -2.00951609e-04 1.75202693e-01] [ 7.67862965e-03 1.09099123e-04 9.99970513e-01 3.81704382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.25, Y:0.17, Z:0.38 [[ 9.99896186e-01 -1.21936273e-02 -7.67677740e-03 8.32542625e+01] [ 1.21924445e-02 9.99925649e-01 -2.00860028e-04 1.74972134e-01] [ 7.67865583e-03 1.07240494e-04 9.99970513e-01 3.82386650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.29, Y:0.17, Z:0.38 [[ 9.99889011e-01 -1.27684120e-02 -7.67677975e-03 8.32856852e+01] [ 1.27672468e-02 9.99918475e-01 -2.00769926e-04 1.74004584e-01] [ 7.67871742e-03 1.02736301e-04 9.99970513e-01 3.82543036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.32, Y:0.17, Z:0.38 [[ 9.99852026e-01 -1.53945943e-02 -7.67678451e-03 8.33158430e+01] [ 1.53935079e-02 9.99881493e-01 -2.00587679e-04 1.69271529e-01] [ 7.67896273e-03 8.23853537e-05 9.99970513e-01 3.84988352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.35, Y:0.17, Z:0.39 [[ 9.99820327e-01 -1.73315173e-02 -7.67679314e-03 8.33468551e+01] [ 1.73304905e-02 9.99849796e-01 -2.00257153e-04 1.66663681e-01] [ 7.67911081e-03 6.71785813e-05 9.99970513e-01 3.86652405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.38, Y:0.16, Z:0.39 [[ 9.99791510e-01 -1.89209801e-02 -7.67679781e-03 8.33780197e+01] [ 1.89200015e-02 9.99820981e-01 -2.00077931e-04 1.63483023e-01] [ 7.67920918e-03 5.47911909e-05 9.99970513e-01 3.89000118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.41, Y:0.16, Z:0.39 [[ 9.99766917e-01 -2.01786397e-02 -7.67680480e-03 8.34099134e+01] [ 2.01777003e-02 9.99796390e-01 -1.99809214e-04 1.60364857e-01] [ 7.67927360e-03 4.48623758e-05 9.99970513e-01 3.88941541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:0.15, Z:0.38 [[ 9.99781789e-01 -1.94278605e-02 -7.67680927e-03 8.34409433e+01] [ 1.94269003e-02 9.99811260e-01 -1.99637213e-04 1.53346804e-01] [ 7.67923888e-03 5.04570417e-05 9.99970513e-01 3.79086615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.47, Y:0.15, Z:0.38 [[ 9.99837398e-01 -1.63169023e-02 -7.67698126e-03 8.34715890e+01] [ 1.63159011e-02 9.99866868e-01 -1.93023739e-04 1.50904329e-01] [ 7.67910876e-03 6.77354854e-05 9.99970513e-01 3.83358247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.50, Y:0.15, Z:0.38 [[ 9.99837781e-01 -1.62934879e-02 -7.67680309e-03 8.35034197e+01] [ 1.62924335e-02 9.99867250e-01 -1.99867071e-04 1.51693387e-01] [ 7.67904052e-03 7.47608453e-05 9.99970513e-01 3.83604839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.53, Y:0.15, Z:0.38 [[ 9.99897871e-01 -1.20546574e-02 -7.67680778e-03 8.35338475e+01] [ 1.20534795e-02 9.99927334e-01 -1.99686886e-04 1.50144431e-01] [ 7.67865709e-03 1.07134247e-04 9.99970513e-01 3.84798140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.56, Y:0.15, Z:0.39 [[ 9.99967344e-01 -2.52526763e-03 -7.67681011e-03 8.35642816e+01] [ 2.52380968e-03 9.99996795e-01 -1.99597259e-04 1.48191397e-01] [ 7.67728954e-03 1.80215933e-04 9.99970513e-01 3.87041417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.59, Y:0.15, Z:0.39 [[ 9.99969253e-01 1.59985276e-03 -7.67681011e-03 8.35933306e+01] [-1.60143219e-03 9.99998698e-01 -1.99597259e-04 1.48184236e-01] [ 7.67648078e-03 2.11885013e-04 9.99970513e-01 3.87308408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.62, Y:0.15, Z:0.39 [[ 9.99960781e-01 4.41617589e-03 -7.67677785e-03 8.36211969e+01] [-4.41784769e-03 9.99990221e-01 -2.00830160e-04 1.48100175e-01] [ 7.67581588e-03 2.34737119e-04 9.99970513e-01 3.86092847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.65, Y:0.15, Z:0.38 [[ 9.99953569e-01 5.82471238e-03 -7.67674553e-03 8.36495575e+01] [-5.82643507e-03 9.99983006e-01 -2.02058211e-04 1.47865338e-01] [ 7.67543814e-03 2.46776888e-04 9.99970513e-01 3.82295229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:0.15, Z:0.38 [[ 9.99955680e-01 5.45029907e-03 -7.67673326e-03 8.36778442e+01] [-5.45201430e-03 9.99985117e-01 -2.02523383e-04 1.45657709e-01] [ 7.67551519e-03 2.44368067e-04 9.99970513e-01 3.80876063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:0.14, Z:0.38 [[ 9.99962924e-01 3.90099953e-03 -7.67672105e-03 8.37065402e+01] [-3.90267269e-03 9.99992364e-01 -2.02985003e-04 1.44373658e-01] [ 7.67587059e-03 2.32937207e-04 9.99970513e-01 3.81390526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.015898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:83.73, Y:0.14, Z:0.38 [[ 9.99969409e-01 1.49994731e-03 -7.67671138e-03 8.37343086e+01] [-1.50155258e-03 9.99998852e-01 -2.03350024e-04 1.43039073e-01] [ 7.67639756e-03 2.14870789e-04 9.99970513e-01 3.80588382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.76, Y:0.14, Z:0.38 [[ 9.99970315e-01 -6.61458850e-04 -7.67669934e-03 8.37633874e+01] [ 6.59913742e-04 9.99999761e-01 -2.03803596e-04 1.40259939e-01] [ 7.67683232e-03 1.98731587e-04 9.99970513e-01 3.80941431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.79, Y:0.13, Z:0.38 [[ 9.99962174e-01 -4.08889749e-03 -7.67668966e-03 8.37911433e+01] [ 4.08745053e-03 9.99991626e-01 -2.04167624e-04 1.34257097e-01] [ 7.67746019e-03 1.72781812e-04 9.99970513e-01 3.84539454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.82, Y:0.13, Z:0.39 [[ 9.99959065e-01 -4.78920807e-03 -7.67667685e-03 8.38196558e+01] [ 4.78777805e-03 9.99988518e-01 -2.04648177e-04 1.31411861e-01] [ 7.67756880e-03 1.67885575e-04 9.99970513e-01 3.85790436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.85, Y:0.13, Z:0.39 [[ 9.99959961e-01 -4.59836312e-03 -7.67664277e-03 8.38480854e+01] [ 4.59691773e-03 9.99989413e-01 -2.05918536e-04 1.26105363e-01] [ 7.67750839e-03 1.70621396e-04 9.99970513e-01 3.88472437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.88, Y:0.12, Z:0.39 [[ 9.99963993e-01 -3.61694632e-03 -7.67663548e-03 8.38771594e+01] [ 3.61546994e-03 9.99993443e-01 -2.06189860e-04 1.24254643e-01] [ 7.67733093e-03 1.78427791e-04 9.99970513e-01 3.89743488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.91, Y:0.12, Z:0.39 [[ 9.99967684e-01 -2.38750275e-03 -7.67662842e-03 8.39057414e+01] [ 2.38598815e-03 9.99997132e-01 -2.06452440e-04 1.22314994e-01] [ 7.67709931e-03 1.88129424e-04 9.99970513e-01 3.89686316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.93, Y:0.12, Z:0.39 [[ 9.99969423e-01 -1.49117864e-03 -7.67659720e-03 8.39341565e+01] [ 1.48962878e-03 9.99998869e-01 -2.07606898e-04 1.20305296e-01] [ 7.67689810e-03 1.96165270e-04 9.99970513e-01 3.88141192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.96, Y:0.11, Z:0.39 [[ 9.99968459e-01 -2.03763984e-03 -7.67655887e-03 8.39624391e+01] [ 2.03609528e-03 9.99997905e-01 -2.09014775e-04 1.14610802e-01] [ 7.67696869e-03 1.93377977e-04 9.99970513e-01 3.88449532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.99, Y:0.11, Z:0.39 [[ 9.99963525e-01 -3.74436556e-03 -7.67654697e-03 8.39901537e+01] [ 3.74286791e-03 9.99992974e-01 -2.09451010e-04 1.11829680e-01] [ 7.67727729e-03 1.80711069e-04 9.99970513e-01 3.88737914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.02, Y:0.11, Z:0.39 [[ 9.99953340e-01 -5.86424274e-03 -7.67653452e-03 8.40192787e+01] [ 5.86280403e-03 9.99982792e-01 -2.09906156e-04 1.08702779e-01] [ 7.67763336e-03 1.64890344e-04 9.99970513e-01 3.87024421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.05, Y:0.11, Z:0.39 [[ 9.99938637e-01 -7.98701933e-03 -7.67652441e-03 8.40479087e+01] [ 7.98564032e-03 9.99968092e-01 -2.10275424e-04 1.05859128e-01] [ 7.67795894e-03 1.48960558e-04 9.99970513e-01 3.89531987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.08, Y:0.10, Z:0.39 [[ 9.99901412e-01 -1.17574665e-02 -7.67651689e-03 8.40774919e+01] [ 1.17561965e-02 9.99930871e-01 -2.10549534e-04 9.98226211e-02] [ 7.67846175e-03 1.20282136e-04 9.99970513e-01 3.91330721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.11, Y:0.10, Z:0.39 [[ 9.99878220e-01 -1.35873316e-02 -7.67651218e-03 8.41070218e+01] [ 1.35861141e-02 9.99907682e-01 -2.10720991e-04 9.68258177e-02] [ 7.67866664e-03 1.06401359e-04 9.99970513e-01 3.89816279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:0.09, Z:0.39 [[ 9.99853332e-01 -1.53096834e-02 -7.67650724e-03 8.41378447e+01] [ 1.53085153e-02 9.99882796e-01 -2.10900890e-04 9.42044334e-02] [ 7.67883634e-03 9.33540284e-05 9.99970513e-01 3.89336049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.17, Y:0.09, Z:0.38 [[ 9.99812450e-01 -1.77802038e-02 -7.67650724e-03 8.41689734e+01] [ 1.77791086e-02 9.99841917e-01 -2.10900890e-04 8.85629066e-02] [ 7.67904357e-03 7.43798796e-05 9.99970513e-01 3.84130713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49589822699998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.20, Y:0.09, Z:0.38 [[ 9.99799377e-01 -1.85007493e-02 -7.67650724e-03 8.41999447e+01] [ 1.84996752e-02 9.99828844e-01 -2.10900890e-04 8.67522287e-02] [ 7.67909518e-03 6.88456871e-05 9.99970513e-01 3.82030145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.23, Y:0.08, Z:0.38 [[ 9.99796992e-01 -1.86291811e-02 -7.67650724e-03 8.42298792e+01] [ 1.86281108e-02 9.99826459e-01 -2.10900890e-04 8.45038742e-02] [ 7.67910396e-03 6.78592474e-05 9.99970513e-01 3.83414239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.26, Y:0.08, Z:0.39 [[ 9.99815548e-01 -1.76051239e-02 -7.67651507e-03 8.42601893e+01] [ 1.76040257e-02 9.99845015e-01 -2.10615507e-04 8.23557399e-02] [ 7.67903324e-03 7.54390905e-05 9.99970513e-01 3.85517033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.29, Y:0.08, Z:0.39 [[ 9.99839674e-01 -1.61770630e-02 -7.67651507e-03 8.42899405e+01] [ 1.61759227e-02 9.99869139e-01 -2.10615507e-04 8.27736469e-02] [ 7.67891765e-03 8.64070259e-05 9.99970513e-01 3.87622258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.32, Y:0.08, Z:0.39 [[ 9.99863751e-01 -1.46133811e-02 -7.67651255e-03 8.43190840e+01] [ 1.46121939e-02 9.99893214e-01 -2.10707295e-04 8.37675444e-02] [ 7.67877195e-03 9.85078962e-05 9.99970513e-01 3.87276450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.35, Y:0.09, Z:0.38 [[ 9.99892237e-01 -1.25134144e-02 -7.67651015e-03 8.43492802e+01] [ 1.25121647e-02 9.99921698e-01 -2.10794815e-04 8.56970204e-02] [ 7.67854682e-03 1.14722340e-04 9.99970513e-01 3.84851941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:0.09, Z:0.39 [[ 9.99896649e-01 -1.21557581e-02 -7.67651015e-03 8.43787853e+01] [ 1.21544979e-02 9.99926109e-01 -2.10794815e-04 8.68758324e-02] [ 7.67850529e-03 1.17468902e-04 9.99970513e-01 3.87487975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:0.09, Z:0.39 [[ 9.99888084e-01 -1.28410097e-02 -7.67650766e-03 8.44081415e+01] [ 1.28397690e-02 9.99917545e-01 -2.10885174e-04 8.79345087e-02] [ 7.67858267e-03 1.12296987e-04 9.99970513e-01 3.87205246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.44, Y:0.09, Z:0.39 [[ 9.99866223e-01 -1.44432798e-02 -7.67650529e-03 8.44378832e+01] [ 1.44420857e-02 9.99895685e-01 -2.10971403e-04 8.93546339e-02] [ 7.67875164e-03 1.00078432e-04 9.99970513e-01 3.86246431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.765898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:84.47, Y:0.09, Z:0.38 [[ 9.99800854e-01 -1.84207214e-02 -7.67650292e-03 8.44683165e+01] [ 1.84196438e-02 9.99830322e-01 -2.11057674e-04 9.25476303e-02] [ 7.67908822e-03 6.96171928e-05 9.99970513e-01 3.78890029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:0.09, Z:0.38 [[ 9.99775788e-01 -1.97343686e-02 -7.67650292e-03 8.44986935e+01] [ 1.97333297e-02 9.99805257e-01 -2.11057674e-04 9.31271794e-02] [ 7.67917306e-03 5.95273888e-05 9.99970513e-01 3.78699287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.53, Y:0.09, Z:0.38 [[ 9.99748069e-01 -2.10919257e-02 -7.67650292e-03 8.45286506e+01] [ 2.10909268e-02 9.99777539e-01 -2.11057674e-04 9.43814275e-02] [ 7.67924681e-03 4.90999405e-05 9.99970513e-01 3.78928645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.56, Y:0.10, Z:0.38 [[ 9.99718340e-01 -2.24568756e-02 -7.67650540e-03 8.45592136e+01] [ 2.24559176e-02 9.99747812e-01 -2.10967326e-04 9.55828554e-02] [ 7.67930715e-03 3.85249315e-05 9.99970513e-01 3.80179445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:0.10, Z:0.38 [[ 9.99670403e-01 -2.44980840e-02 -7.67650540e-03 8.45893725e+01] [ 2.44971862e-02 9.99699877e-01 -2.10967326e-04 9.70411779e-02] [ 7.67936980e-03 2.28450089e-05 9.99970513e-01 3.82223384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91589822699999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:84.62, Y:0.10, Z:0.38 [[ 9.99653291e-01 -2.51866920e-02 -7.67650540e-03 8.46197405e+01] [ 2.51858145e-02 9.99682765e-01 -2.10967326e-04 9.82887347e-02] [ 7.67938372e-03 1.75551398e-05 9.99970513e-01 3.80582909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.65, Y:0.10, Z:0.38 [[ 9.99650860e-01 -2.52829972e-02 -7.67650784e-03 8.46498306e+01] [ 2.52821233e-02 9.99680334e-01 -2.10878573e-04 9.73862689e-02] [ 7.67938556e-03 1.67265294e-05 9.99970513e-01 3.80997635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.68, Y:0.10, Z:0.38 [[ 9.99664462e-01 -2.47393229e-02 -7.67651024e-03 8.46813938e+01] [ 2.47384337e-02 9.99693936e-01 -2.10791253e-04 9.70455067e-02] [ 7.67937557e-03 2.08156855e-05 9.99970513e-01 3.79585889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:0.10, Z:0.38 [[ 9.99741155e-01 -2.14171652e-02 -7.67651525e-03 8.47119374e+01] [ 2.14161794e-02 9.99770625e-01 -2.10608682e-04 9.63071624e-02] [ 7.67926509e-03 4.61525386e-05 9.99970513e-01 3.80546007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.74, Y:0.10, Z:0.38 [[ 9.99782395e-01 -1.93967597e-02 -7.67651773e-03 8.47424390e+01] [ 1.93957150e-02 9.99811863e-01 -2.10518227e-04 9.75595341e-02] [ 7.67915687e-03 6.15808669e-05 9.99970513e-01 3.81193650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:0.10, Z:0.38 [[ 9.99820463e-01 -1.73237510e-02 -7.67651773e-03 8.47733041e+01] [ 1.73226452e-02 9.99849930e-01 -2.10518227e-04 9.85393904e-02] [ 7.67901268e-03 7.75028379e-05 9.99970513e-01 3.81672461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.80, Y:0.10, Z:0.38 [[ 9.99883490e-01 -1.31938737e-02 -7.67651773e-03 8.48026087e+01] [ 1.31926462e-02 9.99912951e-01 -2.10518227e-04 9.94631983e-02] [ 7.67862705e-03 1.09220117e-04 9.99970513e-01 3.83274382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.83, Y:0.10, Z:0.38 [[ 9.99909303e-01 -1.10660397e-02 -7.67651526e-03 8.48326268e+01] [ 1.10647488e-02 9.99938762e-01 -2.10608175e-04 1.00326055e-01] [ 7.67837576e-03 1.25650361e-04 9.99970513e-01 3.84458135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.86, Y:0.10, Z:0.39 [[ 9.99924460e-01 -9.59927012e-03 -7.67651030e-03 8.48627043e+01] [ 9.59793466e-03 9.99953917e-01 -2.10788832e-04 1.01851795e-01] [ 7.67817996e-03 1.37094265e-04 9.99970513e-01 3.85362912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.89, Y:0.10, Z:0.39 [[ 9.99918393e-01 -1.02116835e-02 -7.67650523e-03 8.48914367e+01] [ 1.02103646e-02 9.99947851e-01 -2.10973461e-04 1.03303402e-01] [ 7.67825930e-03 1.32576326e-04 9.99970513e-01 3.85617903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.92, Y:0.10, Z:0.38 [[ 9.99897193e-01 -1.21109690e-02 -7.67649574e-03 8.49213170e+01] [ 1.21097035e-02 9.99926653e-01 -2.11318092e-04 1.03393074e-01] [ 7.67849196e-03 1.18336280e-04 9.99970513e-01 3.84787757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.95, Y:0.10, Z:0.39 [[ 9.99862668e-01 -1.46872910e-02 -7.67649068e-03 8.49507101e+01] [ 1.46861000e-02 9.99892131e-01 -2.11501604e-04 1.03405324e-01] [ 7.67876901e-03 9.87348483e-05 9.99970513e-01 3.85912073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27589822699998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:84.98, Y:0.10, Z:0.38 [[ 9.99747670e-01 -2.11108418e-02 -7.67649122e-03 8.49807129e+01] [ 2.11098402e-02 9.99777140e-01 -2.11482216e-04 1.02533946e-01] [ 7.67924500e-03 4.93793497e-05 9.99970513e-01 3.82357190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.01, Y:0.10, Z:0.38 [[ 9.99683771e-01 -2.39463730e-02 -7.67648880e-03 8.50124275e+01] [ 2.39454543e-02 9.99713244e-01 -2.11570047e-04 1.01961442e-01] [ 7.67935385e-03 2.76861309e-05 9.99970513e-01 3.82221111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.04, Y:0.10, Z:0.38 [[ 9.99613007e-01 -2.67377682e-02 -7.67649379e-03 8.50441687e+01] [ 2.67369333e-02 9.99642482e-01 -2.11388894e-04 1.02768317e-01] [ 7.67940137e-03 6.06118589e-06 9.99970513e-01 3.81857683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.07, Y:0.10, Z:0.38 [[ 9.99472075e-01 -3.15696330e-02 -7.67649880e-03 8.50741921e+01] [ 3.15689419e-02 9.99501554e-01 -2.11206654e-04 1.03938806e-01] [ 7.67934020e-03 -3.12437922e-05 9.99970513e-01 3.81983814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:0.11, Z:0.38 [[ 9.99406331e-01 -3.35865559e-02 -7.67650694e-03 8.51043064e+01] [ 3.35859267e-02 9.99435811e-01 -2.10910466e-04 1.05293562e-01] [ 7.67925970e-03 -4.70373445e-05 9.99970513e-01 3.82595207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.14, Y:0.11, Z:0.38 [[ 9.99353716e-01 -3.51172559e-02 -7.67650936e-03 8.51354243e+01] [ 3.51166725e-02 9.99383197e-01 -2.10822157e-04 1.06507262e-01] [ 7.67917797e-03 -5.88875587e-05 9.99970513e-01 3.81317819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.17, Y:0.11, Z:0.38 [[ 9.99301343e-01 -3.65772671e-02 -7.67651409e-03 8.51666750e+01] [ 3.65767280e-02 9.99330825e-01 -2.10650004e-04 1.07816364e-01] [ 7.67908216e-03 -7.02789355e-05 9.99970513e-01 3.78626907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.20, Y:0.11, Z:0.38 [[ 9.99194618e-01 -3.93851144e-02 -7.67651896e-03 8.51976110e+01] [ 3.93846596e-02 9.99224101e-01 -2.10472373e-04 1.09569603e-01] [ 7.67885223e-03 -9.20342233e-05 9.99970513e-01 3.76443614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.23, Y:0.11, Z:0.38 [[ 9.99131536e-01 -4.09541773e-02 -7.67652395e-03 8.52286959e+01] [ 4.09537701e-02 9.99161020e-01 -2.10290247e-04 1.11705879e-01] [ 7.67869576e-03 -1.04274980e-04 9.99970513e-01 3.76409399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.545898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.26, Y:0.11, Z:0.37 [[ 9.99067005e-01 -4.24993076e-02 -7.67653141e-03 8.52608253e+01] [ 4.24989481e-02 9.99096489e-01 -2.10017405e-04 1.14188352e-01] [ 7.67852118e-03 -1.16423051e-04 9.99970513e-01 3.73640592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.29, Y:0.12, Z:0.37 [[ 9.98930155e-01 -4.56028046e-02 -7.67654129e-03 8.52921613e+01] [ 4.56025395e-02 9.98959641e-01 -2.09655623e-04 1.17505793e-01] [ 7.67811582e-03 -1.40638453e-04 9.99970513e-01 3.69688299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.32, Y:0.12, Z:0.37 [[ 9.98855283e-01 -4.72143470e-02 -7.67654867e-03 8.53244235e+01] [ 4.72141316e-02 9.98884769e-01 -2.09385228e-04 1.18994423e-01] [ 7.67787353e-03 -1.53296038e-04 9.99970513e-01 3.68204284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.36, Y:0.12, Z:0.37 [[ 9.98781920e-01 -4.87416356e-02 -7.67655840e-03 8.53562836e+01] [ 4.87414680e-02 9.98811406e-01 -2.09027948e-04 1.20613563e-01] [ 7.67762245e-03 -1.65393390e-04 9.99970513e-01 3.67586306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.39, Y:0.12, Z:0.37 [[ 9.98784175e-01 -4.86953926e-02 -7.67656804e-03 8.53889539e+01] [ 4.86952264e-02 9.98813662e-01 -2.08672974e-04 1.21417543e-01] [ 7.67762245e-03 -1.65392955e-04 9.99970513e-01 3.67837200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.42, Y:0.12, Z:0.37 [[ 9.98706570e-01 -5.02618832e-02 -7.67657769e-03 8.54201963e+01] [ 5.02617659e-02 9.98736057e-01 -2.08317564e-04 1.23959303e-01] [ 7.67734537e-03 -1.77790231e-04 9.99970513e-01 3.67747615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.45, Y:0.13, Z:0.37 [[ 9.98594592e-01 -5.24395834e-02 -7.67658488e-03 8.54515469e+01] [ 5.24395325e-02 9.98624079e-01 -2.08052167e-04 1.29766808e-01] [ 7.67693268e-03 -1.94796754e-04 9.99970513e-01 3.65529347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:0.13, Z:0.36 [[ 9.98552178e-01 -5.32411227e-02 -7.67659202e-03 8.54832918e+01] [ 5.32410975e-02 9.98581665e-01 -2.07788394e-04 1.32711513e-01] [ 7.67676693e-03 -2.01222630e-04 9.99970513e-01 3.64596792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.51, Y:0.14, Z:0.36 [[ 9.98508205e-01 -5.40595470e-02 -7.67660155e-03 8.55145162e+01] [ 5.40595486e-02 9.98537692e-01 -2.07435790e-04 1.35388516e-01] [ 7.67658988e-03 -2.07867277e-04 9.99970513e-01 3.64337570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.55, Y:0.14, Z:0.37 [[ 9.98408985e-01 -5.58620466e-02 -7.67660865e-03 8.55454615e+01] [ 5.58621035e-02 9.98438472e-01 -2.07172567e-04 1.40474034e-01] [ 7.67619450e-03 -2.21988555e-04 9.99970513e-01 3.65603773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.58, Y:0.14, Z:0.37 [[ 9.98366035e-01 -5.66244705e-02 -7.67661566e-03 8.55780639e+01] [ 5.66245519e-02 9.98395521e-01 -2.06912678e-04 1.43670253e-01] [ 7.67601501e-03 -2.28110333e-04 9.99970513e-01 3.66886029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.875898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:85.61, Y:0.15, Z:0.37 [[ 9.98326234e-01 -5.73218892e-02 -7.67662758e-03 8.56104640e+01] [ 5.73219947e-02 9.98355721e-01 -2.06469355e-04 1.47530710e-01] [ 7.67584028e-03 -2.33915831e-04 9.99970513e-01 3.66347840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.64, Y:0.15, Z:0.37 [[ 9.98313394e-01 -5.75450888e-02 -7.67663708e-03 8.56428176e+01] [ 5.75452036e-02 9.98342881e-01 -2.06115603e-04 1.52413519e-01] [ 7.67577692e-03 -2.35985676e-04 9.99970513e-01 3.67514570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:0.16, Z:0.37 [[ 9.98332926e-01 -5.72052251e-02 -7.67664662e-03 8.56750448e+01] [ 5.72053326e-02 9.98362413e-01 -2.05759658e-04 1.55775133e-01] [ 7.67584597e-03 -2.33728482e-04 9.99970513e-01 3.68567170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.71, Y:0.16, Z:0.37 [[ 9.98366558e-01 -5.66152427e-02 -7.67665611e-03 8.57073476e+01] [ 5.66153354e-02 9.98396044e-01 -2.05405089e-04 1.59390772e-01] [ 7.67597215e-03 -2.29546889e-04 9.99970513e-01 3.69000444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99589822699998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.74, Y:0.17, Z:0.37 [[ 9.98455294e-01 -5.50281196e-02 -7.67666562e-03 8.57390458e+01] [ 5.50281682e-02 9.98484781e-01 -2.05048851e-04 1.66690069e-01] [ 7.67631725e-03 -2.17700736e-04 9.99970513e-01 3.66471753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02589822699998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:85.77, Y:0.17, Z:0.36 [[ 9.98510133e-01 -5.40239039e-02 -7.67667528e-03 8.57705716e+01] [ 5.40239256e-02 9.98539620e-01 -2.04686738e-04 1.70469227e-01] [ 7.67652240e-03 -2.10342352e-04 9.99970513e-01 3.64104929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.80, Y:0.17, Z:0.36 [[ 9.98558302e-01 -5.31261401e-02 -7.67669092e-03 8.58026613e+01] [ 5.31261398e-02 9.98587789e-01 -2.04098537e-04 1.72654811e-01] [ 7.67669277e-03 -2.04028666e-04 9.99970513e-01 3.64254081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:0.18, Z:0.36 [[ 9.98608028e-01 -5.21830787e-02 -7.67670027e-03 8.58342889e+01] [ 5.21830533e-02 9.98637516e-01 -2.03746023e-04 1.75308014e-01] [ 7.67687298e-03 -1.97131245e-04 9.99970513e-01 3.64854468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11589822699999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:85.87, Y:0.18, Z:0.37 [[ 9.98700683e-01 -5.03787105e-02 -7.67671187e-03 8.58666958e+01] [ 5.03786352e-02 9.98730170e-01 -2.03307959e-04 1.81983071e-01] [ 7.67720615e-03 -1.83698469e-04 9.99970513e-01 3.65863516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:0.19, Z:0.37 [[ 9.98740857e-01 -4.95758955e-02 -7.67672117e-03 8.58991502e+01] [ 4.95757992e-02 9.98770343e-01 -2.02956370e-04 1.85105481e-01] [ 7.67734318e-03 -1.77878769e-04 9.99970513e-01 3.67338081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:0.19, Z:0.37 [[ 9.98759207e-01 -4.92048184e-02 -7.67673059e-03 8.59310193e+01] [ 4.92047139e-02 9.98788694e-01 -2.02599497e-04 1.88786417e-01] [ 7.67740059e-03 -1.75383220e-04 9.99970513e-01 3.65652752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.96, Y:0.19, Z:0.36 [[ 9.98768568e-01 -4.90144487e-02 -7.67673992e-03 8.59631705e+01] [ 4.90143413e-02 9.98798054e-01 -2.02245140e-04 1.91788594e-01] [ 7.67742583e-03 -1.74274262e-04 9.99970513e-01 3.63846587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.99, Y:0.19, Z:0.36 [[ 9.98734986e-01 -4.96940141e-02 -7.67670641e-03 8.59942100e+01] [ 4.96939169e-02 9.98764473e-01 -2.03521337e-04 1.94267490e-01] [ 7.67733543e-03 -1.78221731e-04 9.99970513e-01 3.61900603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:0.20, Z:0.36 [[ 9.98572801e-01 -5.28528877e-02 -7.67675918e-03 8.60260057e+01] [ 5.28528992e-02 9.98602288e-01 -2.01511050e-04 1.98231955e-01] [ 7.67667972e-03 -2.04515526e-04 9.99970513e-01 3.62747930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.06, Y:0.20, Z:0.36 [[ 9.98477365e-01 -5.46261769e-02 -7.67678208e-03 8.60581462e+01] [ 5.46262475e-02 9.98506852e-01 -2.00634753e-04 2.00763509e-01] [ 7.67627942e-03 -2.19024539e-04 9.99970513e-01 3.64630062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.325898227 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:86.09, Y:0.20, Z:0.36 [[ 9.98376108e-01 -5.64465652e-02 -7.67679095e-03 8.60907296e+01] [ 5.64466922e-02 9.98405594e-01 -2.00294958e-04 2.04081568e-01] [ 7.67585699e-03 -2.33359755e-04 9.99970513e-01 3.64592669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.12, Y:0.21, Z:0.37 [[ 9.98260412e-01 -5.84569708e-02 -7.67680059e-03 8.61230786e+01] [ 5.84571601e-02 9.98289898e-01 -1.99924573e-04 2.07446479e-01] [ 7.67535946e-03 -2.49187175e-04 9.99970513e-01 3.65033292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:0.21, Z:0.36 [[ 9.98201962e-01 -5.94466877e-02 -7.67682452e-03 8.61555013e+01] [ 5.94469133e-02 9.98231449e-01 -1.99001586e-04 2.10727295e-01] [ 7.67507764e-03 -2.57719747e-04 9.99970513e-01 3.64318534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:0.21, Z:0.36 [[ 9.98160968e-01 -6.01310405e-02 -7.67719183e-03 8.61860773e+01] [ 6.01313954e-02 9.98190453e-01 -1.84795707e-04 2.14148010e-01] [ 7.67441155e-03 -2.77184396e-04 9.99970513e-01 3.63003700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:0.22, Z:0.36 [[ 9.98045202e-01 -6.20228650e-02 -7.67712151e-03 8.62166529e+01] [ 6.20232549e-02 9.98074687e-01 -1.87518727e-04 2.20645706e-01] [ 7.67397110e-03 -2.89007899e-04 9.99970513e-01 3.58730594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:0.22, Z:0.36 [[ 9.97930169e-01 -6.38470282e-02 -7.67685287e-03 8.62492792e+01] [ 6.38473920e-02 9.97959654e-01 -1.97937693e-04 2.23481448e-01] [ 7.67382717e-03 -2.92619039e-04 9.99970513e-01 3.59170689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:0.23, Z:0.36 [[ 9.97771885e-01 -6.62746683e-02 -7.67686661e-03 8.62807581e+01] [ 6.62751078e-02 9.97801369e-01 -1.97403401e-04 2.25794197e-01] [ 7.67307085e-03 -3.11821598e-04 9.99970513e-01 3.60711565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.31, Y:0.23, Z:0.36 [[ 9.97602540e-01 -6.87767240e-02 -7.67687793e-03 8.63129524e+01] [ 6.87772409e-02 9.97632023e-01 -1.96962014e-04 2.27358023e-01] [ 7.67224566e-03 -3.31504677e-04 9.99970513e-01 3.63234318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:0.23, Z:0.36 [[ 9.97393046e-01 -7.17507935e-02 -7.67688938e-03 8.63449411e+01] [ 7.17514017e-02 9.97422527e-01 -1.96515100e-04 2.28947829e-01] [ 7.67120252e-03 -3.54824780e-04 9.99970513e-01 3.61878488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.38, Y:0.23, Z:0.36 [[ 9.97034896e-01 -7.65668478e-02 -7.67689609e-03 8.63769801e+01] [ 7.65676004e-02 9.97064373e-01 -1.96252689e-04 2.29414391e-01] [ 7.66938603e-03 -3.92130733e-04 9.99970513e-01 3.60033547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.41, Y:0.23, Z:0.36 [[ 9.96968700e-01 -7.74240093e-02 -7.67690736e-03 8.64096896e+01] [ 7.74247907e-02 9.96998176e-01 -1.95810642e-04 2.29310166e-01] [ 7.66902308e-03 -3.99165864e-04 9.99970513e-01 3.60034040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.44, Y:0.23, Z:0.36 [[ 9.97041251e-01 -7.64840462e-02 -7.67692076e-03 8.64419775e+01] [ 7.64848038e-02 9.97070728e-01 -1.95283853e-04 2.28755152e-01] [ 7.66936907e-03 -3.92461721e-04 9.99970513e-01 3.60392272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:0.23, Z:0.36 [[ 9.97153934e-01 -7.50006507e-02 -7.67693190e-03 8.64749280e+01] [ 7.50013678e-02 9.97183412e-01 -1.94845129e-04 2.29009146e-01] [ 7.66992265e-03 -3.81489806e-04 9.99970513e-01 3.60075796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.51, Y:0.23, Z:0.36 [[ 9.97269133e-01 -7.34529852e-02 -7.67694504e-03 8.65074251e+01] [ 7.34536606e-02 9.97298612e-01 -1.94326013e-04 2.29818760e-01] [ 7.67048046e-03 -3.70104381e-04 9.99970513e-01 3.58839021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.54, Y:0.23, Z:0.36 [[ 9.97389213e-01 -7.18040478e-02 -7.67695396e-03 8.65392232e+01] [ 7.18046772e-02 9.97418694e-01 -1.93973106e-04 2.30144467e-01] [ 7.67106544e-03 -3.57774517e-04 9.99970513e-01 3.56558999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.57, Y:0.23, Z:0.36 [[ 9.97599500e-01 -6.88207912e-02 -7.67696280e-03 8.65713236e+01] [ 6.88213350e-02 9.97628982e-01 -1.93622331e-04 2.31528833e-01] [ 7.67208583e-03 -3.35181288e-04 9.99970513e-01 3.56607030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.60, Y:0.23, Z:0.36 [[ 9.97725144e-01 -6.69746275e-02 -7.67697384e-03 8.66030057e+01] [ 6.69751202e-02 9.97754627e-01 -1.93183636e-04 2.32616481e-01] [ 7.67267457e-03 -3.21422075e-04 9.99970513e-01 3.58831355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:0.23, Z:0.36 [[ 9.97866482e-01 -6.48347764e-02 -7.67698267e-03 8.66347226e+01] [ 6.48352085e-02 9.97895966e-01 -1.92832034e-04 2.34345562e-01] [ 7.67333226e-03 -3.05318149e-04 9.99970513e-01 3.61969874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:0.24, Z:0.36 [[ 9.97967501e-01 -6.32608276e-02 -7.67695171e-03 8.66665490e+01] [ 6.32612037e-02 9.97996985e-01 -1.94068786e-04 2.35864985e-01] [ 7.67385161e-03 -2.91978865e-04 9.99970513e-01 3.61927972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:0.24, Z:0.36 [[ 9.98152562e-01 -6.02704384e-02 -7.67700518e-03 8.66981706e+01] [ 6.02707426e-02 9.98182048e-01 -1.91930040e-04 2.37955894e-01] [ 7.67461646e-03 -2.71123342e-04 9.99970513e-01 3.60167324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:0.24, Z:0.36 [[ 9.98206206e-01 -5.93753724e-02 -7.67699217e-03 8.67316247e+01] [ 5.93756462e-02 9.98235691e-01 -1.92451555e-04 2.39456575e-01] [ 7.67487447e-03 -2.63720034e-04 9.99970513e-01 3.60719138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:0.24, Z:0.36 [[ 9.98206114e-01 -5.93769058e-02 -7.67702787e-03 8.67632412e+01] [ 5.93771906e-02 9.98235600e-01 -1.91016610e-04 2.41815139e-01] [ 7.67482450e-03 -2.65166399e-04 9.99970513e-01 3.60785013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:0.25, Z:0.36 [[ 9.98071053e-01 -6.16054818e-02 -7.67703891e-03 8.67959118e+01] [ 6.16058359e-02 9.98100538e-01 -1.90572210e-04 2.47250057e-01] [ 7.67419696e-03 -2.82745793e-04 9.99970513e-01 3.62347910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.83, Y:0.25, Z:0.36 [[ 9.97944688e-01 -6.36196647e-02 -7.67705170e-03 8.68285884e+01] [ 6.36200823e-02 9.97974173e-01 -1.90055447e-04 2.50808444e-01] [ 7.67359058e-03 -2.98749837e-04 9.99970513e-01 3.62439785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.86, Y:0.25, Z:0.36 [[ 9.97776705e-01 -6.62020314e-02 -7.67706467e-03 8.68612142e+01] [ 6.62025293e-02 9.97806188e-01 -1.89530130e-04 2.54937643e-01] [ 7.67276991e-03 -3.19132350e-04 9.99970513e-01 3.60888369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:0.26, Z:0.36 [[ 9.97387275e-01 -7.18309499e-02 -7.67707776e-03 8.68919571e+01] [ 7.18316183e-02 9.97416755e-01 -1.88998211e-04 2.63412258e-01] [ 7.67082191e-03 -3.62952508e-04 9.99970513e-01 3.57326115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:0.27, Z:0.36 [[ 9.97191904e-01 -7.44940830e-02 -7.67708428e-03 8.69236725e+01] [ 7.44948321e-02 9.97221382e-01 -1.88733030e-04 2.67491346e-01] [ 7.66981209e-03 -3.83700055e-04 9.99970513e-01 3.56551768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.96, Y:0.27, Z:0.36 [[ 9.96989011e-01 -7.71620034e-02 -7.67709286e-03 8.69561480e+01] [ 7.71628341e-02 9.97018486e-01 -1.88383259e-04 2.71090444e-01] [ 7.66873953e-03 -4.04570204e-04 9.99970513e-01 3.56838097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.99, Y:0.27, Z:0.36 [[ 9.96833018e-01 -7.91517321e-02 -7.67710572e-03 8.69865823e+01] [ 7.91526256e-02 9.96862491e-01 -1.87857798e-04 2.73857760e-01] [ 7.66788801e-03 -4.20400219e-04 9.99970513e-01 3.56238216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:0.28, Z:0.36 [[ 9.96359038e-01 -8.49101572e-02 -7.67673685e-03 8.70202667e+01] [ 8.49111051e-02 9.96388510e-01 -2.02951134e-04 2.80317099e-01] [ 7.66624501e-03 -4.49628013e-04 9.99970513e-01 3.61443187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:0.28, Z:0.36 [[ 9.96169113e-01 -8.71100405e-02 -7.67713601e-03 8.70518973e+01] [ 8.71111796e-02 9.96198578e-01 -1.86522108e-04 2.84389550e-01] [ 7.66419993e-03 -4.82956811e-04 9.99970513e-01 3.62771185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:0.29, Z:0.36 [[ 9.96002104e-01 -8.89992680e-02 -7.67716757e-03 8.70843182e+01] [ 8.90004731e-02 9.96031567e-01 -1.85214019e-04 2.87981411e-01] [ 7.66318515e-03 -4.98797993e-04 9.99970513e-01 3.62105897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:0.29, Z:0.36 [[ 9.95841816e-01 -9.07752081e-02 -7.67718815e-03 8.71169008e+01] [ 9.07764722e-02 9.95871276e-01 -1.84357104e-04 2.91146736e-01] [ 7.66222621e-03 -5.13317543e-04 9.99970513e-01 3.61823719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:0.30, Z:0.36 [[ 9.95669260e-01 -9.26487153e-02 -7.67720008e-03 8.71491181e+01] [ 9.26500386e-02 9.95698718e-01 -1.83858700e-04 2.95489686e-01] [ 7.66121255e-03 -5.28230428e-04 9.99970513e-01 3.62892962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.18, Y:0.30, Z:0.36 [[ 9.95678339e-01 -9.25511029e-02 -7.67720857e-03 8.71810982e+01] [ 9.25524262e-02 9.95707796e-01 -1.83503382e-04 2.98823745e-01] [ 7.66123987e-03 -5.27833937e-04 9.99970513e-01 3.63267121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:0.30, Z:0.36 [[ 9.95730299e-01 -9.19903932e-02 -7.67723989e-03 8.72128007e+01] [ 9.19917100e-02 9.95759756e-01 -1.82183626e-04 3.02743812e-01] [ 7.66144567e-03 -5.24836669e-04 9.99970513e-01 3.62325663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.405898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:87.25, Y:0.31, Z:0.36 [[ 9.95891296e-01 -9.02307393e-02 -7.67727072e-03 8.72460381e+01] [ 9.02320140e-02 9.95920755e-01 -1.80875320e-04 3.10398984e-01] [ 7.66227376e-03 -5.12603442e-04 9.99970513e-01 3.62573773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.28, Y:0.31, Z:0.37 [[ 9.96038553e-01 -8.85904072e-02 -7.67728262e-03 8.72777948e+01] [ 8.85916373e-02 9.96068014e-01 -1.80368532e-04 3.12578382e-01] [ 7.66307458e-03 -5.00489026e-04 9.99970513e-01 3.66111552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.465898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:87.31, Y:0.32, Z:0.36 [[ 9.96149987e-01 -8.73284802e-02 -7.67729075e-03 8.73101207e+01] [ 8.73296757e-02 9.96179449e-01 -1.80021885e-04 3.15591385e-01] [ 7.66368031e-03 -4.91126513e-04 9.99970513e-01 3.64962315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.34, Y:0.32, Z:0.36 [[ 9.96265493e-01 -8.60007328e-02 -7.67731980e-03 8.73424249e+01] [ 8.60018986e-02 9.96294957e-01 -1.78774338e-04 3.17317246e-01] [ 7.66424973e-03 -4.82157375e-04 9.99970513e-01 3.64838450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:0.32, Z:0.36 [[ 9.96366703e-01 -8.48201175e-02 -7.67734973e-03 8.73744214e+01] [ 8.48212583e-02 9.96396168e-01 -1.77479894e-04 3.19476974e-01] [ 7.66473571e-03 -4.74367407e-04 9.99970513e-01 3.63342472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:0.32, Z:0.36 [[ 9.96470959e-01 -8.35863990e-02 -7.67735765e-03 8.74072006e+01] [ 8.35875060e-02 9.96500425e-01 -1.77136320e-04 3.20934057e-01] [ 7.66529635e-03 -4.65219980e-04 9.99970513e-01 3.62072558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:0.32, Z:0.36 [[ 9.96476588e-01 -8.35192689e-02 -7.67736955e-03 8.74407249e+01] [ 8.35203778e-02 9.96506054e-01 -1.76619093e-04 3.21589123e-01] [ 7.66529633e-03 -4.65220014e-04 9.99970513e-01 3.62329866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.47, Y:0.32, Z:0.36 [[ 9.96651835e-01 -8.14013330e-02 -7.67738141e-03 8.74720703e+01] [ 8.14023833e-02 9.96681304e-01 -1.76101901e-04 3.23322993e-01] [ 7.66623745e-03 -4.49444862e-04 9.99970513e-01 3.64372950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:0.33, Z:0.37 [[ 9.96778029e-01 -7.98412041e-02 -7.67738730e-03 8.75048550e+01] [ 7.98422102e-02 9.96807499e-01 -1.75844934e-04 3.25207299e-01] [ 7.66691691e-03 -4.37701204e-04 9.99970513e-01 3.66663456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67589822699999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:87.54, Y:0.33, Z:0.37 [[ 9.96955026e-01 -7.75998283e-02 -7.67739933e-03 8.75366391e+01] [ 7.76007722e-02 9.96984498e-01 -1.75318253e-04 3.28410324e-01] [ 7.66785278e-03 -4.20987703e-04 9.99970513e-01 3.66321423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.57, Y:0.33, Z:0.37 [[ 9.97200569e-01 -7.43779757e-02 -7.67741912e-03 8.75694185e+01] [ 7.43788310e-02 9.97230043e-01 -1.74447201e-04 3.30652241e-01] [ 7.66912803e-03 -3.97078612e-04 9.99970513e-01 3.67001887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.60, Y:0.33, Z:0.37 [[ 9.97591772e-01 -6.89326675e-02 -7.67743080e-03 8.76001477e+01] [ 6.89333659e-02 9.97621251e-01 -1.73931638e-04 3.33604135e-01] [ 7.67115769e-03 -3.55718375e-04 9.99970513e-01 3.66480892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:0.33, Z:0.37 [[ 9.97708744e-01 -6.72184433e-02 -7.67743661e-03 8.76327984e+01] [ 6.72190930e-02 9.97738224e-01 -1.73674955e-04 3.34654773e-01] [ 7.67174612e-03 -3.42793304e-04 9.99970513e-01 3.67860931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:0.34, Z:0.37 [[ 9.97764309e-01 -6.63885601e-02 -7.67744846e-03 8.76652809e+01] [ 6.63891893e-02 9.97793789e-01 -1.73149471e-04 3.36286507e-01] [ 7.67200553e-03 -3.36937217e-04 9.99970513e-01 3.68800007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:0.34, Z:0.37 [[ 9.97747987e-01 -6.66333991e-02 -7.67747700e-03 8.76975138e+01] [ 6.66340453e-02 9.97777467e-01 -1.71874644e-04 3.41709818e-01] [ 7.67186615e-03 -3.40093770e-04 9.99970513e-01 3.68605881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.73, Y:0.35, Z:0.37 [[ 9.97691444e-01 -6.74747227e-02 -7.67750551e-03 8.77309024e+01] [ 6.74754037e-02 9.97720923e-01 -1.70591195e-04 3.45282752e-01] [ 7.67151848e-03 -3.47845408e-04 9.99970513e-01 3.68200889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:0.35, Z:0.37 [[ 9.97634387e-01 -6.83131479e-02 -7.67751860e-03 8.77637739e+01] [ 6.83138582e-02 9.97663865e-01 -1.70000082e-04 3.48368987e-01] [ 7.67119613e-03 -3.54882990e-04 9.99970513e-01 3.66874927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.80, Y:0.35, Z:0.37 [[ 9.97560863e-01 -6.93785301e-02 -7.67752989e-03 8.77955143e+01] [ 6.93792758e-02 9.97590340e-01 -1.69488982e-04 3.51690239e-01] [ 7.67078855e-03 -3.63585888e-04 9.99970513e-01 3.65010906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.83, Y:0.36, Z:0.36 [[ 9.97332207e-01 -7.25914868e-02 -7.67754838e-03 8.78275772e+01] [ 7.25923339e-02 9.97361682e-01 -1.68647104e-04 3.58225245e-01] [ 7.66953491e-03 -3.89133967e-04 9.99970513e-01 3.63768870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.86, Y:0.36, Z:0.36 [[ 9.97198126e-01 -7.44107019e-02 -7.67755569e-03 8.78602539e+01] [ 7.44116053e-02 9.97227599e-01 -1.68313671e-04 3.61787501e-01] [ 7.66879477e-03 -4.03457166e-04 9.99970513e-01 3.64571153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.89, Y:0.36, Z:0.36 [[ 9.97046166e-01 -7.64198728e-02 -7.67756675e-03 8.78923299e+01] [ 7.64208395e-02 9.97075638e-01 -1.67807715e-04 3.64736237e-01] [ 7.66793860e-03 -4.19414057e-04 9.99970513e-01 3.64687158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.93, Y:0.37, Z:0.37 [[ 9.96892773e-01 -7.83954928e-02 -7.67759402e-03 8.79256204e+01] [ 7.83965275e-02 9.96922242e-01 -1.66550634e-04 3.67415895e-01] [ 7.66702106e-03 -4.35863588e-04 9.99970513e-01 3.65056022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06589822699999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:87.96, Y:0.37, Z:0.36 [[ 9.96734342e-01 -8.03847323e-02 -7.67760480e-03 8.79562434e+01] [ 8.03858296e-02 9.96763809e-01 -1.66052077e-04 3.74636237e-01] [ 7.66610666e-03 -4.51660824e-04 9.99970513e-01 3.61071514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09589822699999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:87.99, Y:0.38, Z:0.36 [[ 9.96717302e-01 -8.05957448e-02 -7.67761883e-03 8.79883552e+01] [ 8.05968534e-02 9.96746768e-01 -1.65400710e-04 3.78009438e-01] [ 7.66597235e-03 -4.53934170e-04 9.99970513e-01 3.60916192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.02, Y:0.38, Z:0.36 [[ 9.96761393e-01 -8.00486090e-02 -7.67762594e-03 8.80211738e+01] [ 8.00497039e-02 9.96790860e-01 -1.65070101e-04 3.80102046e-01] [ 7.66620099e-03 -4.50056179e-04 9.99970513e-01 3.63419840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:0.38, Z:0.36 [[ 9.96761572e-01 -8.00463802e-02 -7.67765645e-03 8.80528501e+01] [ 8.00474861e-02 9.96791038e-01 -1.63638614e-04 3.82468858e-01] [ 7.66611782e-03 -4.51468416e-04 9.99970513e-01 3.61001097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.08, Y:0.38, Z:0.36 [[ 9.96769274e-01 -7.99504098e-02 -7.67768462e-03 8.80836415e+01] [ 7.99515231e-02 9.96798740e-01 -1.62306154e-04 3.84996688e-01] [ 7.66608280e-03 -4.52060793e-04 9.99970513e-01 3.60265132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:0.39, Z:0.36 [[ 9.96873645e-01 -7.86383444e-02 -7.67770658e-03 8.81157468e+01] [ 7.86394270e-02 9.96903112e-01 -1.61260481e-04 3.91319468e-01] [ 7.66661084e-03 -4.43014123e-04 9.99970513e-01 3.64123602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24589822699998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:88.15, Y:0.40, Z:0.37 [[ 9.96984842e-01 -7.72157872e-02 -7.67771366e-03 8.81490980e+01] [ 7.72168303e-02 9.97014310e-01 -1.60922950e-04 3.95341239e-01] [ 7.66721618e-03 -4.32410971e-04 9.99970513e-01 3.65856475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.18, Y:0.40, Z:0.37 [[ 9.97153325e-01 -7.50086600e-02 -7.67774362e-03 8.81811377e+01] [ 7.50096489e-02 9.97182795e-01 -1.59480596e-04 3.97489843e-01] [ 7.66807627e-03 -4.16878247e-04 9.99970513e-01 3.67166429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:0.40, Z:0.36 [[ 9.97349520e-01 -7.23532102e-02 -7.67777146e-03 8.82125297e+01] [ 7.23541310e-02 9.97378993e-01 -1.58128793e-04 4.02671726e-01] [ 7.66908909e-03 -3.97808806e-04 9.99970513e-01 3.63917526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:0.41, Z:0.36 [[ 9.97387003e-01 -7.18346536e-02 -7.67779469e-03 8.82448206e+01] [ 7.18355678e-02 9.97416476e-01 -1.56992438e-04 4.05095473e-01] [ 7.66923642e-03 -3.94956524e-04 9.99970513e-01 3.63330618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.28, Y:0.41, Z:0.36 [[ 9.97398557e-01 -7.16740534e-02 -7.67780190e-03 8.82770664e+01] [ 7.16749655e-02 9.97428030e-01 -1.56639468e-04 4.07800580e-01] [ 7.66928180e-03 -3.94074207e-04 9.99970513e-01 3.63035349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.31, Y:0.41, Z:0.36 [[ 9.97419804e-01 -7.13777640e-02 -7.67780909e-03 8.83088187e+01] [ 7.13786701e-02 9.97449277e-01 -1.56285973e-04 4.09890102e-01] [ 7.66938047e-03 -3.92149077e-04 9.99970513e-01 3.61990186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:0.41, Z:0.37 [[ 9.97482554e-01 -7.04954293e-02 -7.67782686e-03 8.83405419e+01] [ 7.04963161e-02 9.97512028e-01 -1.55408026e-04 4.13060431e-01] [ 7.66968020e-03 -3.86241715e-04 9.99970513e-01 3.65424904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:0.42, Z:0.37 [[ 9.97497150e-01 -7.02885933e-02 -7.67784982e-03 8.83722471e+01] [ 7.02894827e-02 9.97526624e-01 -1.54265546e-04 4.15196318e-01] [ 7.66970271e-03 -3.85792650e-04 9.99970513e-01 3.67579847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48589822699999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:88.41, Y:0.42, Z:0.37 [[ 9.97455136e-01 -7.08823071e-02 -7.67787239e-03 8.84054593e+01] [ 7.08832228e-02 9.97484609e-01 -1.53133948e-04 4.18643324e-01] [ 7.66941402e-03 -3.91488096e-04 9.99970513e-01 3.68203547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.44, Y:0.42, Z:0.37 [[ 9.97448050e-01 -7.09819469e-02 -7.67790020e-03 8.84382456e+01] [ 7.09828764e-02 9.97477523e-01 -1.51726453e-04 4.19728200e-01] [ 7.66930271e-03 -3.93660186e-04 9.99970513e-01 3.69758346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.47, Y:0.42, Z:0.37 [[ 9.97256530e-01 -7.36237936e-02 -7.67792804e-03 8.84699573e+01] [ 7.36248120e-02 9.97285999e-01 -1.50304242e-04 4.22929407e-01] [ 7.66815611e-03 -4.15394122e-04 9.99970513e-01 3.67200718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.50, Y:0.42, Z:0.37 [[ 9.97129865e-01 -7.53198651e-02 -7.67795199e-03 8.85034270e+01] [ 7.53209431e-02 9.97159332e-01 -1.49070690e-04 4.23902922e-01] [ 7.66736946e-03 -4.29667748e-04 9.99970513e-01 3.66688382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.54, Y:0.42, Z:0.37 [[ 9.96978635e-01 -7.72958636e-02 -7.67797882e-03 8.85358165e+01] [ 7.72970107e-02 9.97008099e-01 -1.47676060e-04 4.24234397e-01] [ 7.66642182e-03 -4.46254934e-04 9.99970513e-01 3.66045356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.57, Y:0.42, Z:0.37 [[ 9.96635842e-01 -8.15968538e-02 -7.67800357e-03 8.85689765e+01] [ 8.15981380e-02 9.96665301e-01 -1.46377574e-04 4.22515246e-01] [ 7.66434369e-03 -4.80625658e-04 9.99970513e-01 3.66737386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.60, Y:0.42, Z:0.37 [[ 9.96478323e-01 -8.34984983e-02 -7.67802927e-03 8.85999511e+01] [ 8.34998492e-02 9.96507779e-01 -1.45017152e-04 4.21849782e-01] [ 7.66332461e-03 -4.96607837e-04 9.99970513e-01 3.67527272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.63, Y:0.42, Z:0.37 [[ 9.96392148e-01 -8.45206216e-02 -7.67804154e-03 8.86334364e+01] [ 8.45220076e-02 9.96421602e-01 -1.44364204e-04 4.21145750e-01] [ 7.66276821e-03 -5.05120127e-04 9.99970513e-01 3.69033395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:0.42, Z:0.37 [[ 9.96361116e-01 -8.48856561e-02 -7.67806637e-03 8.86660518e+01] [ 8.48870632e-02 9.96390569e-01 -1.43031547e-04 4.20708338e-01] [ 7.66249424e-03 -5.09257433e-04 9.99970513e-01 3.70318498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:0.42, Z:0.37 [[ 9.96384740e-01 -8.46079052e-02 -7.67809145e-03 8.86980682e+01] [ 8.46093145e-02 9.96414193e-01 -1.41672053e-04 4.19771919e-01] [ 7.66254587e-03 -5.08478183e-04 9.99970513e-01 3.70938191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.73, Y:0.42, Z:0.37 [[ 9.96440923e-01 -8.39436327e-02 -7.67811467e-03 8.87311345e+01] [ 8.39450321e-02 9.96470377e-01 -1.40402366e-04 4.19418404e-01] [ 7.66279970e-03 -5.04636919e-04 9.99970513e-01 3.71957743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:0.42, Z:0.37 [[ 9.96613716e-01 -8.18666427e-02 -7.67813904e-03 8.87630463e+01] [ 8.18679911e-02 9.96643172e-01 -1.39056518e-04 4.18263643e-01] [ 7.66374894e-03 -4.90008186e-04 9.99970513e-01 3.71201706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.80, Y:0.42, Z:0.37 [[ 9.96727014e-01 -8.04754984e-02 -7.67816106e-03 8.87950434e+01] [ 8.04768150e-02 9.96756471e-01 -1.37829919e-04 4.18136512e-01] [ 7.66434866e-03 -4.80535144e-04 9.99970513e-01 3.70349097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:0.42, Z:0.37 [[ 9.96845154e-01 -7.89986375e-02 -7.67817671e-03 8.88260540e+01] [ 7.89999172e-02 9.96874613e-01 -1.36952698e-04 4.17772140e-01] [ 7.66499851e-03 -4.70054691e-04 9.99970513e-01 3.71405837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:0.42, Z:0.37 [[ 9.96945777e-01 -7.77184838e-02 -7.67819578e-03 8.88585393e+01] [ 7.77197340e-02 9.96975238e-01 -1.35875182e-04 4.15665354e-01] [ 7.66553107e-03 -4.61287144e-04 9.99970513e-01 3.73718420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:0.42, Z:0.37 [[ 9.96932444e-01 -7.78893317e-02 -7.67820168e-03 8.88915290e+01] [ 7.78905894e-02 9.96961904e-01 -1.35540975e-04 4.15215511e-01] [ 7.66543176e-03 -4.62934459e-04 9.99970513e-01 3.73903225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:0.42, Z:0.37 [[ 9.96856081e-01 -7.88606296e-02 -7.67822551e-03 8.89242200e+01] [ 7.88619265e-02 9.96885539e-01 -1.34177364e-04 4.15068080e-01] [ 7.66489329e-03 -4.71764134e-04 9.99970513e-01 3.73210311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.96, Y:0.42, Z:0.37 [[ 9.96751243e-01 -8.01748345e-02 -7.67824631e-03 8.89556336e+01] [ 8.01761795e-02 9.96780699e-01 -1.32975890e-04 4.15036377e-01] [ 7.66418905e-03 -4.83068571e-04 9.99970513e-01 3.69771674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.99, Y:0.41, Z:0.37 [[ 9.96638043e-01 -8.15699464e-02 -7.67826544e-03 8.89877664e+01] [ 8.15713411e-02 9.96667497e-01 -1.31862262e-04 4.12421020e-01] [ 7.66343359e-03 -4.94907463e-04 9.99970513e-01 3.66789778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:0.41, Z:0.37 [[ 9.96667050e-01 -8.12147470e-02 -7.67828561e-03 8.90206461e+01] [ 8.12161404e-02 9.96696504e-01 -1.30676975e-04 4.11302677e-01] [ 7.66353332e-03 -4.93359287e-04 9.99970513e-01 3.67003678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:0.41, Z:0.37 [[ 9.96686970e-01 -8.09699173e-02 -7.67830837e-03 8.90531341e+01] [ 8.09713138e-02 9.96716424e-01 -1.29325951e-04 4.10421363e-01] [ 7.66356757e-03 -4.92825226e-04 9.99970513e-01 3.70760173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:0.41, Z:0.37 [[ 9.96770607e-01 -7.99337167e-02 -7.67839294e-03 8.90851214e+01] [ 7.99351212e-02 9.96800061e-01 -1.24284327e-04 4.10350735e-01] [ 7.66375705e-03 -4.89890306e-04 9.99970513e-01 3.70495932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.12, Y:0.41, Z:0.37 [[ 9.96981981e-01 -7.72526511e-02 -7.67833051e-03 8.91164147e+01] [ 7.72539477e-02 9.97011440e-01 -1.28028539e-04 4.11405324e-01] [ 7.66527390e-03 -4.65539196e-04 9.99970513e-01 3.67261853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.15, Y:0.41, Z:0.36 [[ 9.97056821e-01 -7.62806596e-02 -7.67834200e-03 8.91481425e+01] [ 7.62819328e-02 9.97086280e-01 -1.27335290e-04 4.12234441e-01] [ 7.66568269e-03 -4.58758249e-04 9.99970513e-01 3.62331181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:0.41, Z:0.36 [[ 9.97055617e-01 -7.62963976e-02 -7.67836113e-03 8.91809092e+01] [ 7.62976802e-02 9.97085076e-01 -1.26171239e-04 4.13123728e-01] [ 7.66560570e-03 -4.60041399e-04 9.99970513e-01 3.61142110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:0.41, Z:0.36 [[ 9.97073379e-01 -7.60639046e-02 -7.67852387e-03 8.92117091e+01] [ 7.60652567e-02 9.97102835e-01 -1.16218301e-04 4.13753568e-01] [ 7.66511794e-03 -4.68190716e-04 9.99970513e-01 3.63390328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.24, Y:0.41, Z:0.37 [[ 9.96970697e-01 -7.73981450e-02 -7.67837556e-03 8.92428109e+01] [ 7.73994668e-02 9.97000154e-01 -1.25306627e-04 4.14615180e-01] [ 7.66504011e-03 -4.69375139e-04 9.99970513e-01 3.69993264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.28, Y:0.42, Z:0.37 [[ 9.96910174e-01 -7.81738285e-02 -7.67838511e-03 8.92761002e+01] [ 7.81751777e-02 9.96939630e-01 -1.24718241e-04 4.15022434e-01] [ 7.66463612e-03 -4.75926237e-04 9.99970513e-01 3.72339595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:0.42, Z:0.37 [[ 9.96840760e-01 -7.90540360e-02 -7.67840679e-03 8.93086632e+01] [ 7.90554216e-02 9.96870215e-01 -1.23368958e-04 4.15620212e-01] [ 7.66412784e-03 -4.84040480e-04 9.99970513e-01 3.71963239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:0.42, Z:0.37 [[ 9.96789990e-01 -7.96916393e-02 -7.67842549e-03 8.93417135e+01] [ 7.96930527e-02 9.96819443e-01 -1.22193881e-04 4.16612962e-01] [ 7.66374165e-03 -4.90115530e-04 9.99970513e-01 3.72634754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:0.42, Z:0.37 [[ 9.96733126e-01 -8.03997292e-02 -7.67844716e-03 8.93734604e+01] [ 8.04011741e-02 9.96762578e-01 -1.20816861e-04 4.17708747e-01] [ 7.66330243e-03 -4.96933999e-04 9.99970513e-01 3.71629401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.41, Y:0.42, Z:0.38 [[ 9.96600359e-01 -8.20290555e-02 -7.67846716e-03 8.94057331e+01] [ 8.20305584e-02 9.96629808e-01 -1.19531774e-04 4.18192303e-01] [ 7.66239433e-03 -5.10743541e-04 9.99970513e-01 3.75838195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:0.42, Z:0.38 [[ 9.96542442e-01 -8.27296984e-02 -7.67848612e-03 8.94374514e+01] [ 8.27312314e-02 9.96571889e-01 -1.18301550e-04 4.18006868e-01] [ 7.66195046e-03 -5.17358096e-04 9.99970513e-01 3.76329152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.47, Y:0.42, Z:0.38 [[ 9.96557426e-01 -8.25489935e-02 -7.67850605e-03 8.94710452e+01] [ 8.25505313e-02 9.96586873e-01 -1.16993232e-04 4.18386127e-01] [ 7.66195601e-03 -5.17274279e-04 9.99970513e-01 3.76586580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.50, Y:0.42, Z:0.38 [[ 9.96450126e-01 -8.38342823e-02 -7.67852701e-03 8.95029041e+01] [ 8.38358687e-02 9.96479570e-01 -1.15600918e-04 4.18381686e-01] [ 7.66118662e-03 -5.28545433e-04 9.99970513e-01 3.75050219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53589822699999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:89.53, Y:0.42, Z:0.38 [[ 9.96324719e-01 -8.53117517e-02 -7.67853996e-03 8.95347147e+01] [ 8.53133884e-02 9.96354160e-01 -1.14734245e-04 4.19055098e-01] [ 7.66033342e-03 -5.40769698e-04 9.99970513e-01 3.75573021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.57, Y:0.42, Z:0.38 [[ 9.96162504e-01 -8.71854663e-02 -7.67854949e-03 8.95670966e+01] [ 8.71871634e-02 9.96191942e-01 -1.14093105e-04 4.17144566e-01] [ 7.65925639e-03 -5.55815675e-04 9.99970513e-01 3.75938378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.60, Y:0.42, Z:0.37 [[ 9.96038933e-01 -8.85860209e-02 -7.67856733e-03 8.95990405e+01] [ 8.85877686e-02 9.96068368e-01 -1.12879667e-04 4.15304779e-01] [ 7.65837759e-03 -5.67794602e-04 9.99970513e-01 3.74545661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:0.41, Z:0.37 [[ 9.95893730e-01 -9.02037553e-02 -7.67857988e-03 8.96317593e+01] [ 9.02055574e-02 9.95923162e-01 -1.12018928e-04 4.12999823e-01] [ 7.65738009e-03 -5.81091630e-04 9.99970513e-01 3.74770651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.66, Y:0.41, Z:0.38 [[ 9.95482622e-01 -9.46329189e-02 -7.67859938e-03 8.96638969e+01] [ 9.46348623e-02 9.95512044e-01 -1.10666206e-04 4.07988347e-01] [ 7.65461083e-03 -6.16496911e-04 9.99970513e-01 3.78060835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.70, Y:0.41, Z:0.38 [[ 9.95262534e-01 -9.69202132e-02 -7.67861683e-03 8.96956990e+01] [ 9.69222336e-02 9.95291951e-01 -1.09442205e-04 4.05136692e-01] [ 7.65307269e-03 -6.35304968e-04 9.99970513e-01 3.77847855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.73, Y:0.40, Z:0.38 [[ 9.95066856e-01 -9.89089991e-02 -7.67862913e-03 8.97274809e+01] [ 9.89110849e-02 9.95096269e-01 -1.08571769e-04 4.01702694e-01] [ 7.65171393e-03 -6.51465369e-04 9.99970513e-01 3.75645021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.76, Y:0.40, Z:0.38 [[ 9.94920601e-01 -1.00369495e-01 -7.67863647e-03 8.97594649e+01] [ 1.00371628e-01 9.94950011e-01 -1.08050208e-04 3.97681804e-01] [ 7.65070438e-03 -6.63215864e-04 9.99970513e-01 3.76841084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.79, Y:0.39, Z:0.38 [[ 9.94939703e-01 -1.00179964e-01 -7.67865449e-03 8.97924924e+01] [ 1.00182102e-01 9.94969113e-01 -1.06754055e-04 3.93109207e-01] [ 7.65071866e-03 -6.63049898e-04 9.99970513e-01 3.76204926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:0.39, Z:0.38 [[ 9.95363739e-01 -9.58752549e-02 -7.67867326e-03 8.98240276e+01] [ 9.58772755e-02 9.95393157e-01 -1.05386363e-04 3.87179717e-01] [ 7.65340276e-03 -6.31312507e-04 9.99970513e-01 3.78218222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:0.39, Z:0.38 [[ 9.95720688e-01 -9.20942440e-02 -7.67868830e-03 8.98558477e+01] [ 9.20961613e-02 9.95750112e-01 -1.04278340e-04 3.86173355e-01] [ 7.65565818e-03 -6.03345616e-04 9.99970513e-01 3.81629060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:0.39, Z:0.38 [[ 9.96047561e-01 -8.84889528e-02 -7.67869301e-03 8.98878546e+01] [ 8.84907662e-02 9.96076992e-01 -1.03930915e-04 3.85389606e-01] [ 7.65776617e-03 -5.75973294e-04 9.99970513e-01 3.82753184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89589822699999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.92, Y:0.38, Z:0.38 [[ 9.96336808e-01 -8.51704330e-02 -7.67871033e-03 8.99196085e+01] [ 8.51721584e-02 9.96366244e-01 -1.02634543e-04 3.84405242e-01] [ 7.65954921e-03 -5.51753760e-04 9.99970513e-01 3.81540317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92589822699999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.95, Y:0.38, Z:0.38 [[ 9.96575623e-01 -8.23290095e-02 -7.67872145e-03 8.99523036e+01] [ 8.23306573e-02 9.96605063e-01 -1.01796048e-04 3.82399822e-01] [ 7.66103345e-03 -5.30746725e-04 9.99970513e-01 3.82697967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.98, Y:0.38, Z:0.38 [[ 9.96745760e-01 -8.02429265e-02 -7.67873979e-03 8.99847122e+01] [ 8.02445235e-02 9.96775204e-01 -1.00393535e-04 3.76296107e-01] [ 7.66203328e-03 -5.16109985e-04 9.99970513e-01 3.84540587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.02, Y:0.37, Z:0.38 [[ 9.96766773e-01 -7.99814751e-02 -7.67884995e-03 9.00165920e+01] [ 7.99831294e-02 9.96796213e-01 -9.19118187e-05 3.72493216e-01] [ 7.66159979e-03 -5.22563802e-04 9.99970513e-01 3.82375352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:0.37, Z:0.38 [[ 9.96738693e-01 -8.03306570e-02 -7.67875062e-03 9.00489058e+01] [ 8.03322628e-02 9.96768136e-01 -9.95712646e-05 3.68959594e-01] [ 7.66193257e-03 -5.17604881e-04 9.99970513e-01 3.81521988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:0.37, Z:0.38 [[ 9.96665426e-01 -8.12346263e-02 -7.67875534e-03 9.00797779e+01] [ 8.12362616e-02 9.96694868e-01 -9.92064995e-05 3.65647150e-01] [ 7.66143504e-03 -5.24917689e-04 9.99970513e-01 3.77308006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.11, Y:0.36, Z:0.37 [[ 9.96502623e-01 -8.32079270e-02 -7.67876466e-03 9.01112336e+01] [ 8.32096262e-02 9.96532061e-01 -9.84797423e-05 3.58697027e-01] [ 7.66032946e-03 -5.40811815e-04 9.99970513e-01 3.71090395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.14, Y:0.36, Z:0.37 [[ 9.96463748e-01 -8.36721929e-02 -7.67877885e-03 9.01429921e+01] [ 8.36739144e-02 9.96493184e-01 -9.73607603e-05 3.56134263e-01] [ 7.65999717e-03 -5.45497016e-04 9.99970513e-01 3.72669530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:0.35, Z:0.37 [[ 9.96475802e-01 -8.35285159e-02 -7.67878333e-03 9.01753767e+01] [ 8.35302359e-02 9.96505238e-01 -9.70059725e-05 3.53592847e-01] [ 7.66005058e-03 -5.44746478e-04 9.99970513e-01 3.72780985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:0.35, Z:0.38 [[ 9.96711749e-01 -8.06642752e-02 -7.67879974e-03 9.02079681e+01] [ 8.06659206e-02 9.96741190e-01 -9.56892352e-05 3.51446534e-01] [ 7.66149469e-03 -5.24042865e-04 9.99970513e-01 3.78404007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:0.35, Z:0.38 [[ 9.96904961e-01 -7.82402400e-02 -7.67880410e-03 9.02392813e+01] [ 7.82418165e-02 9.96934406e-01 -9.53380934e-05 3.51160449e-01] [ 7.66272327e-03 -5.05760563e-04 9.99970513e-01 3.79592737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:0.35, Z:0.38 [[ 9.97111264e-01 -7.55656171e-02 -7.67881238e-03 9.02702742e+01] [ 7.55671198e-02 9.97140713e-01 -9.46662039e-05 3.50338740e-01] [ 7.66400996e-03 -4.85872997e-04 9.99970513e-01 3.77711486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:0.35, Z:0.38 [[ 9.97286713e-01 -7.32137172e-02 -7.67881558e-03 9.03026430e+01] [ 7.32151524e-02 9.97316165e-01 -9.44062227e-05 3.49211214e-01] [ 7.66511873e-03 -4.68055581e-04 9.99970513e-01 3.79883325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:0.35, Z:0.38 [[ 9.97392068e-01 -7.17641845e-02 -7.67881994e-03 9.03348489e+01] [ 7.17655797e-02 9.97421522e-01 -9.40500794e-05 3.47791439e-01] [ 7.66576970e-03 -4.57270161e-04 9.99970513e-01 3.77884032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:0.34, Z:0.38 [[ 9.97405664e-01 -7.15749713e-02 -7.67882642e-03 9.03663513e+01] [ 7.15763650e-02 9.97435118e-01 -9.35175392e-05 3.44994948e-01] [ 7.66582466e-03 -4.56347560e-04 9.99970513e-01 3.76048562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:0.34, Z:0.38 [[ 9.97340465e-01 -7.24778043e-02 -7.67882953e-03 9.03981693e+01] [ 7.24792266e-02 9.97369918e-01 -9.32619646e-05 3.44016510e-01] [ 7.66539300e-03 -4.63541694e-04 9.99970513e-01 3.78362895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:0.34, Z:0.38 [[ 9.97257325e-01 -7.36129343e-02 -7.67883383e-03 9.04300300e+01] [ 7.36143928e-02 9.97286775e-01 -9.29064748e-05 3.42602229e-01] [ 7.66483855e-03 -4.72621027e-04 9.99970513e-01 3.78326023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:0.34, Z:0.37 [[ 9.97145022e-01 -7.51188402e-02 -7.67883813e-03 9.04619816e+01] [ 7.51203460e-02 9.97174471e-01 -9.25496012e-05 3.41274751e-01] [ 7.66409357e-03 -4.84551603e-04 9.99970513e-01 3.73003587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:0.34, Z:0.38 [[ 9.97181716e-01 -7.46301470e-02 -7.67901571e-03 9.04923782e+01] [ 7.46317545e-02 9.97211159e-01 -7.74015670e-05 3.38701182e-01] [ 7.66337664e-03 -4.95914988e-04 9.99970513e-01 3.77188564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:0.34, Z:0.38 [[ 9.97309949e-01 -7.28965003e-02 -7.67886788e-03 9.05249401e+01] [ 7.28979599e-02 9.97339400e-01 -9.00127673e-05 3.38947278e-01] [ 7.66499910e-03 -4.70003175e-04 9.99970513e-01 3.82672857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:0.34, Z:0.38 [[ 9.97490243e-01 -7.03864357e-02 -7.67887201e-03 9.05558032e+01] [ 7.03878239e-02 9.97519697e-01 -8.96591277e-05 3.39881369e-01] [ 7.66613687e-03 -4.51064986e-04 9.99970513e-01 3.83586574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52589822699998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:90.59, Y:0.34, Z:0.38 [[ 9.97647434e-01 -6.81221832e-02 -7.67887508e-03 9.05882662e+01] [ 6.81235066e-02 9.97676892e-01 -8.93954371e-05 3.41784526e-01] [ 7.66712603e-03 -4.33926769e-04 9.99970513e-01 3.84438293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:0.34, Z:0.38 [[ 9.97817376e-01 -6.55859592e-02 -7.67887910e-03 9.06204706e+01] [ 6.55872103e-02 9.97846837e-01 -8.90482340e-05 3.43909231e-01] [ 7.66818554e-03 -4.14782384e-04 9.99970513e-01 3.84273200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:0.34, Z:0.38 [[ 9.97800733e-01 -6.58386847e-02 -7.67888313e-03 9.06525813e+01] [ 6.58399460e-02 9.97830193e-01 -8.87000129e-05 3.44024990e-01] [ 7.66806132e-03 -4.17072312e-04 9.99970513e-01 3.84241227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:0.34, Z:0.38 [[ 9.97740508e-01 -6.67451311e-02 -7.67888717e-03 9.06848927e+01] [ 6.67464218e-02 9.97769967e-01 -8.83489381e-05 3.43265439e-01] [ 7.66765986e-03 -4.24388927e-04 9.99970513e-01 3.84315670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:0.34, Z:0.39 [[ 9.97638280e-01 -6.82561092e-02 -7.67889218e-03 9.07168913e+01] [ 6.82574479e-02 9.97667737e-01 -8.79112483e-05 3.41486664e-01] [ 7.66698346e-03 -4.36437956e-04 9.99970513e-01 3.87005929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:0.34, Z:0.39 [[ 9.97498342e-01 -7.02715627e-02 -7.67893246e-03 9.07489306e+01] [ 7.02729882e-02 9.97527794e-01 -8.43528780e-05 3.39022365e-01] [ 7.66587616e-03 -4.55479674e-04 9.99970513e-01 3.86147074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:0.34, Z:0.39 [[ 9.97296826e-01 -7.30758151e-02 -7.67891007e-03 9.07807795e+01] [ 7.30773081e-02 9.97326275e-01 -8.63438551e-05 3.36746986e-01] [ 7.66468843e-03 -4.75043624e-04 9.99970513e-01 3.86810006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:0.33, Z:0.39 [[ 9.96884077e-01 -7.85058661e-02 -7.67891485e-03 9.08125526e+01] [ 7.85075227e-02 9.96913518e-01 -8.59163605e-05 3.32935807e-01] [ 7.66195895e-03 -5.17203931e-04 9.99970513e-01 3.86420447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.85, Y:0.33, Z:0.38 [[ 9.96714364e-01 -8.06319521e-02 -7.67891875e-03 9.08456295e+01] [ 8.06336743e-02 9.96743800e-01 -8.55664360e-05 3.31492743e-01] [ 7.66081405e-03 -5.33894137e-04 9.99970513e-01 3.84020221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:0.33, Z:0.38 [[ 9.96632912e-01 -8.16325364e-02 -7.67898560e-03 9.08766856e+01] [ 8.16343347e-02 9.96662345e-01 -7.94917571e-05 3.29678705e-01] [ 7.65984490e-03 -5.47644779e-04 9.99970513e-01 3.81719550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:0.33, Z:0.38 [[ 9.96538584e-01 -8.27761072e-02 -7.67893889e-03 9.09092181e+01] [ 8.27779064e-02 9.96568016e-01 -8.37731277e-05 3.27885614e-01] [ 7.65951931e-03 -5.52163330e-04 9.99970513e-01 3.77695097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.94, Y:0.33, Z:0.38 [[ 9.96547619e-01 -8.26672593e-02 -7.67902423e-03 9.09402560e+01] [ 8.26691157e-02 9.96577047e-01 -7.58925048e-05 3.25669453e-01] [ 7.65901312e-03 -5.59187648e-04 9.99970513e-01 3.82802736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:0.32, Z:0.39 [[ 9.96828501e-01 -7.92084206e-02 -7.67895137e-03 9.09723904e+01] [ 7.92101230e-02 9.96857939e-01 -8.26614409e-05 3.21867704e-01] [ 7.66137111e-03 -5.25851402e-04 9.99970513e-01 3.87454264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:0.32, Z:0.39 [[ 9.97078614e-01 -7.59952033e-02 -7.67895511e-03 9.10039969e+01] [ 7.59968135e-02 9.97108057e-01 -8.23123094e-05 3.20453020e-01] [ 7.66300335e-03 -5.01504276e-04 9.99970513e-01 3.85318719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.04, Y:0.32, Z:0.38 [[ 9.97314514e-01 -7.28340201e-02 -7.67895883e-03 9.10351734e+01] [ 7.28355395e-02 9.97343961e-01 -8.19636900e-05 3.19372935e-01] [ 7.66453296e-03 -4.77557532e-04 9.99970513e-01 3.83403528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.07, Y:0.32, Z:0.38 [[ 9.97490159e-01 -7.03876161e-02 -7.67896150e-03 9.10676745e+01] [ 7.03890653e-02 9.97519610e-01 -8.17128058e-05 3.18831198e-01] [ 7.66566625e-03 -4.59007203e-04 9.99970513e-01 3.83015351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.10, Y:0.32, Z:0.38 [[ 9.97619934e-01 -6.85237195e-02 -7.67896519e-03 9.11010148e+01] [ 6.85251163e-02 9.97649388e-01 -8.13641861e-05 3.18455816e-01] [ 7.66649030e-03 -4.45031449e-04 9.99970513e-01 3.84357534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:0.32, Z:0.39 [[ 9.97766281e-01 -6.63587350e-02 -7.67897083e-03 9.11317507e+01] [ 6.63600720e-02 9.97795738e-01 -8.08289832e-05 3.18733684e-01] [ 7.66740807e-03 -4.28928623e-04 9.99970513e-01 3.86327678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:0.32, Z:0.39 [[ 9.98140201e-01 -6.04745657e-02 -7.67897455e-03 9.11627154e+01] [ 6.04757317e-02 9.98169665e-01 -8.04741144e-05 3.20544466e-01] [ 7.66978608e-03 -3.84067156e-04 9.99970513e-01 3.89197156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.19, Y:0.32, Z:0.39 [[ 9.98322336e-01 -5.73894301e-02 -7.67897732e-03 9.11938175e+01] [ 5.73905071e-02 9.98351803e-01 -8.02081844e-05 3.21845957e-01] [ 7.67092396e-03 -3.60626781e-04 9.99970513e-01 3.86931065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.23, Y:0.32, Z:0.39 [[ 9.98474225e-01 -5.46832278e-02 -7.67902400e-03 9.12258813e+01] [ 5.46842597e-02 9.98503694e-01 -7.56891970e-05 3.22331924e-01] [ 7.67167276e-03 -3.44348030e-04 9.99970513e-01 3.90369590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:0.32, Z:0.39 [[ 9.98545271e-01 -5.33701732e-02 -7.67899382e-03 9.12591619e+01] [ 5.33711437e-02 9.98574742e-01 -7.86362952e-05 3.22585012e-01] [ 7.67224611e-03 -3.31314782e-04 9.99970513e-01 3.91520694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:0.32, Z:0.39 [[ 9.98561307e-01 -5.30692805e-02 -7.67899932e-03 9.12909219e+01] [ 5.30702462e-02 9.98590778e-01 -7.80956267e-05 3.22230220e-01] [ 7.67232239e-03 -3.29543114e-04 9.99970513e-01 3.90698529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.32, Y:0.32, Z:0.39 [[ 9.98532136e-01 -5.36153519e-02 -7.67900387e-03 9.13236994e+01] [ 5.36163371e-02 9.98561607e-01 -7.76460651e-05 3.21650313e-01] [ 7.67212146e-03 -3.34187969e-04 9.99970513e-01 3.91726923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:0.32, Z:0.39 [[ 9.98466782e-01 -5.48189512e-02 -7.67900925e-03 9.13571147e+01] [ 5.48199761e-02 9.98496252e-01 -7.71103458e-05 3.20841662e-01] [ 7.67168906e-03 -3.43970984e-04 9.99970513e-01 3.91291018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.39, Y:0.32, Z:0.39 [[ 9.98368582e-01 -5.65792069e-02 -7.67901458e-03 9.13881655e+01] [ 5.65802878e-02 9.98398049e-01 -7.65760880e-05 3.20402667e-01] [ 7.67104579e-03 -3.58029695e-04 9.99970513e-01 3.90264081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.42, Y:0.32, Z:0.39 [[ 9.98173508e-01 -5.99222880e-02 -7.67901721e-03 9.14200628e+01] [ 5.99234697e-02 9.98202971e-01 -7.63110016e-05 3.20601958e-01] [ 7.66979053e-03 -3.83981735e-04 9.99970513e-01 3.90111758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:0.32, Z:0.39 [[ 9.98098672e-01 -6.11561362e-02 -7.67902080e-03 9.14516807e+01] [ 6.11573571e-02 9.98128134e-01 -7.59478712e-05 3.21324225e-01] [ 7.66929138e-03 -3.93825148e-04 9.99970513e-01 3.89890760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:0.32, Z:0.39 [[ 9.98049918e-01 -6.19466975e-02 -7.67902347e-03 9.14833037e+01] [ 6.19479438e-02 9.98079379e-01 -7.56767529e-05 3.21956446e-01] [ 7.66896290e-03 -4.00170538e-04 9.99970513e-01 3.87619764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.52, Y:0.32, Z:0.39 [[ 9.98053880e-01 -6.18828405e-02 -7.67902788e-03 9.15168280e+01] [ 6.18840884e-02 9.98083340e-01 -7.52269107e-05 3.22156925e-01] [ 7.66896505e-03 -4.00129130e-04 9.99970513e-01 3.87877075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.55, Y:0.32, Z:0.39 [[ 9.98043220e-01 -6.20545170e-02 -7.67903266e-03 9.15500757e+01] [ 6.20557737e-02 9.98072680e-01 -7.47356055e-05 3.23363495e-01] [ 7.66887039e-03 -4.01938949e-04 9.99970513e-01 3.91648063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:0.32, Z:0.39 [[ 9.98034815e-01 -6.21895542e-02 -7.67903780e-03 9.15829719e+01] [ 6.21908189e-02 9.98064275e-01 -7.42037021e-05 3.24610610e-01] [ 7.66878799e-03 -4.03507771e-04 9.99970513e-01 3.92075876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48589822699999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.62, Y:0.33, Z:0.39 [[ 9.98008564e-01 -6.26094044e-02 -7.67904290e-03 9.16154535e+01] [ 6.26106857e-02 9.98038024e-01 -7.36722293e-05 3.25933601e-01] [ 7.66858938e-03 -4.07264626e-04 9.99970513e-01 3.91238601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:0.33, Z:0.39 [[ 9.97961840e-01 -6.33498062e-02 -7.67904627e-03 9.16475587e+01] [ 6.33511120e-02 9.97991298e-01 -7.33192267e-05 3.26580284e-01] [ 7.66826612e-03 -4.13306330e-04 9.99970513e-01 3.89428665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:0.33, Z:0.39 [[ 9.97913823e-01 -6.41017495e-02 -7.67909266e-03 9.16799536e+01] [ 6.41031151e-02 9.97943278e-01 -6.84082645e-05 3.27114669e-01] [ 7.66768399e-03 -4.23988208e-04 9.99970513e-01 3.89459468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:0.33, Z:0.39 [[ 9.97785104e-01 -6.60751016e-02 -7.67906096e-03 9.17108129e+01] [ 6.60764995e-02 9.97814557e-01 -7.17988020e-05 3.26782511e-01] [ 7.66702292e-03 -4.35765693e-04 9.99970513e-01 3.90045927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:0.33, Z:0.39 [[ 9.97762965e-01 -6.64085699e-02 -7.67906734e-03 9.17421541e+01] [ 6.64099830e-02 9.97792418e-01 -7.11096164e-05 3.26749611e-01] [ 7.66683745e-03 -4.39016190e-04 9.99970513e-01 3.91340651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63589822699998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:91.77, Y:0.33, Z:0.39 [[ 9.97785022e-01 -6.60763335e-02 -7.67906979e-03 9.17737302e+01] [ 6.60777388e-02 9.97814475e-01 -7.08443849e-05 3.26985448e-01] [ 7.66696813e-03 -4.36728101e-04 9.99970513e-01 3.90170686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.81, Y:0.33, Z:0.40 [[ 9.97864999e-01 -6.48573522e-02 -7.67907220e-03 9.18057561e+01] [ 6.48587235e-02 9.97894454e-01 -7.05814659e-05 3.26312355e-01] [ 7.66748129e-03 -4.27624046e-04 9.99970513e-01 3.95786371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:0.33, Z:0.40 [[ 9.97955614e-01 -6.34478069e-02 -7.67907536e-03 9.18373881e+01] [ 6.34491393e-02 9.97985071e-01 -7.02364314e-05 3.25929748e-01] [ 7.66805891e-03 -4.17137881e-04 9.99970513e-01 3.97550332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.87, Y:0.33, Z:0.40 [[ 9.98056098e-01 -6.18470495e-02 -7.67907771e-03 9.18694029e+01] [ 6.18483366e-02 9.98085557e-01 -6.99786810e-05 3.25433168e-01] [ 7.66870452e-03 -4.05095534e-04 9.99970513e-01 4.00712049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.90, Y:0.33, Z:0.40 [[ 9.98271396e-01 -5.82687878e-02 -7.67908162e-03 9.19005140e+01] [ 5.82699726e-02 9.98300859e-01 -6.95463964e-05 3.25169552e-01] [ 7.67008616e-03 -3.78033698e-04 9.99970513e-01 4.04596330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.93, Y:0.32, Z:0.41 [[ 9.98384011e-01 -5.63062861e-02 -7.67908397e-03 9.19338776e+01] [ 5.63074149e-02 9.98413477e-01 -6.92865613e-05 3.24798508e-01] [ 7.67080219e-03 -3.63214772e-04 9.99970513e-01 4.06176749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.97, Y:0.32, Z:0.41 [[ 9.98488246e-01 -5.44265868e-02 -7.67908857e-03 9.19668222e+01] [ 5.44276641e-02 9.98517714e-01 -6.87727444e-05 3.23890127e-01] [ 7.67144903e-03 -3.49286077e-04 9.99970513e-01 4.06627749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:0.32, Z:0.40 [[ 9.98552300e-01 -5.32384716e-02 -7.67909408e-03 9.19984212e+01] [ 5.32395186e-02 9.98581769e-01 -6.81521476e-05 3.23085312e-01] [ 7.67183166e-03 -3.40777788e-04 9.99970513e-01 4.04740796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:0.32, Z:0.40 [[ 9.98598390e-01 -5.23668458e-02 -7.67909643e-03 9.20292386e+01] [ 5.23678692e-02 9.98627859e-01 -6.78862135e-05 3.22685774e-01] [ 7.67211461e-03 -3.34346853e-04 9.99970513e-01 4.03981316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:0.32, Z:0.40 [[ 9.98630655e-01 -5.17479022e-02 -7.67910200e-03 9.20612929e+01] [ 5.17489121e-02 9.98660125e-01 -6.72492468e-05 3.22290803e-01] [ 7.67229298e-03 -3.30228015e-04 9.99970513e-01 4.04072081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.935898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:92.09, Y:0.32, Z:0.40 [[ 9.98673027e-01 -5.09236357e-02 -7.67910495e-03 9.20929211e+01] [ 5.09246239e-02 9.98702497e-01 -6.69110646e-05 3.21530785e-01] [ 7.67254865e-03 -3.24233256e-04 9.99970513e-01 4.03535674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:0.32, Z:0.41 [[ 9.98688324e-01 -5.06227553e-02 -7.67910862e-03 9.21255489e+01] [ 5.06237379e-02 9.98717794e-01 -6.64878787e-05 3.20827253e-01] [ 7.67262822e-03 -3.22344514e-04 9.99970513e-01 4.05278889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:0.32, Z:0.40 [[ 9.98677144e-01 -5.08428380e-02 -7.67911153e-03 9.21570802e+01] [ 5.08438297e-02 9.98706614e-01 -6.61499803e-05 3.19719068e-01] [ 7.67254272e-03 -3.24372965e-04 9.99970513e-01 4.04755270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:0.32, Z:0.40 [[ 9.98636797e-01 -5.16292408e-02 -7.67911606e-03 9.21888220e+01] [ 5.16302598e-02 9.98666267e-01 -6.56196909e-05 3.17537091e-01] [ 7.67226206e-03 -3.30944519e-04 9.99970513e-01 4.03995356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:0.31, Z:0.40 [[ 9.98547978e-01 -5.33194735e-02 -7.67911891e-03 9.22206338e+01] [ 5.33205449e-02 9.98577446e-01 -6.52844149e-05 3.11526860e-01] [ 7.67167588e-03 -3.44265184e-04 9.99970513e-01 4.02158459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:0.31, Z:0.40 [[ 9.98530704e-01 -5.36419986e-02 -7.67912173e-03 9.22526406e+01] [ 5.36430821e-02 9.98560171e-01 -6.49512969e-05 3.08729054e-01] [ 7.67154922e-03 -3.47075893e-04 9.99970513e-01 4.03981409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:0.31, Z:0.40 [[ 9.98559352e-01 -5.31060499e-02 -7.67912467e-03 9.22847203e+01] [ 5.31071203e-02 9.98588819e-01 -6.46017608e-05 3.06391077e-01] [ 7.67171878e-03 -3.43307505e-04 9.99970513e-01 4.04458054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.32, Y:0.30, Z:0.40 [[ 9.98601690e-01 -5.23038843e-02 -7.67912759e-03 9.23173695e+01] [ 5.23049337e-02 9.98631158e-01 -6.42527147e-05 3.04523904e-01] [ 7.67197674e-03 -3.37493390e-04 9.99970513e-01 4.04551681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:0.30, Z:0.40 [[ 9.98661796e-01 -5.11434132e-02 -7.67913053e-03 9.23491051e+01] [ 5.11444311e-02 9.98691265e-01 -6.38990632e-05 3.02980629e-01] [ 7.67234860e-03 -3.28931209e-04 9.99970513e-01 4.03556388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:0.30, Z:0.40 [[ 9.98800535e-01 -4.83582732e-02 -7.67913345e-03 9.23799275e+01] [ 4.83592116e-02 9.98830007e-01 -6.35456268e-05 3.00712813e-01] [ 7.67322188e-03 -3.07887433e-04 9.99970513e-01 4.00087845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:0.30, Z:0.40 [[ 9.98857572e-01 -4.71654823e-02 -7.67913563e-03 9.24123003e+01] [ 4.71663875e-02 9.98887045e-01 -6.32810015e-05 2.99819834e-01] [ 7.67357378e-03 -2.98988380e-04 9.99970513e-01 4.02740431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:0.30, Z:0.40 [[ 9.98907264e-01 -4.61010724e-02 -7.67913849e-03 9.24444877e+01] [ 4.61019489e-02 9.98936738e-01 -6.29323740e-05 2.98771450e-01] [ 7.67387480e-03 -2.91159645e-04 9.99970513e-01 4.03892800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:0.30, Z:0.40 [[ 9.98935950e-01 -4.54752517e-02 -7.67914137e-03 9.24754719e+01] [ 4.54761124e-02 9.98965424e-01 -6.25795576e-05 2.97721062e-01] [ 7.67404254e-03 -2.86704526e-04 9.99970513e-01 4.04201251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:0.30, Z:0.41 [[ 9.98930581e-01 -4.55930389e-02 -7.67914351e-03 9.25066625e+01] [ 4.55939051e-02 9.98960055e-01 -6.23154848e-05 2.96972674e-01] [ 7.67399878e-03 -2.87873297e-04 9.99970513e-01 4.08290676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.355898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:92.54, Y:0.30, Z:0.40 [[ 9.98874562e-01 -4.68042687e-02 -7.67913329e-03 9.25380771e+01] [ 4.68051609e-02 9.98904036e-01 -6.35852532e-05 2.97036024e-01] [ 7.67369329e-03 -2.95909377e-04 9.99970513e-01 4.02665817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:0.30, Z:0.41 [[ 9.98738724e-01 -4.96184647e-02 -7.67914835e-03 9.25700532e+01] [ 4.96194544e-02 9.98768194e-01 -6.17104197e-05 2.96752008e-01] [ 7.67275111e-03 -3.19402566e-04 9.99970513e-01 4.05413160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.60, Y:0.30, Z:0.41 [[ 9.98740949e-01 -4.95736504e-02 -7.67915112e-03 9.26027352e+01] [ 4.95746413e-02 9.98770420e-01 -6.13643766e-05 2.96930193e-01] [ 7.67275104e-03 -3.19404047e-04 9.99970513e-01 4.05664047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.63, Y:0.30, Z:0.41 [[ 9.98680950e-01 -5.07680159e-02 -7.67915386e-03 9.26339106e+01] [ 5.07690448e-02 9.98710419e-01 -6.10198163e-05 2.97167729e-01] [ 7.67234882e-03 -3.28923978e-04 9.99970513e-01 4.05767552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.67, Y:0.30, Z:0.40 [[ 9.98575052e-01 -5.28099965e-02 -7.67915589e-03 9.26650761e+01] [ 5.28110876e-02 9.98604519e-01 -6.07624860e-05 2.99744225e-01] [ 7.67164864e-03 -3.44868672e-04 9.99970513e-01 4.04540184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:0.30, Z:0.40 [[ 9.98547611e-01 -5.33263434e-02 -7.67915788e-03 9.26971605e+01] [ 5.33274517e-02 9.98577077e-01 -6.05101091e-05 3.01834928e-01] [ 7.67145782e-03 -3.49087696e-04 9.99970513e-01 4.04050642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:0.30, Z:0.40 [[ 9.98516626e-01 -5.39034160e-02 -7.67916055e-03 9.27286265e+01] [ 5.39045439e-02 9.98546091e-01 -6.01697220e-05 3.04092174e-01] [ 7.67123911e-03 -3.53861179e-04 9.99970513e-01 4.03340098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.76, Y:0.31, Z:0.40 [[ 9.98487006e-01 -5.44493357e-02 -7.67916472e-03 9.27607181e+01] [ 5.44504838e-02 9.98516470e-01 -5.96332728e-05 3.05548107e-01] [ 7.67101944e-03 -3.58591186e-04 9.99970513e-01 4.04528417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.79, Y:0.31, Z:0.40 [[ 9.98461280e-01 -5.49190558e-02 -7.67916742e-03 9.27924041e+01] [ 5.49202204e-02 9.98490744e-01 -5.92824208e-05 3.06582673e-01] [ 7.67083333e-03 -3.62550366e-04 9.99970513e-01 4.04027008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.82, Y:0.31, Z:0.40 [[ 9.98411208e-01 -5.58219448e-02 -7.67917010e-03 9.28248402e+01] [ 5.58231388e-02 9.98440671e-01 -5.89338849e-05 3.07823862e-01] [ 7.67048555e-03 -3.69835127e-04 9.99970513e-01 4.03236432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.655898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:92.86, Y:0.31, Z:0.40 [[ 9.98269796e-01 -5.82961802e-02 -7.67917278e-03 9.28565469e+01] [ 5.82974499e-02 9.98299256e-01 -5.85823956e-05 3.11519662e-01] [ 7.66952760e-03 -3.89195154e-04 9.99970513e-01 4.01999856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.89, Y:0.31, Z:0.40 [[ 9.98147106e-01 -6.03604567e-02 -7.67917547e-03 9.28872498e+01] [ 6.03617901e-02 9.98176563e-01 -5.82272040e-05 3.13211662e-01] [ 7.66868760e-03 -4.05409463e-04 9.99970513e-01 4.02685833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.92, Y:0.32, Z:0.41 [[ 9.97977532e-01 -6.31021132e-02 -7.67917747e-03 9.29197859e+01] [ 6.31035295e-02 9.98006985e-01 -5.79623449e-05 3.15064726e-01] [ 7.66753030e-03 -4.26738084e-04 9.99970513e-01 4.05503134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.95, Y:0.32, Z:0.41 [[ 9.97762047e-01 -6.64223415e-02 -7.67918012e-03 9.29513784e+01] [ 6.64238586e-02 9.97791495e-01 -5.76090974e-05 3.15940021e-01] [ 7.66604715e-03 -4.52600603e-04 9.99970513e-01 4.07129575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:0.32, Z:0.41 [[ 9.97549693e-01 -6.95387644e-02 -7.67918210e-03 9.29835462e+01] [ 6.95403754e-02 9.97579136e-01 -5.73439337e-05 3.15923456e-01] [ 7.66457947e-03 -4.76809783e-04 9.99970513e-01 4.07084132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.02, Y:0.32, Z:0.41 [[ 9.97343183e-01 -7.24403624e-02 -7.67918533e-03 9.30160337e+01] [ 7.24420624e-02 9.97372621e-01 -5.69083869e-05 3.15787908e-01] [ 7.66313166e-03 -4.99538831e-04 9.99970513e-01 4.06916432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.05, Y:0.31, Z:0.40 [[ 9.97040340e-01 -7.64956919e-02 -7.67918792e-03 9.30472684e+01] [ 7.64975143e-02 9.97069770e-01 -5.65571096e-05 3.13280836e-01] [ 7.66101251e-03 -5.31049068e-04 9.99970513e-01 4.04321694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:0.31, Z:0.41 [[ 9.96946997e-01 -7.77027418e-02 -7.67919299e-03 9.30797587e+01] [ 7.77046051e-02 9.96976425e-01 -5.58595739e-05 3.12238660e-01] [ 7.66031481e-03 -5.41019625e-04 9.99970513e-01 4.06316199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.11, Y:0.31, Z:0.41 [[ 9.96849841e-01 -7.89393784e-02 -7.67919550e-03 9.31117349e+01] [ 7.89412809e-02 9.96879266e-01 -5.55129322e-05 3.12098581e-01] [ 7.65961293e-03 -5.50867471e-04 9.99970513e-01 4.10861248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.14, Y:0.31, Z:0.41 [[ 9.96734738e-01 -8.03796682e-02 -7.67919813e-03 9.31427363e+01] [ 8.03816160e-02 9.96764161e-01 -5.51468432e-05 3.12749075e-01] [ 7.65878216e-03 -5.62299581e-04 9.99970513e-01 4.11926949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:0.31, Z:0.41 [[ 9.96655181e-01 -8.13601821e-02 -7.67920307e-03 9.31759809e+01] [ 8.13621642e-02 9.96684602e-01 -5.44495271e-05 3.12976695e-01] [ 7.65817348e-03 -5.70529178e-04 9.99970513e-01 4.12817135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.21, Y:0.31, Z:0.41 [[ 9.96624025e-01 -8.17409507e-02 -7.67920658e-03 9.32082569e+01] [ 8.17429479e-02 9.96653444e-01 -5.39504866e-05 3.08862983e-01] [ 7.65791765e-03 -5.73952632e-04 9.99970513e-01 4.11455086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:0.31, Z:0.41 [[ 9.96679357e-01 -8.10634920e-02 -7.67921077e-03 9.32399632e+01] [ 8.10654738e-02 9.96708777e-01 -5.33469343e-05 3.05309829e-01] [ 7.65826126e-03 -5.69349072e-04 9.99970513e-01 4.11386707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:0.30, Z:0.41 [[ 9.96731516e-01 -8.04196171e-02 -7.67921646e-03 9.32721790e+01] [ 8.04215863e-02 9.96760937e-01 -5.25151615e-05 3.01908228e-01] [ 7.65856624e-03 -5.65231253e-04 9.99970513e-01 4.13118687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:0.30, Z:0.41 [[ 9.96721512e-01 -8.05435080e-02 -7.67921883e-03 9.33040889e+01] [ 8.05454835e-02 9.96750933e-01 -5.21660180e-05 2.98845668e-01] [ 7.65847017e-03 -5.66531401e-04 9.99970513e-01 4.13559167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.34, Y:0.30, Z:0.41 [[ 9.96633809e-01 -8.16215697e-02 -7.67922233e-03 9.33351034e+01] [ 8.16235811e-02 9.96663227e-01 -5.16454030e-05 2.95913774e-01] [ 7.65781389e-03 -5.75334072e-04 9.99970513e-01 4.13126342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:0.29, Z:0.41 [[ 9.96518232e-01 -8.30207414e-02 -7.67922686e-03 9.33661246e+01] [ 8.30227992e-02 9.96547647e-01 -5.09631005e-05 2.92149953e-01] [ 7.65694645e-03 -5.86765251e-04 9.99970513e-01 4.10375984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:0.28, Z:0.41 [[ 9.96318149e-01 -8.53883779e-02 -7.67922856e-03 9.33984389e+01] [ 8.53905076e-02 9.96347559e-01 -5.07059198e-05 2.84614902e-01] [ 7.65551033e-03 -6.05213997e-04 9.99970513e-01 4.08522372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.43, Y:0.28, Z:0.41 [[ 9.96351739e-01 -8.49955407e-02 -7.67923084e-03 9.34303865e+01] [ 8.49976615e-02 9.96381149e-01 -5.03579843e-05 2.81427030e-01] [ 7.65572105e-03 -6.02542398e-04 9.99970513e-01 4.08399487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.46, Y:0.28, Z:0.41 [[ 9.96470795e-01 -8.35881842e-02 -7.67923310e-03 9.34615983e+01] [ 8.35902661e-02 9.96500208e-01 -5.00103495e-05 2.78491988e-01] [ 7.65653766e-03 -5.92075286e-04 9.99970513e-01 4.08579387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:0.28, Z:0.41 [[ 9.96628679e-01 -8.16841792e-02 -7.67923479e-03 9.34940009e+01] [ 8.16862070e-02 9.96658096e-01 -4.97505093e-05 2.76330855e-01] [ 7.65763535e-03 -5.77704778e-04 9.99970513e-01 4.08455616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.53, Y:0.28, Z:0.41 [[ 9.96634218e-01 -8.16165712e-02 -7.67923701e-03 9.35275220e+01] [ 8.16185996e-02 9.96663635e-01 -4.94051484e-05 2.76427696e-01] [ 7.65764855e-03 -5.77529709e-04 9.99970513e-01 4.08712953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:0.27, Z:0.41 [[ 9.96849919e-01 -7.89383830e-02 -7.67924032e-03 9.35590528e+01] [ 7.89403363e-02 9.96879341e-01 -4.88842204e-05 2.74327201e-01] [ 7.65913488e-03 -5.57471583e-04 9.99970513e-01 4.06412861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:0.27, Z:0.41 [[ 9.97063164e-01 -7.61976077e-02 -7.67924405e-03 9.35913949e+01] [ 7.61994846e-02 9.97092592e-01 -4.82925094e-05 2.72689813e-01] [ 7.66059712e-03 -5.37003756e-04 9.99970513e-01 4.07725446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:0.27, Z:0.41 [[ 9.97348184e-01 -7.23714609e-02 -7.67924620e-03 9.36233056e+01] [ 7.23732275e-02 9.97377618e-01 -4.79468740e-05 2.70936181e-01] [ 7.66257827e-03 -5.07952105e-04 9.99970513e-01 4.11351410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.65, Y:0.27, Z:0.41 [[ 9.97427954e-01 -7.12636320e-02 -7.67924836e-03 9.36542724e+01] [ 7.12653686e-02 9.97457390e-01 -4.75988218e-05 2.71139673e-01] [ 7.66311509e-03 -4.99788069e-04 9.99970513e-01 4.12309401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.69, Y:0.27, Z:0.41 [[ 9.97493585e-01 -7.03390207e-02 -7.67924996e-03 9.36861778e+01] [ 7.03407321e-02 9.97523022e-01 -4.73389123e-05 2.72533059e-01] [ 7.66355840e-03 -4.92943803e-04 9.99970513e-01 4.13552248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:0.27, Z:0.42 [[ 9.97547456e-01 -6.95708416e-02 -7.67925205e-03 9.37188106e+01] [ 6.95725329e-02 9.97576895e-01 -4.69979661e-05 2.74684143e-01] [ 7.66391410e-03 -4.87382314e-04 9.99970513e-01 4.15631996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:0.28, Z:0.42 [[ 9.97590482e-01 -6.89511441e-02 -7.67925419e-03 9.37495387e+01] [ 6.89528198e-02 9.97619921e-01 -4.66452636e-05 2.76961947e-01] [ 7.66419320e-03 -4.82973359e-04 9.99970513e-01 4.15521398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.78, Y:0.28, Z:0.42 [[ 9.97596219e-01 -6.88680775e-02 -7.67925578e-03 9.37814607e+01] [ 6.88697528e-02 9.97625659e-01 -4.63816306e-05 2.81231911e-01] [ 7.66421682e-03 -4.82598308e-04 9.99970513e-01 4.18952638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.81, Y:0.28, Z:0.42 [[ 9.97496951e-01 -7.02912671e-02 -7.67925791e-03 9.38130796e+01] [ 7.02929871e-02 9.97526388e-01 -4.60276619e-05 2.82966536e-01] [ 7.66349774e-03 -4.93885525e-04 9.99970513e-01 4.18195110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.84, Y:0.28, Z:0.42 [[ 9.97321407e-01 -7.27395373e-02 -7.67926191e-03 9.38438401e+01] [ 7.27413348e-02 9.97350839e-01 -4.53495090e-05 2.83705551e-01] [ 7.66221701e-03 -5.13371725e-04 9.99970513e-01 4.17329326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.88, Y:0.28, Z:0.41 [[ 9.97074939e-01 -7.60433802e-02 -7.67926342e-03 9.38750754e+01] [ 7.60452771e-02 9.97104365e-01 -4.50928492e-05 2.83524661e-01] [ 7.66045608e-03 -5.39010765e-04 9.99970513e-01 4.14726674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.91, Y:0.28, Z:0.41 [[ 9.96770056e-01 -7.99405064e-02 -7.67926488e-03 9.39077730e+01] [ 7.99425202e-02 9.96799474e-01 -4.48418746e-05 2.82657887e-01] [ 7.65827188e-03 -5.69202750e-04 9.99970513e-01 4.13455326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.94, Y:0.28, Z:0.41 [[ 9.96442090e-01 -8.39296725e-02 -7.67926739e-03 9.39401582e+01] [ 8.39318074e-02 9.96471500e-01 -4.44084612e-05 2.81628409e-01] [ 7.65589828e-03 -6.00284332e-04 9.99970513e-01 4.10538172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.97, Y:0.28, Z:0.42 [[ 9.95901584e-01 -9.01169500e-02 -7.67926987e-03 9.39723900e+01] [ 9.01192709e-02 9.95930979e-01 -4.39761666e-05 2.80426218e-01] [ 7.65198575e-03 -6.48254267e-04 9.99970513e-01 4.16604768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:0.28, Z:0.42 [[ 9.95772313e-01 -9.15343043e-02 -7.67927175e-03 9.40049756e+01] [ 9.15366695e-02 9.95801705e-01 -4.36451307e-05 2.78986259e-01] [ 7.65102693e-03 -6.59474347e-04 9.99970513e-01 4.20948920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.04, Y:0.28, Z:0.42 [[ 9.95762863e-01 -9.16370533e-02 -7.67927369e-03 9.40378645e+01] [ 9.16394241e-02 9.95792254e-01 -4.33010640e-05 2.77309812e-01] [ 7.65092924e-03 -6.60606627e-04 9.99970513e-01 4.22141497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.07, Y:0.28, Z:0.42 [[ 9.95807845e-01 -9.11469438e-02 -7.67927658e-03 9.40698014e+01] [ 9.11493042e-02 9.95837237e-01 -4.27817901e-05 2.76594661e-01] [ 7.65120900e-03 -6.57358275e-04 9.99970513e-01 4.23049743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:0.28, Z:0.42 [[ 9.95933803e-01 -8.97601749e-02 -7.67927852e-03 9.41010143e+01] [ 8.97624970e-02 9.95963198e-01 -4.24307209e-05 2.76541537e-01] [ 7.65208738e-03 -6.47053026e-04 9.99970513e-01 4.21183492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:0.28, Z:0.42 [[ 9.96121261e-01 -8.76553592e-02 -7.67927996e-03 9.41336842e+01] [ 8.76576212e-02 9.96150661e-01 -4.21688484e-05 2.77223375e-01] [ 7.65341613e-03 -6.31142127e-04 9.99970513e-01 4.21695336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.17, Y:0.28, Z:0.42 [[ 9.96606879e-01 -8.19497297e-02 -7.67928276e-03 9.41656840e+01] [ 8.19518273e-02 9.96636291e-01 -4.16522783e-05 2.80139657e-01] [ 7.65686528e-03 -5.87820308e-04 9.99970513e-01 4.23594443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:0.28, Z:0.42 [[ 9.96877043e-01 -7.85951027e-02 -7.67928465e-03 9.41966668e+01] [ 7.85971040e-02 9.96906462e-01 -4.13001921e-05 2.82290693e-01] [ 7.65877449e-03 -5.62398321e-04 9.99970513e-01 4.23973360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.23, Y:0.29, Z:0.43 [[ 9.97158607e-01 -7.49382489e-02 -7.67928606e-03 9.42287795e+01] [ 7.49401443e-02 9.97188033e-01 -4.10363274e-05 2.85339053e-01] [ 7.66076735e-03 -5.34567078e-04 9.99970513e-01 4.27055287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.26, Y:0.29, Z:0.43 [[ 9.97426023e-01 -7.12906590e-02 -7.67928793e-03 9.42602883e+01] [ 7.12924494e-02 9.97455455e-01 -4.06840036e-05 2.88958063e-01] [ 7.66264803e-03 -5.06895962e-04 9.99970513e-01 4.26580560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.29, Y:0.29, Z:0.43 [[ 9.97663001e-01 -6.78937748e-02 -7.67929133e-03 9.42931536e+01] [ 6.78954700e-02 9.97692439e-01 -4.00326222e-05 2.92556010e-01] [ 7.66428886e-03 -4.81450028e-04 9.99970513e-01 4.28334956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.33, Y:0.30, Z:0.43 [[ 9.97841990e-01 -6.52103658e-02 -7.67929395e-03 9.43262154e+01] [ 6.52119857e-02 9.97871432e-01 -3.95235623e-05 2.95833750e-01] [ 7.66552539e-03 -4.61343737e-04 9.99970513e-01 4.30146960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:0.30, Z:0.43 [[ 9.98095249e-01 -6.12119458e-02 -7.67929662e-03 9.43568765e+01] [ 6.12134518e-02 9.98124698e-01 -3.89970707e-05 2.99173812e-01] [ 7.66728270e-03 -4.31153462e-04 9.99970513e-01 4.31441902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.39, Y:0.30, Z:0.43 [[ 9.98206857e-01 -5.93641149e-02 -7.67929750e-03 9.43889340e+01] [ 5.93655677e-02 9.98236309e-01 -3.88223034e-05 3.00122833e-01] [ 7.66805824e-03 -4.17133166e-04 9.99970513e-01 4.32873904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:0.30, Z:0.43 [[ 9.98301695e-01 -5.77473231e-02 -7.67929925e-03 9.44198117e+01] [ 5.77487309e-02 9.98331149e-01 -3.84735756e-05 3.01230036e-01] [ 7.66870539e-03 -4.05061550e-04 9.99970513e-01 4.34646538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.45, Y:0.30, Z:0.44 [[ 9.98397213e-01 -5.60716860e-02 -7.67930055e-03 9.44522690e+01] [ 5.60730464e-02 9.98426668e-01 -3.82117900e-05 3.02321419e-01] [ 7.66936106e-03 -3.92451231e-04 9.99970513e-01 4.39046979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.48, Y:0.30, Z:0.44 [[ 9.98502849e-01 -5.41580049e-02 -7.67930232e-03 9.44837035e+01] [ 5.41593115e-02 9.98532307e-01 -3.78541378e-05 3.02966549e-01] [ 7.67008156e-03 -3.78108262e-04 9.99970513e-01 4.41516061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:0.30, Z:0.44 [[ 9.98598393e-01 -5.23667599e-02 -7.67930362e-03 9.45162525e+01] [ 5.23680158e-02 9.98627853e-01 -3.75870000e-05 3.03808254e-01] [ 7.67073480e-03 -3.64615576e-04 9.99970513e-01 4.43084675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:0.30, Z:0.44 [[ 9.98786410e-01 -4.86491059e-02 -7.67930539e-03 9.45471335e+01] [ 4.86502549e-02 9.98815875e-01 -3.72222344e-05 3.03804022e-01] [ 7.67202296e-03 -3.36423103e-04 9.99970513e-01 4.40292559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.58, Y:0.30, Z:0.44 [[ 9.98843226e-01 -4.74682953e-02 -7.67930670e-03 9.45779887e+01] [ 4.74694116e-02 9.98872691e-01 -3.69495598e-05 3.03271482e-01] [ 7.67240369e-03 -3.27625353e-04 9.99970513e-01 4.38175182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.61, Y:0.30, Z:0.44 [[ 9.98876275e-01 -4.67676831e-02 -7.67930798e-03 9.46098206e+01] [ 4.67687807e-02 9.98905741e-01 -3.66819478e-05 3.01997458e-01] [ 7.67262036e-03 -3.22511144e-04 9.99970513e-01 4.37817238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:0.30, Z:0.44 [[ 9.98901769e-01 -4.62199466e-02 -7.67930964e-03 9.46409176e+01] [ 4.62210307e-02 9.98931236e-01 -3.63320055e-05 3.00509986e-01] [ 7.67278153e-03 -3.18653502e-04 9.99970513e-01 4.37505555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:0.30, Z:0.44 [[ 9.98928586e-01 -4.56367063e-02 -7.67931087e-03 9.46727156e+01] [ 4.56377753e-02 9.98958053e-01 -3.60698342e-05 2.99105216e-01] [ 7.67295554e-03 -3.14435475e-04 9.99970513e-01 4.38101810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:0.30, Z:0.44 [[ 9.98984277e-01 -4.44009288e-02 -7.67931243e-03 9.47048359e+01] [ 4.44019639e-02 9.99013746e-01 -3.57331676e-05 2.97569288e-01] [ 7.67332527e-03 -3.05279681e-04 9.99970513e-01 4.38002963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.74, Y:0.30, Z:0.44 [[ 9.99136361e-01 -4.08357652e-02 -7.67931399e-03 9.47369062e+01] [ 4.08366977e-02 9.99165834e-01 -3.53967610e-05 2.95283855e-01] [ 7.67435361e-03 -2.78231633e-04 9.99970513e-01 4.36349994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:0.29, Z:0.43 [[ 9.99232202e-01 -3.84191966e-02 -7.67931560e-03 9.47683692e+01] [ 3.84200606e-02 9.99261676e-01 -3.50431966e-05 2.93972800e-01] [ 7.67499211e-03 -2.60023480e-04 9.99970513e-01 4.34951060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.80, Y:0.29, Z:0.43 [[ 9.99339675e-01 -3.55139770e-02 -7.67931680e-03 9.48005528e+01] [ 3.55147573e-02 9.99369151e-01 -3.47782612e-05 2.92359256e-01] [ 7.67570743e-03 -2.37973776e-04 9.99970513e-01 4.34693151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.83, Y:0.29, Z:0.43 [[ 9.99448644e-01 -3.23022744e-02 -7.67931838e-03 9.48325299e+01] [ 3.23029627e-02 9.99478123e-01 -3.44262682e-05 2.90712808e-01] [ 7.67642276e-03 -2.13657448e-04 9.99970513e-01 4.34940639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:0.29, Z:0.44 [[ 9.99544530e-01 -2.91849427e-02 -7.67931995e-03 9.48644040e+01] [ 2.91855417e-02 9.99574011e-01 -3.40719848e-05 2.89099710e-01] [ 7.67704303e-03 -1.90068647e-04 9.99970513e-01 4.35764968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:0.29, Z:0.44 [[ 9.99625828e-01 -2.62532254e-02 -7.67932152e-03 9.48958084e+01] [ 2.62537407e-02 9.99655311e-01 -3.37132762e-05 2.86755870e-01] [ 7.67755962e-03 -1.67910254e-04 9.99970513e-01 4.35755051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:0.28, Z:0.44 [[ 9.99736778e-01 -2.16194781e-02 -7.67932269e-03 9.49271086e+01] [ 2.16198588e-02 9.99766263e-01 -3.34449493e-05 2.81615967e-01] [ 7.67825081e-03 -1.32589727e-04 9.99970513e-01 4.38279148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:0.28, Z:0.44 [[ 9.99777611e-01 -1.96406708e-02 -7.67932347e-03 9.49580253e+01] [ 1.96409945e-02 9.99807097e-01 -3.32643305e-05 2.79827276e-01] [ 7.67849544e-03 -1.17572617e-04 9.99970513e-01 4.39103818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:0.28, Z:0.44 [[ 9.99815870e-01 -1.75855933e-02 -7.67932427e-03 9.49885504e+01] [ 1.75858578e-02 9.99845356e-01 -3.30784713e-05 2.78314013e-01] [ 7.67871842e-03 -1.01975124e-04 9.99970513e-01 4.37621806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:0.28, Z:0.44 [[ 9.99849362e-01 -1.55653801e-02 -7.67932566e-03 9.50192681e+01] [ 1.55655875e-02 9.99878848e-01 -3.27529446e-05 2.77054707e-01] [ 7.67890511e-03 -8.67852050e-05 9.99970513e-01 4.36188671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.05, Y:0.27, Z:0.43 [[ 9.99873141e-01 -1.39545577e-02 -7.67932566e-03 9.50490777e+01] [ 1.39547176e-02 9.99902628e-01 -3.27529446e-05 2.74989375e-01] [ 7.67903496e-03 -7.44140316e-05 9.99970513e-01 4.33561506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.08, Y:0.27, Z:0.43 [[ 9.99892483e-01 -1.24919863e-02 -7.67932566e-03 9.50793820e+01] [ 1.24921031e-02 9.99921970e-01 -3.27529446e-05 2.72340906e-01] [ 7.67913560e-03 -6.31815048e-05 9.99970513e-01 4.33331871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.11, Y:0.27, Z:0.44 [[ 9.99933071e-01 -8.65336616e-03 -7.67932566e-03 9.51091061e+01] [ 8.65336980e-03 9.99962558e-01 -3.27529446e-05 2.67807371e-01] [ 7.67932156e-03 -3.37012923e-05 9.99970513e-01 4.35463516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:0.27, Z:0.44 [[ 9.99949598e-01 -6.46756216e-03 -7.67932528e-03 9.51387908e+01] [ 6.46750066e-03 9.99979085e-01 -3.28417339e-05 2.66368991e-01] [ 7.67937708e-03 -1.68259628e-05 9.99970513e-01 4.37114173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84589822699999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:95.17, Y:0.27, Z:0.44 [[ 9.99959006e-01 -4.79740657e-03 -7.67932451e-03 9.51675467e+01] [ 4.79729444e-03 9.99988492e-01 -3.30223330e-05 2.65306784e-01] [ 7.67939456e-03 -3.81900145e-06 9.99970513e-01 4.37574919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:0.26, Z:0.44 [[ 9.99964671e-01 -3.41818233e-03 -7.67931879e-03 9.51950988e+01] [ 3.41801970e-03 9.99994158e-01 -3.43016099e-05 2.64057420e-01] [ 7.67939118e-03 8.05233516e-06 9.99970513e-01 4.39425395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.22, Y:0.26, Z:0.44 [[ 9.99968921e-01 -1.78453581e-03 -7.67931244e-03 9.52229611e+01] [ 1.78431451e-03 9.99998407e-01 -3.56693910e-05 2.62952071e-01] [ 7.67936386e-03 2.19659739e-05 9.99970513e-01 4.39286026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:0.26, Z:0.44 [[ 9.99969678e-01 1.29282320e-03 -7.67931030e-03 9.52512282e+01] [-1.29313874e-03 9.99999163e-01 -3.61247621e-05 2.61289665e-01] [ 7.67925717e-03 4.60540803e-05 9.99970513e-01 4.36958986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:0.26, Z:0.44 [[ 9.99966227e-01 2.92804585e-03 -7.67930416e-03 9.52787751e+01] [-2.92841929e-03 9.99995711e-01 -3.73858835e-05 2.60988800e-01] [ 7.67916176e-03 5.98728433e-05 9.99970513e-01 4.37114888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:0.26, Z:0.44 [[ 9.99959686e-01 4.65342090e-03 -7.67929686e-03 9.53070668e+01] [-4.65385630e-03 9.99989170e-01 -3.88299011e-05 2.60971320e-01] [ 7.67903300e-03 7.45666798e-05 9.99970513e-01 4.39062666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:0.26, Z:0.44 [[ 9.99951922e-01 6.09772542e-03 -7.67929448e-03 9.53343874e+01] [-6.09820697e-03 9.99981405e-01 -3.92933796e-05 2.60790633e-01] [ 7.67891209e-03 8.61214176e-05 9.99970513e-01 4.40898541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:0.26, Z:0.44 [[ 9.99947062e-01 6.84855063e-03 -7.67929276e-03 9.53630639e+01] [-6.84905689e-03 9.99976544e-01 -3.96277750e-05 2.60583131e-01] [ 7.67884124e-03 9.22215902e-05 9.99970513e-01 4.43654541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:0.26, Z:0.44 [[ 9.99946131e-01 6.98309672e-03 -7.67929085e-03 9.53909924e+01] [-6.98360975e-03 9.99975614e-01 -3.99935045e-05 2.59603332e-01] [ 7.67882430e-03 9.36205206e-05 9.99970513e-01 4.44633508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:0.26, Z:0.44 [[ 9.99956640e-01 5.26748232e-03 -7.67928847e-03 9.54193454e+01] [-5.26794825e-03 9.99986123e-01 -4.04470732e-05 2.56200462e-01] [ 7.67896885e-03 8.08994137e-05 9.99970513e-01 4.44189176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:0.25, Z:0.44 [[ 9.99962447e-01 4.01650297e-03 -7.67928654e-03 9.54478017e+01] [-4.01693479e-03 9.99991931e-01 -4.08095825e-05 2.54581248e-01] [ 7.67906067e-03 7.16552433e-05 9.99970513e-01 4.44975607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:0.25, Z:0.45 [[ 9.99965559e-01 3.14787232e-03 -7.67928457e-03 9.54770919e+01] [-3.14828135e-03 9.99995043e-01 -4.11761846e-05 2.53701555e-01] [ 7.67911689e-03 6.53513148e-05 9.99970513e-01 4.47411998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:0.25, Z:0.45 [[ 9.99965708e-01 3.10008989e-03 -7.67928259e-03 9.55064081e+01] [-3.10050033e-03 9.99995193e-01 -4.15430178e-05 2.53945724e-01] [ 7.67911688e-03 6.53512114e-05 9.99970513e-01 4.47637229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:0.25, Z:0.45 [[ 9.99964695e-01 3.41137016e-03 -7.67928059e-03 9.55343124e+01] [-3.41179259e-03 9.99994179e-01 -4.19099542e-05 2.52746954e-01] [ 7.67909291e-03 6.81085872e-05 9.99970513e-01 4.50039456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.265898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:95.56, Y:0.25, Z:0.45 [[ 9.99960770e-01 4.41452904e-03 -7.67927807e-03 9.55635426e+01] [-4.41498455e-03 9.99990253e-01 -4.23661500e-05 2.51217276e-01] [ 7.67901619e-03 7.62683821e-05 9.99970513e-01 4.51134598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:0.25, Z:0.45 [[ 9.99952589e-01 5.98742358e-03 -7.67927608e-03 9.55922122e+01] [-5.98792823e-03 9.99982071e-01 -4.27244827e-05 2.47817391e-01] [ 7.67888259e-03 8.87054111e-05 9.99970513e-01 4.52597065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:0.24, Z:0.45 [[ 9.99936336e-01 8.26757429e-03 -7.67927406e-03 9.56199868e+01] [-8.26814892e-03 9.99965817e-01 -4.30837522e-05 2.39325957e-01] [ 7.67865536e-03 1.06574391e-04 9.99970513e-01 4.52362966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:0.24, Z:0.45 [[ 9.99931526e-01 8.83023732e-03 -7.67927095e-03 9.56483679e+01] [-8.83083275e-03 9.99961006e-01 -4.36319791e-05 2.35522904e-01] [ 7.67858622e-03 1.11443349e-04 9.99970513e-01 4.52614295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38589822699998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:95.68, Y:0.23, Z:0.45 [[ 9.99927341e-01 9.29205591e-03 -7.67926885e-03 9.56766650e+01] [-9.29266776e-03 9.99956821e-01 -4.39973507e-05 2.32132516e-01] [ 7.67852845e-03 1.15355048e-04 9.99970513e-01 4.51239534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41589822699999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:95.70, Y:0.23, Z:0.45 [[ 9.99919762e-01 1.00746672e-02 -7.67926609e-03 9.57042573e+01] [-1.00753057e-02 9.99949242e-01 -4.44749466e-05 2.29157382e-01] [ 7.67842823e-03 1.21842332e-04 9.99970513e-01 4.50312162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:0.22, Z:0.45 [[ 9.99910250e-01 1.09781546e-02 -7.67926344e-03 9.57323728e+01] [-1.09788233e-02 9.99939730e-01 -4.49272891e-05 2.21570902e-01] [ 7.67830739e-03 1.29232533e-04 9.99970513e-01 4.48031920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:0.22, Z:0.45 [[ 9.99910481e-01 1.09571205e-02 -7.67926022e-03 9.57602442e+01] [-1.09577927e-02 9.99939961e-01 -4.54711027e-05 2.17421174e-01] [ 7.67830093e-03 1.29614774e-04 9.99970513e-01 4.46301731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:0.21, Z:0.45 [[ 9.99909899e-01 1.10101637e-02 -7.67925752e-03 9.57888782e+01] [-1.10108410e-02 9.99939378e-01 -4.59219770e-05 2.13267737e-01] [ 7.67828638e-03 1.30472923e-04 9.99970513e-01 4.45361552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:0.21, Z:0.44 [[ 9.99903734e-01 1.15564208e-02 -7.67925535e-03 9.58169554e+01] [-1.15571170e-02 9.99933213e-01 -4.62821354e-05 2.09408267e-01] [ 7.67820762e-03 1.35027732e-04 9.99970513e-01 4.44734091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:0.20, Z:0.44 [[ 9.99894424e-01 1.23357351e-02 -7.67925263e-03 9.58453905e+01] [-1.23364577e-02 9.99923902e-01 -4.67296441e-05 2.04938773e-01] [ 7.67809181e-03 1.41459486e-04 9.99970513e-01 4.44955435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:0.20, Z:0.44 [[ 9.99871416e-01 1.40776472e-02 -7.67925037e-03 9.58737031e+01] [-1.40784239e-02 9.99900893e-01 -4.70978194e-05 1.96015679e-01] [ 7.67782628e-03 1.55203506e-04 9.99970513e-01 4.44282784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:0.19, Z:0.44 [[ 9.99854433e-01 1.52362370e-02 -7.67924718e-03 9.59016179e+01] [-1.52370519e-02 9.99883908e-01 -4.76126694e-05 1.91877379e-01] [ 7.67763024e-03 1.64614826e-04 9.99970513e-01 4.43022566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:0.19, Z:0.44 [[ 9.99842523e-01 1.59986932e-02 -7.67924441e-03 9.59301591e+01] [-1.59995339e-02 9.99871998e-01 -4.80546677e-05 1.88309080e-01] [ 7.67749264e-03 1.70911432e-04 9.99970513e-01 4.41519549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:0.18, Z:0.44 [[ 9.99833876e-01 1.65302831e-02 -7.67924270e-03 9.59584252e+01] [-1.65311416e-02 9.99863350e-01 -4.83274505e-05 1.84747734e-01] [ 7.67739446e-03 1.75266071e-04 9.99970513e-01 4.39147757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:0.18, Z:0.44 [[ 9.99827232e-01 1.69273770e-02 -7.67923981e-03 9.59860232e+01] [-1.69282507e-02 9.99856706e-01 -4.87822780e-05 1.80905246e-01] [ 7.67731366e-03 1.78769946e-04 9.99970513e-01 4.38309289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74589822699998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:96.01, Y:0.18, Z:0.44 [[ 9.99829156e-01 1.68133298e-02 -7.67923679e-03 9.60143795e+01] [-1.68142037e-02 9.99858630e-01 -4.92526949e-05 1.77394823e-01] [ 7.67732308e-03 1.78364532e-04 9.99970513e-01 4.41531057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77589822699998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.04, Y:0.17, Z:0.45 [[ 9.99841185e-01 1.60820786e-02 -7.67923428e-03 9.60423061e+01] [-1.60829340e-02 9.99870660e-01 -4.96402801e-05 1.71680567e-01] [ 7.67744273e-03 1.73137014e-04 9.99970513e-01 4.45470425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:96.07, Y:0.17, Z:0.44 [[ 9.99867936e-01 1.43226887e-02 -7.67923084e-03 9.60697627e+01] [-1.43234963e-02 9.99897412e-01 -5.01673195e-05 1.69122243e-01] [ 7.67772452e-03 1.60154129e-04 9.99970513e-01 4.44305030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:0.17, Z:0.44 [[ 9.99901193e-01 1.17742628e-02 -7.67922795e-03 9.60981409e+01] [-1.17749985e-02 9.99930671e-01 -5.06054636e-05 1.66495907e-01] [ 7.67809972e-03 1.41023361e-04 9.99970513e-01 4.43490259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:96.13, Y:0.16, Z:0.44 [[ 9.99925355e-01 9.50341394e-03 -7.67922547e-03 9.61261415e+01] [-9.50408563e-03 9.99954834e-01 -5.09799156e-05 1.63504788e-01] [ 7.67839414e-03 1.23960127e-04 9.99970513e-01 4.40339704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.16, Y:0.16, Z:0.44 [[ 9.99947328e-01 6.80961480e-03 -7.67922235e-03 9.61553751e+01] [-6.81021064e-03 9.99976809e-01 -5.14449729e-05 1.61021895e-01] [ 7.67869394e-03 1.03739385e-04 9.99970513e-01 4.41551395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92589822699999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:96.18, Y:0.16, Z:0.44 [[ 9.99962147e-01 4.09072476e-03 -7.67921986e-03 9.61837299e+01] [-4.09124328e-03 9.99991629e-01 -5.18149452e-05 1.58330247e-01] [ 7.67894362e-03 8.32305405e-05 9.99970513e-01 4.41902266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:96.21, Y:0.15, Z:0.44 [[ 9.99966592e-01 -2.80076110e-03 -7.67921733e-03 9.62119070e+01] [ 2.80044292e-03 9.99996077e-01 -5.21862842e-05 1.53321732e-01] [ 7.67933337e-03 3.06793310e-05 9.99970513e-01 4.43878454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.24, Y:0.15, Z:0.45 [[ 9.99948851e-01 -6.58224672e-03 -7.67921368e-03 9.62405848e+01] [ 6.58203595e-03 9.99978337e-01 -5.27185113e-05 1.51815112e-01] [ 7.67939433e-03 2.17095429e-06 9.99970513e-01 4.45523715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.015898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:96.27, Y:0.15, Z:0.44 [[ 9.99924292e-01 -9.61456474e-03 -7.67921110e-03 9.62681517e+01] [ 9.61444053e-03 9.99953779e-01 -5.30915728e-05 1.51459781e-01] [ 7.67936661e-03 -2.07437651e-05 9.99970513e-01 4.44798330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.045898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:96.30, Y:0.15, Z:0.45 [[ 9.99890564e-01 -1.26447800e-02 -7.67920632e-03 9.62973667e+01] [ 1.26447399e-02 9.99920051e-01 -5.37738272e-05 1.53534792e-01] [ 7.67927233e-03 -4.33336242e-05 9.99970513e-01 4.45700414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.075898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:96.33, Y:0.16, Z:0.45 [[ 9.99887892e-01 -1.28543477e-02 -7.67919742e-03 9.63265555e+01] [ 1.28543043e-02 9.99917379e-01 -5.50161886e-05 1.55262849e-01] [ 7.67927015e-03 -4.37007195e-05 9.99970513e-01 4.46817551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.105898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:96.36, Y:0.16, Z:0.45 [[ 9.99893168e-01 -1.24371574e-02 -7.67918802e-03 9.63551114e+01] [ 1.24370918e-02 9.99922655e-01 -5.62985482e-05 1.56664109e-01] [ 7.67929427e-03 -3.92142325e-05 9.99970513e-01 4.48083178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13589822699998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:96.38, Y:0.16, Z:0.45 [[ 9.99902477e-01 -1.16647365e-02 -7.67918537e-03 9.63824300e+01] [ 1.16646454e-02 9.99931964e-01 -5.66576384e-05 1.58010817e-01] [ 7.67932381e-03 -3.29228610e-05 9.99970513e-01 4.49027557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16589822699999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:96.41, Y:0.16, Z:0.45 [[ 9.99910702e-01 -1.09370158e-02 -7.67917587e-03 9.64107955e+01] [ 1.09368935e-02 9.99940189e-01 -5.79177967e-05 1.59343538e-01] [ 7.67935001e-03 -2.60737038e-05 9.99970513e-01 4.49850922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19589822699999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:96.44, Y:0.16, Z:0.45 [[ 9.99916105e-01 -1.04313719e-02 -7.67916604e-03 9.64387812e+01] [ 1.04312250e-02 9.99945592e-01 -5.91926047e-05 1.60748625e-01] [ 7.67936569e-03 -2.09154697e-05 9.99970513e-01 4.49495039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:96.47, Y:0.16, Z:0.45 [[ 9.99906028e-01 -1.13562986e-02 -7.67916091e-03 9.64677416e+01] [ 1.13561738e-02 9.99935515e-01 -5.98507047e-05 1.62842731e-01] [ 7.67934540e-03 -2.73608058e-05 9.99970513e-01 4.48386953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25589822699999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:96.50, Y:0.16, Z:0.45 [[ 9.99883058e-01 -1.32250292e-02 -7.67915086e-03 9.64968982e+01] [ 1.32249498e-02 9.99912545e-01 -6.11131199e-05 1.63565836e-01] [ 7.67928750e-03 -4.04504117e-05 9.99970513e-01 4.47247884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28589822699999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:96.53, Y:0.16, Z:0.45 [[ 9.99844810e-01 -1.58551699e-02 -7.67914063e-03 9.65252200e+01] [ 1.58551584e-02 9.99874297e-01 -6.23734595e-05 1.64779322e-01] [ 7.67916428e-03 -5.93902116e-05 9.99970513e-01 4.48677070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31589822699999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:96.55, Y:0.17, Z:0.45 [[ 9.99805230e-01 -1.81805873e-02 -7.67913020e-03 9.65544901e+01] [ 1.81806347e-02 9.99834717e-01 -6.36317304e-05 1.66631252e-01] [ 7.67901783e-03 -7.59921244e-05 9.99970513e-01 4.49517229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34589822699999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:96.58, Y:0.17, Z:0.45 [[ 9.99777617e-01 -1.96404463e-02 -7.67911956e-03 9.65839006e+01] [ 1.96405271e-02 9.99807104e-01 -6.48905653e-05 1.68730160e-01] [ 7.67891277e-03 -8.59458212e-05 9.99970513e-01 4.50253509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:0.17, Z:0.45 [[ 9.99760808e-01 -2.04782137e-02 -7.67911802e-03 9.66134998e+01] [ 2.04783179e-02 9.99790295e-01 -6.50727457e-05 1.70849090e-01] [ 7.67884024e-03 -9.21982392e-05 9.99970513e-01 4.49724617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.405898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.64, Y:0.17, Z:0.45 [[ 9.99734671e-01 -2.17167880e-02 -7.67911647e-03 9.66426687e+01] [ 2.17169273e-02 9.99764158e-01 -6.52550913e-05 1.74299931e-01] [ 7.67872254e-03 -1.01529037e-04 9.99970513e-01 4.49464973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.435898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:96.67, Y:0.18, Z:0.45 [[ 9.99712626e-01 -2.27089762e-02 -7.67911570e-03 9.66721823e+01] [ 2.27091441e-02 9.99742112e-01 -6.53458892e-05 1.75700298e-01] [ 7.67861928e-03 -1.09059034e-04 9.99970513e-01 4.50405772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.465898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:96.70, Y:0.18, Z:0.45 [[ 9.99661077e-01 -2.48749338e-02 -7.67911493e-03 9.67020422e+01] [ 2.48751648e-02 9.99690563e-01 -6.54355531e-05 1.77541531e-01] [ 7.67836644e-03 -1.25605874e-04 9.99970513e-01 4.53035927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49589822699998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:96.73, Y:0.18, Z:0.45 [[ 9.99590074e-01 -2.75810679e-02 -7.67911340e-03 9.67311447e+01] [ 2.75813774e-02 9.99619559e-01 -6.56145394e-05 1.78703436e-01] [ 7.67800168e-03 -1.46212882e-04 9.99970513e-01 4.54344321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52589822699998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:96.76, Y:0.18, Z:0.45 [[ 9.99492312e-01 -3.09216598e-02 -7.67911264e-03 9.67613728e+01] [ 3.09220672e-02 9.99521796e-01 -6.57036411e-05 1.79287195e-01] [ 7.67747213e-03 -1.71783753e-04 9.99970513e-01 4.54225895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55589822699999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:96.79, Y:0.18, Z:0.45 [[ 9.99364210e-01 -3.48167619e-02 -7.67911264e-03 9.67920201e+01] [ 3.48172842e-02 9.99393692e-01 -6.57036411e-05 1.79367986e-01] [ 7.67674433e-03 -2.01703980e-04 9.99970513e-01 4.53462195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:96.82, Y:0.18, Z:0.45 [[ 9.99115295e-01 -4.13480151e-02 -7.67911264e-03 9.68215118e+01] [ 4.13487301e-02 9.99144773e-01 -6.57036411e-05 1.77704752e-01] [ 7.67526198e-03 -2.51876043e-04 9.99970513e-01 4.52861000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61589822699999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:96.85, Y:0.18, Z:0.45 [[ 9.99008420e-01 -4.38544042e-02 -7.67911271e-03 9.68518709e+01] [ 4.38551932e-02 9.99037896e-01 -6.56953665e-05 1.76770859e-01] [ 7.67460564e-03 -2.71138747e-04 9.99970513e-01 4.53489828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64589822699999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:96.88, Y:0.18, Z:0.45 [[ 9.98925292e-01 -4.57087679e-02 -7.67911271e-03 9.68820078e+01] [ 4.57096115e-02 9.98954767e-01 -6.56953665e-05 1.75961635e-01] [ 7.67408911e-03 -2.85384496e-04 9.99970513e-01 4.54297103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67589822699999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:96.91, Y:0.18, Z:0.45 [[ 9.98859542e-01 -4.71237287e-02 -7.67911349e-03 9.69117363e+01] [ 4.71246149e-02 9.98889016e-01 -6.56047743e-05 1.75216561e-01] [ 7.67367366e-03 -2.96345311e-04 9.99970513e-01 4.53814321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70589822699999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:96.94, Y:0.17, Z:0.45 [[ 9.98814304e-01 -4.80730328e-02 -7.67911272e-03 9.69413472e+01] [ 4.80739463e-02 9.98843777e-01 -6.56943032e-05 1.74220188e-01] [ 7.67339208e-03 -3.03548843e-04 9.99970513e-01 4.52579093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73589822699999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:96.97, Y:0.17, Z:0.45 [[ 9.98778333e-01 -4.88146848e-02 -7.67911196e-03 9.69713700e+01] [ 4.88156195e-02 9.98807805e-01 -6.57827832e-05 1.72129597e-01] [ 7.67316813e-03 -3.09158189e-04 9.99970513e-01 4.53295487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.765898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:97.00, Y:0.17, Z:0.45 [[ 9.98807160e-01 -4.82212528e-02 -7.67911196e-03 9.70009449e+01] [ 4.82221700e-02 9.98836632e-01 -6.57827832e-05 1.71606769e-01] [ 7.67335046e-03 -3.04599128e-04 9.99970513e-01 4.54865886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.795898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:97.03, Y:0.17, Z:0.46 [[ 9.98883077e-01 -4.66222094e-02 -7.67911121e-03 9.70315977e+01] [ 4.66230787e-02 9.98912551e-01 -6.58707156e-05 1.71324872e-01] [ 7.67383160e-03 -2.92226663e-04 9.99970513e-01 4.56820177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.825898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:97.06, Y:0.17, Z:0.46 [[ 9.98976036e-01 -4.45859900e-02 -7.67911121e-03 9.70625838e+01] [ 4.45867992e-02 9.99005512e-01 -6.58707156e-05 1.71792955e-01] [ 7.67441134e-03 -2.76583723e-04 9.99970513e-01 4.57421790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.855898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:97.09, Y:0.17, Z:0.46 [[ 9.99076040e-01 -4.22858909e-02 -7.67911121e-03 9.70919209e+01] [ 4.22866322e-02 9.99105518e-01 -6.58707156e-05 1.72762217e-01] [ 7.67502778e-03 -2.58913898e-04 9.99970513e-01 4.56898680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88589822699998 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:97.12, Y:0.17, Z:0.46 [[ 9.99153409e-01 -4.04165439e-02 -7.67911044e-03 9.71215974e+01] [ 4.04172294e-02 9.99182888e-01 -6.59602198e-05 1.73956619e-01] [ 7.67550163e-03 -2.44463990e-04 9.99970513e-01 4.55666607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91589822699999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:97.15, Y:0.18, Z:0.45 [[ 9.99193467e-01 -3.94137873e-02 -7.67910967e-03 9.71525784e+01] [ 3.94144426e-02 9.99222947e-01 -6.60491695e-05 1.75892305e-01] [ 7.67574585e-03 -2.36671929e-04 9.99970513e-01 4.53055934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94589822699999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:97.18, Y:0.18, Z:0.45 [[ 9.99176448e-01 -3.98428998e-02 -7.67910967e-03 9.71834592e+01] [ 3.98435677e-02 9.99205928e-01 -6.60491695e-05 1.75691038e-01] [ 7.67564350e-03 -2.39968351e-04 9.99970513e-01 4.53894967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97589822699999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:97.21, Y:0.18, Z:0.45 [[ 9.99132172e-01 -4.09381710e-02 -7.67910967e-03 9.72141302e+01] [ 4.09388713e-02 9.99161651e-01 -6.60491695e-05 1.76144121e-01] [ 7.67537583e-03 -2.48382232e-04 9.99970513e-01 4.54947673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00589822699999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:97.24, Y:0.18, Z:0.46 [[ 9.99074509e-01 -4.23220689e-02 -7.67911044e-03 9.72445750e+01] [ 4.23228106e-02 9.99103986e-01 -6.59606276e-05 1.76995801e-01] [ 7.67502144e-03 -2.59101955e-04 9.99970513e-01 4.56165615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03589822699999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:97.28, Y:0.18, Z:0.46 [[ 9.98902735e-01 -4.61990947e-02 -7.67911119e-03 9.72750757e+01] [ 4.61999515e-02 9.98932210e-01 -6.58724443e-05 1.79829784e-01] [ 7.67395476e-03 -2.88974400e-04 9.99970513e-01 4.59727376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06589822699999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:97.31, Y:0.18, Z:0.46 [[ 9.98767431e-01 -4.90372227e-02 -7.67911119e-03 9.73060226e+01] [ 4.90381632e-02 9.98796903e-01 -6.58724443e-05 1.80487367e-01] [ 7.67310268e-03 -3.10778256e-04 9.99970513e-01 4.58845561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09589822699999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:97.34, Y:0.18, Z:0.46 [[ 9.98767431e-01 -4.90372214e-02 -7.67911268e-03 9.73370205e+01] [ 4.90381632e-02 9.98796903e-01 -6.56983980e-05 1.80752491e-01] [ 7.67309563e-03 -3.10952161e-04 9.99970513e-01 4.59083596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.125898227 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:97.37, Y:0.18, Z:0.46 [[ 9.98600377e-01 -5.23289439e-02 -7.67911268e-03 9.73682139e+01] [ 5.23299829e-02 9.98629846e-01 -6.56983980e-05 1.80833420e-01] [ 7.67202904e-03 -3.36241390e-04 9.99970513e-01 4.57155517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.155898227 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:97.40, Y:0.18, Z:0.45 [[ 9.98409300e-01 -5.58560775e-02 -7.67911422e-03 9.73982527e+01] [ 5.58572220e-02 9.98438765e-01 -6.55182198e-05 1.80619103e-01] [ 7.67078490e-03 -3.63519988e-04 9.99970513e-01 4.54373313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.185898227 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:97.43, Y:0.18, Z:0.45 [[ 9.98217740e-01 -5.91808716e-02 -7.67911667e-03 9.74277642e+01] [ 5.91821165e-02 9.98247200e-01 -6.52296814e-05 1.80072298e-01] [ 7.66951706e-03 -3.89352952e-04 9.99970513e-01 4.51511622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.215898227 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:97.46, Y:0.18, Z:0.45 [[ 9.98032754e-01 -6.22226099e-02 -7.67911593e-03 9.74575518e+01] [ 6.22239438e-02 9.98062211e-01 -6.53168513e-05 1.79592603e-01] [ 7.66829960e-03 -4.12636521e-04 9.99970513e-01 4.47983972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24589822699998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:97.49, Y:0.18, Z:0.45 [[ 9.97847291e-01 -6.51292107e-02 -7.67911520e-03 9.74873381e+01] [ 6.51306298e-02 9.97876744e-01 -6.54025856e-05 1.78277355e-01] [ 7.66707009e-03 -4.34883816e-04 9.99970513e-01 4.47929205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27589822699998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:97.52, Y:0.18, Z:0.45 [[ 9.97857487e-01 -6.49728086e-02 -7.67911448e-03 9.75179257e+01] [ 6.49742223e-02 9.97886941e-01 -6.54870235e-05 1.79087206e-01] [ 7.66714293e-03 -4.33597775e-04 9.99970513e-01 4.50371126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30589822699999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:97.55, Y:0.18, Z:0.45 [[ 9.97956200e-01 -6.34385921e-02 -7.67911448e-03 9.75483459e+01] [ 6.34399606e-02 9.97985655e-01 -6.54870235e-05 1.79733233e-01] [ 7.66780049e-03 -4.21809539e-04 9.99970513e-01 4.50495442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33589822699999 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:97.58, Y:0.18, Z:0.45 [[ 9.98086886e-01 -6.13481840e-02 -7.67911448e-03 9.75786013e+01] [ 6.13494908e-02 9.98116344e-01 -6.54870235e-05 1.80891437e-01] [ 7.66866718e-03 -4.05748024e-04 9.99970513e-01 4.50719928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:97.61, Y:0.18, Z:0.45 [[ 9.98246604e-01 -5.86919828e-02 -7.67911448e-03 9.76088785e+01] [ 5.86932112e-02 9.98276065e-01 -6.54870235e-05 1.82238449e-01] [ 7.66971975e-03 -3.85339689e-04 9.99970513e-01 4.51900800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39589822699999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:97.64, Y:0.19, Z:0.45 [[ 9.98436905e-01 -5.53604277e-02 -7.67911448e-03 9.76388886e+01] [ 5.53615578e-02 9.98466371e-01 -6.54870235e-05 1.85137601e-01] [ 7.67096295e-03 -3.59743079e-04 9.99970513e-01 4.54281922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42589822699999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:97.67, Y:0.19, Z:0.46 [[ 9.98438128e-01 -5.53383763e-02 -7.67911523e-03 9.76689093e+01] [ 5.53395064e-02 9.98467593e-01 -6.53989470e-05 1.85827484e-01] [ 7.67096677e-03 -3.59661644e-04 9.99970513e-01 4.55583575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45589822699999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:97.70, Y:0.19, Z:0.46 [[ 9.98370065e-01 -5.65530223e-02 -7.67911523e-03 9.76995472e+01] [ 5.65541882e-02 9.98399529e-01 -6.53989470e-05 1.86150422e-01] [ 7.67052353e-03 -3.68993777e-04 9.99970513e-01 4.57191876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48589822699999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:97.73, Y:0.19, Z:0.46 [[ 9.98248565e-01 -5.86586188e-02 -7.67911523e-03 9.77296042e+01] [ 5.86598469e-02 9.98278026e-01 -6.53989470e-05 1.85515591e-01] [ 7.66972821e-03 -3.85171318e-04 9.99970513e-01 4.57570927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.515898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:97.76, Y:0.18, Z:0.45 [[ 9.97849205e-01 -6.50998944e-02 -7.67911523e-03 9.77600131e+01] [ 6.51013126e-02 9.97878657e-01 -6.53989470e-05 1.83882708e-01] [ 7.66708266e-03 -4.34662194e-04 9.99970513e-01 4.54351260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.545898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:97.79, Y:0.18, Z:0.45 [[ 9.97626703e-01 -6.84250908e-02 -7.67911596e-03 9.77901438e+01] [ 6.84266079e-02 9.97656151e-01 -6.53129797e-05 1.83313963e-01] [ 7.66558631e-03 -4.60297884e-04 9.99970513e-01 4.52453282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.575898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:97.82, Y:0.18, Z:0.46 [[ 9.97439124e-01 -7.11071279e-02 -7.67914950e-03 9.78210482e+01] [ 7.11087541e-02 9.97468567e-01 -6.13981004e-05 1.82817241e-01] [ 7.66407609e-03 -4.84813886e-04 9.99970513e-01 4.55428155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60589822699998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:97.85, Y:0.18, Z:0.46 [[ 9.97344339e-01 -7.24244456e-02 -7.67910726e-03 9.78519022e+01] [ 7.24260731e-02 9.97373781e-01 -6.62913002e-05 1.81488134e-01] [ 7.66374136e-03 -4.90052331e-04 9.99970513e-01 4.56413160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63589822699998 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:97.88, Y:0.18, Z:0.46 [[ 9.97280295e-01 -7.33010519e-02 -7.67910978e-03 9.78828713e+01] [ 7.33027076e-02 9.97309736e-01 -6.59980048e-05 1.80615467e-01] [ 7.66328867e-03 -4.97081029e-04 9.99970513e-01 4.56858466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66589822699999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:97.91, Y:0.18, Z:0.46 [[ 9.97270266e-01 -7.34373757e-02 -7.67910978e-03 9.79126017e+01] [ 7.34390355e-02 9.97299706e-01 -6.59980048e-05 1.78962730e-01] [ 7.66322065e-03 -4.98128568e-04 9.99970513e-01 4.58484165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69589822699999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:97.94, Y:0.18, Z:0.46 [[ 9.97182066e-01 -7.46254583e-02 -7.67910978e-03 9.79427200e+01] [ 7.46271532e-02 9.97211504e-01 -6.59980048e-05 1.76753777e-01] [ 7.66262175e-03 -5.07258075e-04 9.99970513e-01 4.63684360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72589822699999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:97.97, Y:0.18, Z:0.46 [[ 9.97123832e-01 -7.53995679e-02 -7.67912066e-03 9.79732453e+01] [ 7.54012953e-02 9.97153268e-01 -6.47344772e-05 1.75644809e-01] [ 7.66214122e-03 -5.14467355e-04 9.99970513e-01 4.60615543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:98.00, Y:0.17, Z:0.46 [[ 9.97093799e-01 -7.57956980e-02 -7.67910192e-03 9.80036124e+01] [ 7.57974205e-02 9.97123235e-01 -6.68860308e-05 1.73675806e-01] [ 7.66208063e-03 -5.15364471e-04 9.99970513e-01 4.59697453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78589822699999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:98.03, Y:0.17, Z:0.46 [[ 9.97053627e-01 -7.63223227e-02 -7.67910192e-03 9.80327908e+01] [ 7.63240607e-02 9.97083062e-01 -6.68860308e-05 1.71956700e-01] [ 7.66180736e-03 -5.19411282e-04 9.99970513e-01 4.55481344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81589822699999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:98.06, Y:0.17, Z:0.46 [[ 9.97039797e-01 -7.65027698e-02 -7.67910114e-03 9.80634341e+01] [ 7.65045125e-02 9.97069233e-01 -6.69759292e-05 1.69302970e-01] [ 7.66171932e-03 -5.20708222e-04 9.99970513e-01 4.56103670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84589822699999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:98.09, Y:0.17, Z:0.45 [[ 9.96975418e-01 -7.73372345e-02 -7.67910114e-03 9.80929518e+01] [ 7.73390019e-02 9.97004852e-01 -6.69759293e-05 1.67718899e-01] [ 7.66128082e-03 -5.27120663e-04 9.99970513e-01 4.54442507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.875898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:98.12, Y:0.16, Z:0.46 [[ 9.96934960e-01 -7.78570287e-02 -7.67909957e-03 9.81227450e+01] [ 7.78588100e-02 9.96964393e-01 -6.71552463e-05 1.64060778e-01] [ 7.66101735e-03 -5.30936142e-04 9.99970513e-01 4.57045201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.905898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:98.15, Y:0.16, Z:0.46 [[ 9.96936619e-01 -7.78357799e-02 -7.67909879e-03 9.81515702e+01] [ 7.78375599e-02 9.96966052e-01 -6.72441959e-05 1.62846059e-01] [ 7.66103481e-03 -5.30684111e-04 9.99970513e-01 4.57764659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.935898227 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.18, Y:0.16, Z:0.46 [[ 9.97026717e-01 -7.66730535e-02 -7.67913155e-03 9.81808957e+01] [ 7.66748275e-02 9.97056150e-01 -6.35509503e-05 1.61703518e-01] [ 7.66139798e-03 -5.25434091e-04 9.99970513e-01 4.60831187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.965898227 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:98.21, Y:0.16, Z:0.46 [[ 9.97107006e-01 -7.56217623e-02 -7.67908442e-03 9.82108399e+01] [ 7.56234649e-02 9.97136443e-01 -6.88107902e-05 1.61519424e-01] [ 7.66229852e-03 -5.12107250e-04 9.99970513e-01 4.59173611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99589822699998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:98.24, Y:0.16, Z:0.46 [[ 9.97245332e-01 -7.37751899e-02 -7.67908359e-03 9.82400239e+01] [ 7.37768374e-02 9.97274773e-01 -6.89023835e-05 1.62259788e-01] [ 7.66323964e-03 -4.97825921e-04 9.99970513e-01 4.55694942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02589822699998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:98.27, Y:0.17, Z:0.45 [[ 9.97516229e-01 -7.00171749e-02 -7.67908196e-03 9.82698919e+01] [ 7.00187100e-02 9.97545676e-01 -6.90836403e-05 1.65221602e-01] [ 7.66507205e-03 -4.68767361e-04 9.99970513e-01 4.51624630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:98.30, Y:0.17, Z:0.45 [[ 9.97618496e-01 -6.85446387e-02 -7.67908036e-03 9.82996457e+01] [ 6.85461289e-02 9.97647946e-01 -6.92612146e-05 1.66071213e-01] [ 7.66576623e-03 -4.57274964e-04 9.99970513e-01 4.52648870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08589822699999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:98.33, Y:0.17, Z:0.46 [[ 9.97654326e-01 -6.80211479e-02 -7.67907957e-03 9.83283765e+01] [ 6.80226221e-02 9.97683777e-01 -6.93494076e-05 1.66871098e-01] [ 7.66601033e-03 -4.53164391e-04 9.99970513e-01 4.55102930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11589822699999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:98.36, Y:0.17, Z:0.46 [[ 9.97661198e-01 -6.79202910e-02 -7.67907718e-03 9.83573722e+01] [ 6.79217602e-02 9.97690648e-01 -6.96126715e-05 1.68051213e-01] [ 7.66607160e-03 -4.52126577e-04 9.99970513e-01 4.58338040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:98.39, Y:0.17, Z:0.46 [[ 9.97616381e-01 -6.85754223e-02 -7.67907483e-03 9.83866926e+01] [ 6.85769089e-02 9.97645830e-01 -6.98710587e-05 1.69529231e-01] [ 7.66578842e-03 -4.56902702e-04 9.99970513e-01 4.59879982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:98.42, Y:0.17, Z:0.46 [[ 9.97564191e-01 -6.93304937e-02 -7.67907323e-03 9.84163546e+01] [ 6.93320012e-02 9.97593639e-01 -7.00460057e-05 1.71348412e-01] [ 7.66545093e-03 -4.62530127e-04 9.99970513e-01 4.59790131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20589822699999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:98.45, Y:0.17, Z:0.46 [[ 9.97478216e-01 -7.05566513e-02 -7.67907163e-03 9.84462280e+01] [ 7.05581936e-02 9.97507662e-01 -7.02213993e-05 1.74386494e-01] [ 7.66488738e-03 -4.71777106e-04 9.99970513e-01 4.60611188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:98.48, Y:0.18, Z:0.46 [[ 9.97426480e-01 -7.12842887e-02 -7.67905960e-03 9.84754715e+01] [ 7.12858424e-02 9.97455926e-01 -7.15372284e-05 1.75120023e-01] [ 7.66462298e-03 -4.76055106e-04 9.99970513e-01 4.58043438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.265898227 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:98.50, Y:0.18, Z:0.46 [[ 9.97334445e-01 -7.25605688e-02 -7.67907013e-03 9.85041939e+01] [ 7.25621690e-02 9.97363889e-01 -7.03882967e-05 1.75461293e-01] [ 7.66393467e-03 -4.87009312e-04 9.99970513e-01 4.58065693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.295898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:98.53, Y:0.18, Z:0.46 [[ 9.97226487e-01 -7.40294882e-02 -7.67906782e-03 9.85341144e+01] [ 7.40311298e-02 9.97255928e-01 -7.06392245e-05 1.75610038e-01] [ 7.66322530e-03 -4.98046762e-04 9.99970513e-01 4.59500854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.325898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:98.56, Y:0.17, Z:0.46 [[ 9.97017999e-01 -7.67863384e-02 -7.67906621e-03 9.85638037e+01] [ 7.67880600e-02 9.97047436e-01 -7.08144763e-05 1.73794291e-01] [ 7.66183086e-03 -5.19057290e-04 9.99970513e-01 4.57303268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35589822699998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:98.59, Y:0.17, Z:0.46 [[ 9.96880977e-01 -7.85452016e-02 -7.67908255e-03 9.85936210e+01] [ 7.85469887e-02 9.96910410e-01 -6.90522519e-05 1.72270353e-01] [ 7.66078105e-03 -5.34331934e-04 9.99970513e-01 4.59152973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38589822699998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:98.62, Y:0.17, Z:0.46 [[ 9.96681309e-01 -8.10394958e-02 -7.67906376e-03 9.86234371e+01] [ 8.10413410e-02 9.96710738e-01 -7.10816428e-05 1.71445380e-01] [ 7.65956573e-03 -5.51475880e-04 9.99970513e-01 4.59002760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41589822699999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:98.65, Y:0.17, Z:0.46 [[ 9.96458042e-01 -8.37400940e-02 -7.67906214e-03 9.86534916e+01] [ 8.37420176e-02 9.96487466e-01 -7.12562276e-05 1.70978299e-01] [ 7.65805618e-03 -5.72056316e-04 9.99970513e-01 4.59357347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44589822699999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:98.68, Y:0.17, Z:0.46 [[ 9.96158421e-01 -8.72320607e-02 -7.67906052e-03 9.86817233e+01] [ 8.72340861e-02 9.96187838e-01 -7.14305674e-05 1.69668320e-01] [ 7.65601773e-03 -5.98719665e-04 9.99970513e-01 4.61063742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47589822699999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:98.71, Y:0.17, Z:0.46 [[ 9.96119600e-01 -8.76742547e-02 -7.67908950e-03 9.87116433e+01] [ 8.76763169e-02 9.96149014e-01 -6.83270270e-05 1.69218871e-01] [ 7.65550796e-03 -6.05212394e-04 9.99970513e-01 4.58799838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:98.74, Y:0.17, Z:0.46 [[ 9.96153957e-01 -8.72830206e-02 -7.67905040e-03 9.87407685e+01] [ 8.72850396e-02 9.96183375e-01 -7.24702372e-05 1.69027793e-01] [ 7.65606776e-03 -5.98074704e-04 9.99970513e-01 4.60286339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53589822699999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.77, Y:0.17, Z:0.46 [[ 9.96224129e-01 -8.64784208e-02 -7.67904787e-03 9.87712601e+01] [ 8.64804139e-02 9.96253548e-01 -7.27376300e-05 1.70110605e-01] [ 7.65656892e-03 -5.91624256e-04 9.99970513e-01 4.61606027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56589822699999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:98.80, Y:0.17, Z:0.46 [[ 9.96304407e-01 -8.55485831e-02 -7.67904787e-03 9.87999316e+01] [ 8.55505487e-02 9.96333829e-01 -7.27376300e-05 1.72620234e-01] [ 7.65711776e-03 -5.84477937e-04 9.99970513e-01 4.56993840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59589822699999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:98.83, Y:0.18, Z:0.46 [[ 9.96562277e-01 -8.24903696e-02 -7.67901874e-03 9.88294911e+01] [ 8.24922217e-02 9.96591706e-01 -7.57706979e-05 1.79146026e-01] [ 7.65909674e-03 -5.57949097e-04 9.99970513e-01 4.61754612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.625898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:98.86, Y:0.18, Z:0.46 [[ 9.96700221e-01 -8.08065713e-02 -7.67903500e-03 9.88588242e+01] [ 8.08083866e-02 9.96729652e-01 -7.40851663e-05 1.82447265e-01] [ 7.65990846e-03 -5.46689728e-04 9.99970513e-01 4.64847349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.655898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:98.89, Y:0.19, Z:0.47 [[ 9.96822303e-01 -7.92863744e-02 -7.67903330e-03 9.88898572e+01] [ 7.92881435e-02 9.96851737e-01 -7.42614457e-05 1.85148306e-01] [ 7.66074560e-03 -5.34830829e-04 9.99970513e-01 4.67478401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.685898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:98.92, Y:0.19, Z:0.47 [[ 9.96911793e-01 -7.81531180e-02 -7.67903506e-03 9.89199580e+01] [ 7.81548550e-02 9.96941229e-01 -7.40790943e-05 1.87547201e-01] [ 7.66133616e-03 -5.26303549e-04 9.99970513e-01 4.68206966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.715898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:98.95, Y:0.19, Z:0.47 [[ 9.96918505e-01 -7.80674477e-02 -7.67903594e-03 9.89498425e+01] [ 7.80691829e-02 9.96947941e-01 -7.39879023e-05 1.90220170e-01] [ 7.66137511e-03 -5.25736152e-04 9.99970513e-01 4.67440536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:0.19, Z:0.47 [[ 9.96699048e-01 -8.08210320e-02 -7.67903510e-03 9.89809662e+01] [ 8.08228478e-02 9.96728479e-01 -7.40748739e-05 1.92386484e-01] [ 7.65989979e-03 -5.46811129e-04 9.99970513e-01 4.66599812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:0.19, Z:0.47 [[ 9.96488237e-01 -8.33800117e-02 -7.67903682e-03 9.90117528e+01] [ 8.33819044e-02 9.96517663e-01 -7.38959802e-05 1.92546083e-01] [ 7.65845727e-03 -5.66656239e-04 9.99970513e-01 4.65257490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:99.04, Y:0.19, Z:0.46 [[ 9.96277663e-01 -8.58594790e-02 -7.67903969e-03 9.90424629e+01] [ 8.58614472e-02 9.96307084e-01 -7.35969783e-05 1.92136393e-01] [ 7.65700064e-03 -5.86010435e-04 9.99970513e-01 4.64982105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83589822699999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.07, Y:0.19, Z:0.47 [[ 9.96109269e-01 -8.77915514e-02 -7.67903969e-03 9.90714743e+01] [ 8.77935767e-02 9.96138686e-01 -7.35969783e-05 1.91724725e-01] [ 7.65584970e-03 -6.00859728e-04 9.99970513e-01 4.67389719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86589822699999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:99.10, Y:0.19, Z:0.47 [[ 9.95991234e-01 -8.91206728e-02 -7.67899472e-03 9.91013348e+01] [ 8.91227018e-02 9.96020651e-01 -7.82435978e-05 1.91284164e-01] [ 7.65541044e-03 -6.06442819e-04 9.99970513e-01 4.67107242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:99.13, Y:0.19, Z:0.47 [[ 9.96028457e-01 -8.87036949e-02 -7.67902791e-03 9.91310189e+01] [ 8.87057377e-02 9.96057873e-01 -7.48382695e-05 1.90761332e-01] [ 7.65539463e-03 -6.06632789e-04 9.99970513e-01 4.67815920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:0.19, Z:0.46 [[ 9.96258867e-01 -8.60773160e-02 -7.67889566e-03 9.91619743e+01] [ 8.60791780e-02 9.96288295e-01 -8.82963919e-05 1.88755652e-01] [ 7.65799418e-03 -5.73026963e-04 9.99970513e-01 4.64746345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:0.19, Z:0.46 [[ 9.96442705e-01 -8.39223966e-02 -7.67901961e-03 9.91925934e+01] [ 8.39242913e-02 9.96472131e-01 -7.57270758e-05 1.87390300e-01] [ 7.65828424e-03 -5.68998587e-04 9.99970513e-01 4.62089008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:0.19, Z:0.46 [[ 9.96645170e-01 -8.14827511e-02 -7.67901961e-03 9.92226164e+01] [ 8.14845738e-02 9.96674600e-01 -7.57270758e-05 1.86530635e-01] [ 7.65965425e-03 -5.50248616e-04 9.99970513e-01 4.58516918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:0.19, Z:0.46 [[ 9.96643406e-01 -8.15043228e-02 -7.67901961e-03 9.92527740e+01] [ 8.15061461e-02 9.96672836e-01 -7.57270758e-05 1.86869934e-01] [ 7.65964234e-03 -5.50414404e-04 9.99970513e-01 4.58748531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:0.19, Z:0.46 [[ 9.96854072e-01 -7.88859450e-02 -7.67901797e-03 9.92829757e+01] [ 7.88876897e-02 9.96883507e-01 -7.58932874e-05 1.86657742e-01] [ 7.66107328e-03 -5.30125455e-04 9.99970513e-01 4.59923910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:0.19, Z:0.46 [[ 9.97055707e-01 -7.62951537e-02 -7.67901797e-03 9.93134883e+01] [ 7.62968219e-02 9.97085146e-01 -7.58932874e-05 1.87168077e-01] [ 7.66242505e-03 -5.10214831e-04 9.99970513e-01 4.61080382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10589822699998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:99.34, Y:0.19, Z:0.46 [[ 9.97258320e-01 -7.35994315e-02 -7.67901797e-03 9.93426766e+01] [ 7.36010202e-02 9.97287764e-01 -7.58932874e-05 1.87729862e-01] [ 7.66377636e-03 -4.89498344e-04 9.99970513e-01 4.60908417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:0.19, Z:0.46 [[ 9.97475525e-01 -7.05946883e-02 -7.67901709e-03 9.93727688e+01] [ 7.05961875e-02 9.97504974e-01 -7.59826804e-05 1.88122713e-01] [ 7.66522171e-03 -4.66318466e-04 9.99970513e-01 4.63617081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:0.19, Z:0.46 [[ 9.97841244e-01 -6.52218120e-02 -7.67901709e-03 9.94017714e+01] [ 6.52231526e-02 9.97870700e-01 -7.59826804e-05 1.89222249e-01] [ 7.66762189e-03 -4.25031051e-04 9.99970513e-01 4.63029083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:0.19, Z:0.46 [[ 9.97983438e-01 -6.30086589e-02 -7.67901709e-03 9.94312038e+01] [ 6.30099342e-02 9.98012897e-01 -7.59826804e-05 1.90148890e-01] [ 7.66854566e-03 -4.08024905e-04 9.99970513e-01 4.62871472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:0.19, Z:0.46 [[ 9.98110629e-01 -6.09606885e-02 -7.67901621e-03 9.94619932e+01] [ 6.09619027e-02 9.98140091e-01 -7.60707716e-05 1.90562450e-01] [ 7.66937127e-03 -3.92200394e-04 9.99970513e-01 4.64336808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:0.19, Z:0.47 [[ 9.98224044e-01 -5.90744545e-02 -7.67901621e-03 9.94918137e+01] [ 5.90756130e-02 9.98253508e-01 -7.60707716e-05 1.90256916e-01] [ 7.67009871e-03 -3.77706917e-04 9.99970513e-01 4.67400362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:0.19, Z:0.47 [[ 9.98353391e-01 -5.68466351e-02 -7.67901445e-03 9.95208232e+01] [ 5.68477265e-02 9.98382858e-01 -7.62487558e-05 1.89252086e-01] [ 7.67093087e-03 -3.60411309e-04 9.99970513e-01 4.68785559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31589822699999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:99.55, Y:0.19, Z:0.47 [[ 9.98600615e-01 -5.23244137e-02 -7.67901269e-03 9.95504238e+01] [ 5.23253703e-02 9.98630087e-01 -7.64254997e-05 1.88115695e-01] [ 7.67249202e-03 -3.25488631e-04 9.99970513e-01 4.73470795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:0.19, Z:0.48 [[ 9.98701477e-01 -5.03626085e-02 -7.67901094e-03 9.95809982e+01] [ 5.03635058e-02 9.98730950e-01 -7.66003871e-05 1.88996574e-01] [ 7.67312369e-03 -3.10240992e-04 9.99970513e-01 4.78440344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:0.19, Z:0.48 [[ 9.98773952e-01 -4.89042493e-02 -7.67901094e-03 9.96104482e+01] [ 4.89051036e-02 9.98803427e-01 -7.66003871e-05 1.90197920e-01] [ 7.67356853e-03 -2.99036354e-04 9.99970513e-01 4.79874591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:0.19, Z:0.48 [[ 9.98868451e-01 -4.69345270e-02 -7.67901114e-03 9.96404814e+01] [ 4.69353233e-02 9.98897928e-01 -7.65808783e-05 1.90422912e-01] [ 7.67414260e-03 -2.83922647e-04 9.99970513e-01 4.79559559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:0.19, Z:0.48 [[ 9.99090731e-01 -4.19373755e-02 -7.67901114e-03 9.96697121e+01] [ 4.19380244e-02 9.99120211e-01 -7.65808783e-05 1.89941759e-01] [ 7.67546683e-03 -2.45531310e-04 9.99970513e-01 4.78893462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:0.19, Z:0.48 [[ 9.99210780e-01 -3.89724230e-02 -7.67901024e-03 9.96999738e+01] [ 3.89729836e-02 9.99240262e-01 -7.66706211e-05 1.90412380e-01] [ 7.67616424e-03 -2.22663829e-04 9.99970513e-01 4.79272909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:0.19, Z:0.48 [[ 9.99334818e-01 -3.56504379e-02 -7.67901024e-03 9.97301806e+01] [ 3.56509005e-02 9.99364302e-01 -7.66706211e-05 1.92286416e-01] [ 7.67686205e-03 -1.97144009e-04 9.99970513e-01 4.79771403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52589822699998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:99.76, Y:0.20, Z:0.48 [[ 9.99456482e-01 -3.20589206e-02 -7.67901024e-03 9.97596640e+01] [ 3.20592773e-02 9.99485966e-01 -7.66706211e-05 1.95140799e-01] [ 7.67752095e-03 -1.69554570e-04 9.99970513e-01 4.77920957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:0.20, Z:0.48 [[ 9.99549998e-01 -2.89971301e-02 -7.67901033e-03 9.97894910e+01] [ 2.89973966e-02 9.99579484e-01 -7.66618518e-05 1.98075517e-01] [ 7.67800416e-03 -1.46043954e-04 9.99970513e-01 4.79382533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:0.20, Z:0.48 [[ 9.99616693e-01 -2.65988553e-02 -7.67900943e-03 9.98194050e+01] [ 2.65990503e-02 9.99646180e-01 -7.67515946e-05 2.00665957e-01] [ 7.67833395e-03 -1.27532183e-04 9.99970513e-01 4.78607537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:0.20, Z:0.48 [[ 9.99660447e-01 -2.49002653e-02 -7.67900764e-03 9.98483207e+01] [ 2.49004088e-02 9.99689934e-01 -7.69302230e-05 2.04388358e-01] [ 7.67854223e-03 -1.14306328e-04 9.99970513e-01 4.76992620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:0.21, Z:0.48 [[ 9.99643597e-01 -2.55677712e-02 -7.67900586e-03 9.98786545e+01] [ 2.55679331e-02 9.99673084e-01 -7.71077955e-05 2.05696851e-01] [ 7.67846694e-03 -1.19255994e-04 9.99970513e-01 4.76314178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:0.21, Z:0.48 [[ 9.99602935e-01 -2.71109715e-02 -7.67900586e-03 9.99087074e+01] [ 2.71111788e-02 9.99632421e-01 -7.71077955e-05 2.05966237e-01] [ 7.67827369e-03 -1.31109722e-04 9.99970513e-01 4.75036034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:0.21, Z:0.47 [[ 9.99544668e-01 -2.91802963e-02 -7.67900586e-03 9.99383340e+01] [ 2.91805647e-02 9.99574154e-01 -7.71077955e-05 2.05338495e-01] [ 7.67798581e-03 -1.47005042e-04 9.99970513e-01 4.73722447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:0.20, Z:0.47 [[ 9.99381710e-01 -3.43107805e-02 -7.67900493e-03 9.99691506e+01] [ 3.43111996e-02 9.99411194e-01 -7.72002627e-05 2.01331343e-01] [ 7.67713229e-03 -1.86323340e-04 9.99970513e-01 4.73326663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:0.20, Z:0.47 [[ 9.99314713e-01 -3.62096322e-02 -7.67900493e-03 9.99992820e+01] [ 3.62101073e-02 9.99344196e-01 -7.72002627e-05 1.99466490e-01] [ 7.67676440e-03 -2.00910234e-04 9.99970513e-01 4.74057311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:0.20, Z:0.48 [[ 9.99285490e-01 -3.70073334e-02 -7.67900308e-03 1.00030035e+02] [ 3.70078306e-02 9.99314973e-01 -7.73836550e-05 1.98085347e-01] [ 7.67660652e-03 -2.06854882e-04 9.99970513e-01 4.75088522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:0.20, Z:0.48 [[ 9.99306005e-01 -3.64491550e-02 -7.67900308e-03 1.00060831e+02] [ 3.64496357e-02 9.99335488e-01 -7.73836550e-05 1.96593885e-01] [ 7.67672086e-03 -2.02566914e-04 9.99970513e-01 4.75847254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:0.20, Z:0.48 [[ 9.99362750e-01 -3.48586814e-02 -7.67900308e-03 1.00090914e+02] [ 3.48591152e-02 9.99392233e-01 -7.73836550e-05 1.95041799e-01] [ 7.67703353e-03 -1.90348911e-04 9.99970513e-01 4.76933129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:0.19, Z:0.48 [[ 9.99601515e-01 -2.71632779e-02 -7.67900308e-03 1.00120275e+02] [ 2.71634847e-02 9.99631001e-01 -7.73836550e-05 1.91301856e-01] [ 7.67827153e-03 -1.31235664e-04 9.99970513e-01 4.77892418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:0.19, Z:0.48 [[ 9.99727205e-01 -2.20578593e-02 -7.67900217e-03 1.00149483e+02] [ 2.20579148e-02 9.99756692e-01 -7.74738001e-05 1.89453127e-01] [ 7.67884271e-03 -9.19301100e-05 9.99970513e-01 4.78404051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:0.19, Z:0.48 [[ 9.99831216e-01 -1.66904722e-02 -7.67900036e-03 1.00179266e+02] [ 1.66903680e-02 9.99860703e-01 -7.76533244e-05 1.87952955e-01] [ 7.67922677e-03 -5.05251241e-05 9.99970513e-01 4.78657682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97589822699999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:100.21, Y:0.19, Z:0.48 [[ 9.99909219e-01 -1.10719150e-02 -7.67899851e-03 1.00208744e+02] [ 1.10716437e-02 9.99938704e-01 -7.78351845e-05 1.86614508e-01] [ 7.67938961e-03 -7.19101707e-06 9.99970513e-01 4.78134209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:0.19, Z:0.48 [[ 9.99955893e-01 -5.40786827e-03 -7.67899664e-03 1.00236613e+02] [ 5.40742858e-03 9.99985377e-01 -7.80191964e-05 1.86225634e-01] [ 7.67930627e-03 3.64921293e-05 9.99970513e-01 4.79649214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:0.19, Z:0.48 [[ 9.99970515e-01 4.83355983e-05 -7.67899195e-03 1.00264395e+02] [-4.89396775e-05 9.99999996e-01 -7.84785824e-05 1.85768083e-01] [ 7.67898812e-03 7.88520758e-05 9.99970513e-01 4.80060938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:0.18, Z:0.48 [[ 9.99949754e-01 6.44377618e-03 -7.67898503e-03 1.00292677e+02] [-6.44457395e-03 9.99979230e-01 -7.91496641e-05 1.83904341e-01] [ 7.67831552e-03 1.28633474e-04 9.99970513e-01 4.80476954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:0.18, Z:0.48 [[ 9.99943919e-01 7.29327149e-03 -7.67896974e-03 1.00321629e+02] [-7.29410548e-03 9.99973394e-01 -8.06062181e-05 1.82233014e-01] [ 7.67817756e-03 1.36612913e-04 9.99970513e-01 4.80468830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:0.18, Z:0.48 [[ 9.99945558e-01 7.06500331e-03 -7.67896583e-03 1.00349984e+02] [-7.06583342e-03 9.99975033e-01 -8.09776762e-05 1.80269380e-01] [ 7.67820200e-03 1.35231561e-04 9.99970513e-01 4.80933598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:0.18, Z:0.48 [[ 9.99951559e-01 6.15729448e-03 -7.67896177e-03 1.00379125e+02] [-6.15810077e-03 9.99981035e-01 -8.13600867e-05 1.78024702e-01] [ 7.67831519e-03 1.28643966e-04 9.99970513e-01 4.82118251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:0.18, Z:0.48 [[ 9.99956956e-01 5.20758339e-03 -7.67895772e-03 1.00407318e+02] [-5.20836461e-03 9.99986433e-01 -8.17407982e-05 1.75627503e-01] [ 7.67842787e-03 1.21732091e-04 9.99970513e-01 4.83921515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:0.17, Z:0.49 [[ 9.99961641e-01 4.21303769e-03 -7.67895266e-03 1.00436301e+02] [-4.21379322e-03 9.99991119e-01 -8.22131016e-05 1.73222014e-01] [ 7.67853810e-03 1.14567467e-04 9.99970513e-01 4.86052584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:0.17, Z:0.49 [[ 9.99962262e-01 4.06299284e-03 -7.67894865e-03 1.00464396e+02] [-4.06374681e-03 9.99991740e-01 -8.25866295e-05 1.67808783e-01] [ 7.67854967e-03 1.13788816e-04 9.99970513e-01 4.88071690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:0.17, Z:0.49 [[ 9.99957060e-01 5.18766308e-03 -7.67894362e-03 1.00493297e+02] [-5.18845377e-03 9.99986536e-01 -8.30510757e-05 1.66446172e-01] [ 7.67840940e-03 1.22889353e-04 9.99970513e-01 4.87401709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.52, Y:0.17, Z:0.49 [[ 9.99947294e-01 6.81492114e-03 -7.67893960e-03 1.00521704e+02] [-6.81576264e-03 9.99976769e-01 -8.34214806e-05 1.66417464e-01] [ 7.67819270e-03 1.35754913e-04 9.99970513e-01 4.86309124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:0.17, Z:0.49 [[ 9.99925761e-01 9.46075556e-03 -7.67893554e-03 1.00550227e+02] [-9.46167791e-03 9.99955234e-01 -8.37937312e-05 1.67118133e-01] [ 7.67779903e-03 1.56443125e-04 9.99970513e-01 4.85196095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:0.17, Z:0.48 [[ 9.99889840e-01 1.27020346e-02 -7.67893142e-03 1.00577991e+02] [-1.27030553e-02 9.99919309e-01 -8.41697860e-05 1.67878800e-01] [ 7.67724267e-03 1.81706404e-04 9.99970513e-01 4.83993788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:0.17, Z:0.48 [[ 9.99846557e-01 1.57447358e-02 -7.67892595e-03 1.00605516e+02] [-1.57458500e-02 9.99876023e-01 -8.46657662e-05 1.68658166e-01] [ 7.67664090e-03 2.05563991e-04 9.99970513e-01 4.83841819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:0.17, Z:0.49 [[ 9.99756919e-01 2.06672829e-02 -7.67892088e-03 1.00634729e+02] [-2.06685457e-02 9.99786379e-01 -8.51227704e-05 1.69483039e-01] [ 7.67552125e-03 2.43814206e-04 9.99970513e-01 4.85061733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:0.17, Z:0.49 [[ 9.99722014e-01 2.22919032e-02 -7.67891682e-03 1.00663486e+02] [-2.22932167e-02 9.99751472e-01 -8.54873604e-05 1.70045046e-01] [ 7.67510272e-03 2.56651353e-04 9.99970513e-01 4.87216287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:0.17, Z:0.49 [[ 9.99700329e-01 2.32440531e-02 -7.67891276e-03 1.00691173e+02] [-2.32453975e-02 9.99729786e-01 -8.58511641e-05 1.71481199e-01] [ 7.67484227e-03 2.64324816e-04 9.99970513e-01 4.88402103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.515898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:100.72, Y:0.17, Z:0.49 [[ 9.99664263e-01 2.47466275e-02 -7.67890769e-03 1.00719690e+02] [-2.47480195e-02 9.99693717e-01 -8.63018930e-05 1.72986564e-01] [ 7.67442009e-03 2.76310676e-04 9.99970513e-01 4.85275158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.545898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:100.75, Y:0.17, Z:0.48 [[ 9.99661782e-01 2.48466365e-02 -7.67890343e-03 1.00747061e+02] [-2.48480344e-02 9.99691236e-01 -8.66796299e-05 1.73605813e-01] [ 7.67437876e-03 2.77455970e-04 9.99970513e-01 4.84237966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:0.18, Z:0.49 [[ 9.99668476e-01 2.45758634e-02 -7.67889810e-03 1.00774491e+02] [-2.45772569e-02 9.99697930e-01 -8.71492817e-05 1.75085879e-01] [ 7.67443676e-03 2.75846641e-04 9.99970513e-01 4.86429583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:0.18, Z:0.49 [[ 9.99667188e-01 2.46281790e-02 -7.67889285e-03 1.00803566e+02] [-2.46295776e-02 9.99696642e-01 -8.76090510e-05 1.76476815e-01] [ 7.67440575e-03 2.76707781e-04 9.99970513e-01 4.87589157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:0.18, Z:0.49 [[ 9.99658073e-01 2.49954362e-02 -7.67888855e-03 1.00831779e+02] [-2.49968485e-02 9.99687526e-01 -8.79839434e-05 1.78417347e-01] [ 7.67428991e-03 2.79901873e-04 9.99970513e-01 4.87560124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:0.18, Z:0.49 [[ 9.99639934e-01 2.57106501e-02 -7.67888320e-03 1.00860208e+02] [-2.57120870e-02 9.99669386e-01 -8.84491130e-05 1.80356537e-01] [ 7.67407036e-03 2.85857379e-04 9.99970513e-01 4.88557871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:0.18, Z:0.49 [[ 9.99538772e-01 2.93815911e-02 -7.67887899e-03 1.00887959e+02] [-2.93831390e-02 9.99568218e-01 -8.88129151e-05 1.83841094e-01] [ 7.67295393e-03 3.14401521e-04 9.99970513e-01 4.87970617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:0.19, Z:0.49 [[ 9.99459172e-01 3.19749719e-02 -7.67887245e-03 1.00915277e+02] [-3.19766005e-02 9.99488614e-01 -8.93747451e-05 1.85942667e-01] [ 7.67208783e-03 3.34870645e-04 9.99970513e-01 4.86936497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:0.19, Z:0.49 [[ 9.99393514e-01 3.39652742e-02 -7.67886701e-03 1.00943612e+02] [-3.39669650e-02 9.99422952e-01 -8.98400785e-05 1.88086912e-01] [ 7.67138449e-03 3.50613398e-04 9.99970513e-01 4.85342402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78589822699999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:100.97, Y:0.19, Z:0.48 [[ 9.99364102e-01 3.48199060e-02 -7.67886267e-03 1.00972728e+02] [-3.48216247e-02 9.99393539e-01 -9.02091197e-05 1.89932861e-01] [ 7.67106467e-03 3.57542230e-04 9.99970513e-01 4.82359358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:0.19, Z:0.48 [[ 9.99373285e-01 3.45553576e-02 -7.67885827e-03 1.01001255e+02] [-3.45570715e-02 9.99402722e-01 -9.05821641e-05 1.91700152e-01] [ 7.67114176e-03 3.55884249e-04 9.99970513e-01 4.83178081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:0.19, Z:0.48 [[ 9.99424557e-01 3.30392061e-02 -7.67885385e-03 1.01029460e+02] [-3.30408781e-02 9.99453997e-01 -9.09554476e-05 1.93137468e-01] [ 7.67165608e-03 3.44619182e-04 9.99970513e-01 4.82560012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:0.19, Z:0.49 [[ 9.99583735e-01 2.78099204e-02 -7.67884832e-03 1.01058206e+02] [-2.78114420e-02 9.99613183e-01 -9.14197556e-05 1.94352041e-01] [ 7.67333563e-03 3.04941545e-04 9.99970513e-01 4.85124561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:0.19, Z:0.49 [[ 9.99585074e-01 2.77617437e-02 -7.67884391e-03 1.01087525e+02] [-2.77632667e-02 9.99614522e-01 -9.17885619e-05 1.94792109e-01] [ 7.67333568e-03 3.04940268e-04 9.99970513e-01 4.85349787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:0.20, Z:0.49 [[ 9.99652444e-01 2.52195605e-02 -7.67883947e-03 1.01116667e+02] [-2.52210114e-02 9.99681895e-01 -9.21586461e-05 1.95769080e-01] [ 7.67407260e-03 2.85794714e-04 9.99970513e-01 4.88246097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:0.20, Z:0.49 [[ 9.99693559e-01 2.35334496e-02 -7.67883498e-03 1.01145433e+02] [-2.35348537e-02 9.99723013e-01 -9.25313435e-05 1.96927343e-01] [ 7.67453046e-03 2.73223246e-04 9.99970513e-01 4.90013278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99589822699998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.17, Y:0.20, Z:0.49 [[ 9.99716273e-01 2.25479300e-02 -7.67883039e-03 1.01174636e+02] [-2.25493080e-02 9.99745728e-01 -9.29102284e-05 1.98246367e-01] [ 7.67478295e-03 2.66036179e-04 9.99970513e-01 4.90170252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02589822699998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:101.20, Y:0.20, Z:0.49 [[ 9.99709575e-01 2.28429895e-02 -7.67882578e-03 1.01203298e+02] [-2.28443791e-02 9.99739029e-01 -9.32898550e-05 1.98372064e-01] [ 7.67469081e-03 2.68680768e-04 9.99970513e-01 4.87572038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:0.20, Z:0.49 [[ 9.99688696e-01 2.37391222e-02 -7.67882103e-03 1.01231338e+02] [-2.37405412e-02 9.99718149e-01 -9.36792964e-05 1.97964545e-01] [ 7.67443289e-03 2.75949500e-04 9.99970513e-01 4.88565718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:0.20, Z:0.49 [[ 9.99670451e-01 2.44954166e-02 -7.67881509e-03 1.01259489e+02] [-2.44968616e-02 9.99699902e-01 -9.41638875e-05 1.97529304e-01] [ 7.67420411e-03 2.82239726e-04 9.99970513e-01 4.89636577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:0.20, Z:0.49 [[ 9.99652589e-01 2.52138275e-02 -7.67880931e-03 1.01287126e+02] [-2.52152972e-02 9.99682039e-01 -9.46328251e-05 1.97723025e-01] [ 7.67398170e-03 2.88223408e-04 9.99970513e-01 4.90854968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:0.20, Z:0.49 [[ 9.99626399e-01 2.62316426e-02 -7.67880359e-03 1.01316179e+02] [-2.62331459e-02 9.99655847e-01 -9.50944398e-05 1.97859535e-01] [ 7.67366643e-03 2.96498087e-04 9.99970513e-01 4.92786603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:0.20, Z:0.49 [[ 9.99596129e-01 2.73608262e-02 -7.67879919e-03 1.01345364e+02] [-2.73623654e-02 9.99625576e-01 -9.54485271e-05 1.98497295e-01] [ 7.67331251e-03 3.05520088e-04 9.99970513e-01 4.94042423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:101.37, Y:0.20, Z:0.49 [[ 9.99528742e-01 2.97208704e-02 -7.67879477e-03 1.01373991e+02] [-2.97224818e-02 9.99558185e-01 -9.58032621e-05 1.99627870e-01] [ 7.67255480e-03 3.23990952e-04 9.99970513e-01 4.91389142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:0.20, Z:0.49 [[ 9.99493759e-01 3.08749473e-02 -7.67879019e-03 1.01402582e+02] [-3.08765955e-02 9.99523200e-01 -9.61689432e-05 2.00290356e-01] [ 7.67215973e-03 3.33215157e-04 9.99970513e-01 4.91848196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:0.20, Z:0.49 [[ 9.99475554e-01 3.14587623e-02 -7.67878559e-03 1.01430833e+02] [-3.14604306e-02 9.99504993e-01 -9.65346486e-05 2.00626691e-01] [ 7.67194768e-03 3.38061922e-04 9.99970513e-01 4.91073670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:0.20, Z:0.49 [[ 9.99470155e-01 3.16298209e-02 -7.67877942e-03 1.01459932e+02] [-3.16314980e-02 9.99499594e-01 -9.70230924e-05 2.00578676e-01] [ 7.67186809e-03 3.39862981e-04 9.99970513e-01 4.91478502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:0.20, Z:0.49 [[ 9.99483343e-01 3.12103108e-02 -7.67877471e-03 1.01488385e+02] [-3.12119783e-02 9.99512783e-01 -9.73938561e-05 2.00019196e-01] [ 7.67199379e-03 3.37013287e-04 9.99970513e-01 4.91868526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35589822699998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:101.52, Y:0.20, Z:0.49 [[ 9.99547342e-01 2.90886106e-02 -7.67877001e-03 1.01516771e+02] [-2.90902184e-02 9.99576785e-01 -9.77635716e-05 1.95876400e-01] [ 7.67267643e-03 3.21096415e-04 9.99970513e-01 4.92010815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:0.19, Z:0.49 [[ 9.99586693e-01 2.77034181e-02 -7.67876406e-03 1.01545439e+02] [-2.77049888e-02 9.99616138e-01 -9.82281712e-05 1.93884562e-01] [ 7.67309523e-03 3.10927645e-04 9.99970513e-01 4.92873163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:0.19, Z:0.49 [[ 9.99634475e-01 2.59220387e-02 -7.67875930e-03 1.01573986e+02] [-2.59235597e-02 9.99663923e-01 -9.85990398e-05 1.91087154e-01] [ 7.67362276e-03 2.97623775e-04 9.99970513e-01 4.91415514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:0.19, Z:0.49 [[ 9.99689710e-01 2.36964407e-02 -7.67875446e-03 1.01602302e+02] [-2.36978991e-02 9.99719160e-01 -9.89746520e-05 1.88843013e-01] [ 7.67425262e-03 2.80914289e-04 9.99970513e-01 4.88086764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:0.18, Z:0.49 [[ 9.99754120e-01 2.08023178e-02 -7.67874841e-03 1.01630864e+02] [-2.08036944e-02 9.99783575e-01 -9.94421104e-05 1.83743330e-01] [ 7.67501791e-03 2.59163995e-04 9.99970513e-01 4.86974695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:0.18, Z:0.49 [[ 9.99754461e-01 2.07859229e-02 -7.67874370e-03 1.01658348e+02] [-2.07873019e-02 9.99783916e-01 -9.98039656e-05 1.81076683e-01] [ 7.67500993e-03 2.59399823e-04 9.99970513e-01 4.87344002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:0.18, Z:0.49 [[ 9.99736497e-01 2.16327153e-02 -7.67873781e-03 1.01686681e+02] [-2.16341227e-02 9.99765950e-01 -1.00255494e-04 1.78452807e-01] [ 7.67477180e-03 2.66351832e-04 9.99970513e-01 4.87567342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:101.72, Y:0.18, Z:0.49 [[ 9.99703562e-01 2.31046397e-02 -7.67873195e-03 1.01716001e+02] [-2.31060938e-02 9.99733014e-01 -1.00702177e-04 1.75998759e-01] [ 7.67435515e-03 2.78097826e-04 9.99970513e-01 4.88187674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:0.17, Z:0.49 [[ 9.99641273e-01 2.56585860e-02 -7.67872700e-03 1.01743612e+02] [-2.56601183e-02 9.99670720e-01 -1.01078005e-04 1.73870625e-01] [ 7.67360503e-03 2.98078789e-04 9.99970513e-01 4.89907623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:0.17, Z:0.49 [[ 9.99566015e-01 2.84397484e-02 -7.67872084e-03 1.01772534e+02] [-2.84413662e-02 9.99595457e-01 -1.01544161e-04 1.72252240e-01] [ 7.67272658e-03 3.19893404e-04 9.99970513e-01 4.92125196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:0.17, Z:0.50 [[ 9.99426240e-01 3.29883101e-02 -7.67871593e-03 1.01801726e+02] [-3.29900647e-02 9.99455674e-01 -1.01913769e-04 1.69210309e-01] [ 7.67117425e-03 3.55176630e-04 9.99970513e-01 4.95924751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:0.17, Z:0.50 [[ 9.99382356e-01 3.42920492e-02 -7.67871095e-03 1.01829499e+02] [-3.42938450e-02 9.99411788e-01 -1.02287714e-04 1.67411935e-01] [ 7.67068659e-03 3.65557060e-04 9.99970513e-01 4.98086169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:0.17, Z:0.50 [[ 9.99355357e-01 3.50700520e-02 -7.67870472e-03 1.01857992e+02] [-3.50718743e-02 9.99384787e-01 -1.02753304e-04 1.65513131e-01] [ 7.67037712e-03 3.71993631e-04 9.99970513e-01 4.99125588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:0.16, Z:0.50 [[ 9.99340507e-01 3.54906973e-02 -7.67869978e-03 1.01885640e+02] [-3.54925349e-02 9.99369936e-01 -1.03121453e-04 1.63770472e-01] [ 7.67020185e-03 3.75589964e-04 9.99970513e-01 4.99234497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:0.16, Z:0.50 [[ 9.99309713e-01 3.63474303e-02 -7.67869359e-03 1.01914404e+02] [-3.63492966e-02 9.99339141e-01 -1.03579823e-04 1.62620483e-01] [ 7.66985420e-03 3.82623434e-04 9.99970513e-01 4.99349409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:0.16, Z:0.50 [[ 9.99268684e-01 3.74584367e-02 -7.67868877e-03 1.01942858e+02] [-3.74603384e-02 9.99298110e-01 -1.03936199e-04 1.61938323e-01] [ 7.66940589e-03 3.91506469e-04 9.99970513e-01 4.99130627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:0.16, Z:0.50 [[ 9.99213903e-01 3.88923353e-02 -7.67868393e-03 1.01970346e+02] [-3.88942820e-02 9.99243326e-01 -1.04292477e-04 1.61438339e-01] [ 7.66881749e-03 4.02867392e-04 9.99970513e-01 4.97253020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:0.16, Z:0.50 [[ 9.99219738e-01 3.87421323e-02 -7.67867789e-03 1.01998841e+02] [-3.87440779e-02 9.99249161e-01 -1.04735641e-04 1.62080471e-01] [ 7.66885475e-03 4.02157214e-04 9.99970513e-01 4.96907270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89589822699999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.03, Y:0.16, Z:0.49 [[ 9.99234987e-01 3.83468196e-02 -7.67867289e-03 1.02026564e+02] [-3.83487564e-02 9.99264410e-01 -1.05100984e-04 1.63435941e-01] [ 7.66899425e-03 3.99488137e-04 9.99970513e-01 4.94768587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:0.17, Z:0.50 [[ 9.99245894e-01 3.80615497e-02 -7.67866663e-03 1.02054425e+02] [-3.80634816e-02 9.99275318e-01 -1.05555778e-04 1.65066257e-01] [ 7.66908442e-03 3.97752964e-04 9.99970513e-01 4.96759862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:102.08, Y:0.17, Z:0.50 [[ 9.99267501e-01 3.74900026e-02 -7.67866032e-03 1.02081911e+02] [-3.74919212e-02 9.99296925e-01 -1.06013236e-04 1.66073519e-01] [ 7.66928721e-03 3.93823309e-04 9.99970513e-01 4.96208601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.11, Y:0.17, Z:0.50 [[ 9.99319343e-01 3.60816905e-02 -7.67865420e-03 1.02110623e+02] [-3.60835709e-02 9.99348770e-01 -1.06454914e-04 1.68123480e-01] [ 7.66981255e-03 3.83455718e-04 9.99970513e-01 5.01100546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:0.17, Z:0.50 [[ 9.99341587e-01 3.54602844e-02 -7.67864924e-03 1.02138520e+02] [-3.54621493e-02 9.99371014e-01 -1.06811507e-04 1.70139744e-01] [ 7.67003191e-03 3.79042587e-04 9.99970513e-01 5.02209195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:0.17, Z:0.50 [[ 9.99374494e-01 3.45204305e-02 -7.67864306e-03 1.02167734e+02] [-3.45222711e-02 9.99403923e-01 -1.07253888e-04 1.73139044e-01] [ 7.67036354e-03 3.72270998e-04 9.99970513e-01 5.03029852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:0.18, Z:0.50 [[ 9.99422068e-01 3.31144611e-02 -7.67863813e-03 1.02195101e+02] [-3.31162630e-02 9.99451500e-01 -1.07605089e-04 1.79535897e-01] [ 7.67086312e-03 3.61830700e-04 9.99970513e-01 5.00602946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:0.18, Z:0.50 [[ 9.99444017e-01 3.24452694e-02 -7.67863199e-03 1.02223387e+02] [-3.24470550e-02 9.99473450e-01 -1.08042084e-04 1.82668651e-01] [ 7.67108335e-03 3.57131009e-04 9.99970513e-01 4.97365627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:0.19, Z:0.50 [[ 9.99476318e-01 3.14345040e-02 -7.67862708e-03 1.02251759e+02] [-3.14362625e-02 9.99505753e-01 -1.08389434e-04 1.85015197e-01] [ 7.67142477e-03 3.49720009e-04 9.99970513e-01 4.95959971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:0.19, Z:0.49 [[ 9.99533933e-01 2.95458296e-02 -7.67862201e-03 1.02279473e+02] [-2.95475352e-02 9.99563370e-01 -1.08747637e-04 1.87193028e-01] [ 7.67205626e-03 3.35581308e-04 9.99970513e-01 4.94483728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:0.19, Z:0.50 [[ 9.99608541e-01 2.69036015e-02 -7.67861567e-03 1.02308476e+02] [-2.69052327e-02 9.99637983e-01 -1.09193550e-04 1.89170736e-01] [ 7.67289818e-03 3.15745746e-04 9.99970513e-01 4.95764712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:0.19, Z:0.50 [[ 9.99686363e-01 2.38372653e-02 -7.67861060e-03 1.02337686e+02] [-2.38388089e-02 9.99715809e-01 -1.09548903e-04 1.90971440e-01] [ 7.67381706e-03 2.92563475e-04 9.99970513e-01 4.98094123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25589822699999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:102.37, Y:0.19, Z:0.50 [[ 9.99801524e-01 1.83834758e-02 -7.67860529e-03 1.02365316e+02] [-1.83848616e-02 9.99830978e-01 -1.09920001e-04 1.91465712e-01] [ 7.67528672e-03 2.51068280e-04 9.99970513e-01 4.98612924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:0.19, Z:0.50 [[ 9.99833320e-01 1.65641705e-02 -7.67859864e-03 1.02392755e+02] [-1.65655062e-02 9.99862776e-01 -1.10382290e-04 1.91437415e-01] [ 7.67571657e-03 2.37563765e-04 9.99970513e-01 4.99003004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:0.19, Z:0.50 [[ 9.99857899e-01 1.50073365e-02 -7.67859201e-03 1.02420338e+02] [-1.50086299e-02 9.99887358e-01 -1.10841621e-04 1.91747576e-01] [ 7.67606364e-03 2.26071016e-04 9.99970513e-01 4.98109107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.45, Y:0.19, Z:0.50 [[ 9.99879953e-01 1.34580688e-02 -7.67858574e-03 1.02449255e+02] [-1.34593198e-02 9.99909413e-01 -1.11274331e-04 1.92605600e-01] [ 7.67639262e-03 2.14609514e-04 9.99970513e-01 4.98489415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:0.19, Z:0.50 [[ 9.99902485e-01 1.16645133e-02 -7.67858073e-03 1.02477813e+02] [-1.16657141e-02 9.99931947e-01 -1.11619316e-04 1.93311441e-01] [ 7.67675619e-03 2.01184559e-04 9.99970513e-01 5.00161556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.405898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:102.51, Y:0.19, Z:0.50 [[ 9.99920710e-01 9.98067735e-03 -7.67857542e-03 1.02505296e+02] [-9.98183139e-03 9.99950174e-01 -1.11983433e-04 1.93712812e-01] [ 7.67707515e-03 1.88620799e-04 9.99970513e-01 4.99069162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.53, Y:0.19, Z:0.50 [[ 9.99938359e-01 8.01982940e-03 -7.67856879e-03 1.02532991e+02] [-8.02092913e-03 9.99967826e-01 -1.12436142e-04 1.91201787e-01] [ 7.67742001e-03 1.74018467e-04 9.99970513e-01 5.01027244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:0.19, Z:0.50 [[ 9.99944087e-01 7.27067900e-03 -7.67856217e-03 1.02562087e+02] [-7.27176011e-03 9.99973554e-01 -1.12886014e-04 1.89545325e-01] [ 7.67753835e-03 1.68716364e-04 9.99970513e-01 5.03185120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.59, Y:0.19, Z:0.50 [[ 9.99945595e-01 7.06021249e-03 -7.67855669e-03 1.02590581e+02] [-7.06129025e-03 9.99975062e-01 -1.13258008e-04 1.87811171e-01] [ 7.67756557e-03 1.67472364e-04 9.99970513e-01 5.03984127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.62, Y:0.19, Z:0.50 [[ 9.99944809e-01 7.17070941e-03 -7.67855115e-03 1.02618789e+02] [-7.17179330e-03 9.99974276e-01 -1.13632186e-04 1.86637287e-01] [ 7.67753880e-03 1.68694896e-04 9.99970513e-01 5.01895999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.65, Y:0.19, Z:0.50 [[ 9.99936734e-01 8.21995263e-03 -7.67854422e-03 1.02647260e+02] [-8.22107101e-03 9.99966200e-01 -1.14098363e-04 1.85725564e-01] [ 7.67734680e-03 1.77217002e-04 9.99970513e-01 5.03615175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.68, Y:0.18, Z:0.50 [[ 9.99920864e-01 9.96520957e-03 -7.67853868e-03 1.02676006e+02] [-9.96638224e-03 9.99950328e-01 -1.14470013e-04 1.84710698e-01] [ 7.67701655e-03 1.90988206e-04 9.99970513e-01 5.03512196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.70, Y:0.18, Z:0.51 [[ 9.99843252e-01 1.59534499e-02 -7.67853316e-03 1.02704218e+02] [-1.59548018e-02 9.99872707e-01 -1.14839143e-04 1.82731559e-01] [ 7.67572366e-03 2.37330617e-04 9.99970513e-01 5.06194571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64589822699999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.73, Y:0.18, Z:0.51 [[ 9.99769285e-01 2.00603316e-02 -7.67852626e-03 1.02733004e+02] [-2.00618081e-02 9.99798735e-01 -1.15298340e-04 1.82198525e-01] [ 7.67466792e-03 2.69316860e-04 9.99970513e-01 5.05588518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:0.18, Z:0.51 [[ 9.99675638e-01 2.42828896e-02 -7.67852079e-03 1.02762133e+02] [-2.42844932e-02 9.99705082e-01 -1.15661594e-04 1.82568777e-01] [ 7.67344766e-03 3.02093064e-04 9.99970513e-01 5.07304044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.79, Y:0.18, Z:0.51 [[ 9.99566682e-01 2.84163340e-02 -7.67851533e-03 1.02791046e+02] [-2.84180621e-02 9.99596119e-01 -1.16023113e-04 1.82275387e-01] [ 7.67211717e-03 3.34181364e-04 9.99970513e-01 5.07309536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:0.18, Z:0.51 [[ 9.99467580e-01 3.17111558e-02 -7.67850986e-03 1.02819087e+02] [-3.17129837e-02 9.99497010e-01 -1.16384083e-04 1.81410917e-01] [ 7.67095697e-03 3.59830576e-04 9.99970513e-01 5.07171077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:0.18, Z:0.51 [[ 9.99396146e-01 3.38878187e-02 -7.67850239e-03 1.02846902e+02] [-3.38897144e-02 9.99425572e-01 -1.16874839e-04 1.80119447e-01] [ 7.67013101e-03 3.77026517e-04 9.99970513e-01 5.07028331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.795898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:102.88, Y:0.18, Z:0.51 [[ 9.99329856e-01 3.57893783e-02 -7.67849559e-03 1.02875887e+02] [-3.57913335e-02 9.99359278e-01 -1.17319926e-04 1.76063749e-01] [ 7.66937700e-03 3.92064901e-04 9.99970513e-01 5.05027901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.825898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:102.91, Y:0.18, Z:0.51 [[ 9.99331496e-01 3.57435655e-02 -7.67849020e-03 1.02905207e+02] [-3.57455220e-02 9.99360918e-01 -1.17671734e-04 1.76602612e-01] [ 7.66937700e-03 3.92064710e-04 9.99970513e-01 5.05253130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85589822699998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:102.93, Y:0.18, Z:0.51 [[ 9.99332372e-01 3.57190573e-02 -7.67848479e-03 1.02934189e+02] [-3.57210158e-02 9.99361794e-01 -1.18023732e-04 1.75376218e-01] [ 7.66936863e-03 3.92228213e-04 9.99970513e-01 5.05133947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88589822699998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.96, Y:0.17, Z:0.50 [[ 9.99354163e-01 3.51040972e-02 -7.67847916e-03 1.02962405e+02] [-3.51060403e-02 9.99383586e-01 -1.18388530e-04 1.74823320e-01] [ 7.66959012e-03 3.87873070e-04 9.99970513e-01 5.04113455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:0.18, Z:0.51 [[ 9.99384865e-01 3.42188907e-02 -7.67847213e-03 1.02991104e+02] [-3.42208113e-02 9.99414289e-01 -1.18842744e-04 1.75009001e-01] [ 7.66990810e-03 3.81533185e-04 9.99970513e-01 5.05680500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94589822699999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:103.02, Y:0.17, Z:0.50 [[ 9.99424120e-01 3.30525237e-02 -7.67846786e-03 1.03019199e+02] [-3.30544120e-02 9.99453547e-01 -1.19118067e-04 1.74377572e-01] [ 7.67033478e-03 3.72856709e-04 9.99970513e-01 5.03093096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.05, Y:0.17, Z:0.50 [[ 9.99472507e-01 3.15554934e-02 -7.67846071e-03 1.03047448e+02] [-3.15573412e-02 9.99501936e-01 -1.19577131e-04 1.74391546e-01] [ 7.67086303e-03 3.61825859e-04 9.99970513e-01 5.02707622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:0.17, Z:0.50 [[ 9.99553482e-01 2.88769559e-02 -7.67845384e-03 1.03075937e+02] [-2.88787282e-02 9.99582915e-01 -1.20016645e-04 1.72117000e-01] [ 7.67178556e-03 3.41707037e-04 9.99970513e-01 5.02911680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.10, Y:0.17, Z:0.50 [[ 9.99581232e-01 2.78998614e-02 -7.67844785e-03 1.03104077e+02] [-2.79016079e-02 9.99610667e-01 -1.20399003e-04 1.71209773e-01] [ 7.67209926e-03 3.34589625e-04 9.99970513e-01 4.99259852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.13, Y:0.17, Z:0.50 [[ 9.99599382e-01 2.72418202e-02 -7.67843985e-03 1.03132861e+02] [-2.72435511e-02 9.99628818e-01 -1.20906940e-04 1.71225230e-01] [ 7.67229603e-03 3.30046471e-04 9.99970513e-01 5.01586751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.16, Y:0.17, Z:0.50 [[ 9.99592938e-01 2.74772559e-02 -7.67843420e-03 1.03162096e+02] [-2.74789966e-02 9.99622374e-01 -1.21264376e-04 1.71548337e-01] [ 7.67220261e-03 3.32210681e-04 9.99970513e-01 5.03497174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.125898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:103.19, Y:0.17, Z:0.51 [[ 9.99571019e-01 2.82633844e-02 -7.67842854e-03 1.03190519e+02] [-2.82651510e-02 9.99600453e-01 -1.21621691e-04 1.71659375e-01] [ 7.67192321e-03 3.38601459e-04 9.99970513e-01 5.05453920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:0.17, Z:0.51 [[ 9.99495086e-01 3.08320455e-02 -7.67842255e-03 1.03218632e+02] [-3.08338905e-02 9.99524515e-01 -1.21999133e-04 1.73082070e-01] [ 7.67101009e-03 3.58693174e-04 9.99970513e-01 5.07689223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:0.17, Z:0.51 [[ 9.99439429e-01 3.25863548e-02 -7.67841417e-03 1.03246266e+02] [-3.25882556e-02 9.99468854e-01 -1.22524223e-04 1.73598322e-01] [ 7.67034319e-03 3.72681663e-04 9.99970513e-01 5.08281081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.27, Y:0.17, Z:0.51 [[ 9.99371073e-01 3.46193800e-02 -7.67840736e-03 1.03274862e+02] [-3.46213438e-02 9.99400494e-01 -1.22949349e-04 1.73962267e-01] [ 7.66954768e-03 3.88708804e-04 9.99970513e-01 5.11439118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:0.17, Z:0.51 [[ 9.99299873e-01 3.66170088e-02 -7.67840166e-03 1.03303359e+02] [-3.66190341e-02 9.99329291e-01 -1.23304356e-04 1.74056840e-01] [ 7.66873665e-03 4.04393680e-04 9.99970513e-01 5.12591950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:0.17, Z:0.51 [[ 9.99203257e-01 3.91649488e-02 -7.67839584e-03 1.03331230e+02] [-3.91670519e-02 9.99232669e-01 -1.23665545e-04 1.72866425e-01] [ 7.66766062e-03 4.24307144e-04 9.99970513e-01 5.10192733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30589822699999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:103.36, Y:0.17, Z:0.51 [[ 9.99165958e-01 4.01052557e-02 -7.67838860e-03 1.03359804e+02] [-4.01073900e-02 9.99195367e-01 -1.24113402e-04 1.72220884e-01] [ 7.66723272e-03 4.31970012e-04 9.99970513e-01 5.12850336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:0.17, Z:0.52 [[ 9.99119090e-01 4.12563444e-02 -7.67838258e-03 1.03388741e+02] [-4.12585154e-02 9.99148497e-01 -1.24484912e-04 1.72317532e-01] [ 7.66670862e-03 4.41173918e-04 9.99970513e-01 5.16113441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:0.17, Z:0.52 [[ 9.99062651e-01 4.26011953e-02 -7.67837659e-03 1.03416674e+02] [-4.26034087e-02 9.99092055e-01 -1.24853383e-04 1.72452972e-01] [ 7.66608614e-03 4.51861368e-04 9.99970513e-01 5.16672521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:0.17, Z:0.52 [[ 9.99019804e-01 4.35944293e-02 -7.67836909e-03 1.03444064e+02] [-4.35966754e-02 9.99049205e-01 -1.25313121e-04 1.72470403e-01] [ 7.66560558e-03 4.59941654e-04 9.99970513e-01 5.15852545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:0.17, Z:0.52 [[ 9.98976111e-01 4.45844343e-02 -7.67836162e-03 1.03472746e+02] [-4.45867131e-02 9.99005510e-01 -1.25768976e-04 1.72502172e-01] [ 7.66511823e-03 4.67993109e-04 9.99970513e-01 5.15118906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:0.17, Z:0.52 [[ 9.98867977e-01 4.69447365e-02 -7.67835576e-03 1.03500779e+02] [-4.69470875e-02 9.98897370e-01 -1.26125555e-04 1.72471411e-01] [ 7.66396844e-03 4.86459218e-04 9.99970513e-01 5.15433308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:0.17, Z:0.52 [[ 9.98800790e-01 4.83531349e-02 -7.67834845e-03 1.03529514e+02] [-4.83555307e-02 9.98830179e-01 -1.26568942e-04 1.73566404e-01] [ 7.66324616e-03 4.97707773e-04 9.99970513e-01 5.16152244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.56, Y:0.18, Z:0.52 [[ 9.98704589e-01 5.03009683e-02 -7.67834262e-03 1.03558046e+02] [-5.03034241e-02 9.98733973e-01 -1.26922075e-04 1.75306320e-01] [ 7.66223733e-03 5.13004583e-04 9.99970513e-01 5.15759471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.59, Y:0.18, Z:0.51 [[ 9.98597020e-01 5.23930796e-02 -7.67833657e-03 1.03585529e+02] [-5.23955997e-02 9.98626399e-01 -1.27286968e-04 1.77457074e-01] [ 7.66112064e-03 5.29419436e-04 9.99970513e-01 5.13999910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.61, Y:0.18, Z:0.51 [[ 9.98504181e-01 5.41335772e-02 -7.67832904e-03 1.03614081e+02] [-5.41361520e-02 9.98533555e-01 -1.27739256e-04 1.79245748e-01] [ 7.66015421e-03 5.43223369e-04 9.99970513e-01 5.12937433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:0.18, Z:0.51 [[ 9.98504182e-01 5.41335624e-02 -7.67832305e-03 1.03641562e+02] [-5.41361399e-02 9.98533556e-01 -1.28098726e-04 1.81289048e-01] [ 7.66012877e-03 5.43581885e-04 9.99970513e-01 5.11561361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:0.18, Z:0.51 [[ 9.98602942e-01 5.22800796e-02 -7.67831557e-03 1.03670395e+02] [-5.22826061e-02 9.98632321e-01 -1.28545385e-04 1.82404071e-01] [ 7.66109373e-03 5.29808148e-04 9.99970513e-01 5.12691806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:0.18, Z:0.51 [[ 9.98731718e-01 4.97594106e-02 -7.67830945e-03 1.03698697e+02] [-4.97618657e-02 9.98761103e-01 -1.28910072e-04 1.82890229e-01] [ 7.66238232e-03 5.10833582e-04 9.99970513e-01 5.11310032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:0.18, Z:0.51 [[ 9.98873974e-01 4.68169610e-02 -7.67830177e-03 1.03727203e+02] [-4.68193329e-02 9.98903365e-01 -1.29365384e-04 1.82701250e-01] [ 7.66382499e-03 4.88712682e-04 9.99970513e-01 5.10537236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:0.18, Z:0.51 [[ 9.99011809e-01 4.37772696e-02 -7.67829584e-03 1.03756035e+02] [-4.37795548e-02 9.99041207e-01 -1.29716451e-04 1.81907268e-01] [ 7.66525532e-03 4.65740640e-04 9.99970513e-01 5.08326998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:0.18, Z:0.51 [[ 9.99229598e-01 3.84870638e-02 -7.67828985e-03 1.03783570e+02] [-3.84891961e-02 9.99259008e-01 -1.30070204e-04 1.80366689e-01] [ 7.66759428e-03 4.25501201e-04 9.99970513e-01 5.05645373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:0.18, Z:0.51 [[ 9.99262695e-01 3.76179581e-02 -7.67828235e-03 1.03812096e+02] [-3.76200682e-02 9.99292106e-01 -1.30511371e-04 1.80296810e-01] [ 7.66793737e-03 4.19272649e-04 9.99970513e-01 5.08026096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:0.18, Z:0.51 [[ 9.99244098e-01 3.81087494e-02 -7.67827637e-03 1.03841099e+02] [-3.81108766e-02 9.99273508e-01 -1.30862555e-04 1.80165435e-01] [ 7.66771115e-03 4.23389479e-04 9.99970513e-01 5.10325936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:0.18, Z:0.51 [[ 9.99190759e-01 3.94825318e-02 -7.67827009e-03 1.03869291e+02] [-3.94847023e-02 9.99220166e-01 -1.31229906e-04 1.80723858e-01] [ 7.66710103e-03 4.34297918e-04 9.99970513e-01 5.08192582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.90, Y:0.18, Z:0.51 [[ 9.99070798e-01 4.24097222e-02 -7.67826225e-03 1.03898537e+02] [-4.24119823e-02 9.99100198e-01 -1.31687159e-04 1.81795717e-01] [ 7.66576852e-03 4.57215117e-04 9.99970513e-01 5.09787791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:0.19, Z:0.51 [[ 9.98741028e-01 4.95722099e-02 -7.67825616e-03 1.03926986e+02] [-4.95746834e-02 9.98770411e-01 -1.32041029e-04 1.85591552e-01] [ 7.66226949e-03 5.12521911e-04 9.99970513e-01 5.07548865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.96, Y:0.19, Z:0.51 [[ 9.98575201e-01 5.28073149e-02 -7.67824999e-03 1.03955808e+02] [-5.28098863e-02 9.98604576e-01 -1.32398994e-04 1.87811691e-01] [ 7.66054394e-03 5.37697862e-04 9.99970513e-01 5.08515693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:0.19, Z:0.51 [[ 9.98449629e-01 5.51305961e-02 -7.67824375e-03 1.03984514e+02] [-5.51332387e-02 9.98478997e-01 -1.32759828e-04 1.90049003e-01] [ 7.65924599e-03 5.55880446e-04 9.99970513e-01 5.10446429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:0.19, Z:0.51 [[ 9.98376949e-01 5.64314856e-02 -7.67823746e-03 1.04013735e+02] [-5.64341692e-02 9.98406313e-01 -1.33122841e-04 1.92495909e-01] [ 7.65848843e-03 5.66221727e-04 9.99970513e-01 5.12959887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:0.20, Z:0.52 [[ 9.98362174e-01 5.66922801e-02 -7.67823107e-03 1.04042966e+02] [-5.66949742e-02 9.98391537e-01 -1.33490295e-04 1.95371000e-01] [ 7.65831305e-03 5.68588773e-04 9.99970513e-01 5.15683294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:0.20, Z:0.52 [[ 9.98359470e-01 5.67398764e-02 -7.67822463e-03 1.04071999e+02] [-5.67425747e-02 9.98388833e-01 -1.33859774e-04 1.98337187e-01] [ 7.65825854e-03 5.69322407e-04 9.99970513e-01 5.16534934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:0.20, Z:0.52 [[ 9.98335532e-01 5.71595176e-02 -7.67821817e-03 1.04099955e+02] [-5.71622311e-02 9.98364894e-01 -1.34229253e-04 2.01063111e-01] [ 7.65799099e-03 5.72909914e-04 9.99970513e-01 5.16137578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:0.20, Z:0.52 [[ 9.98270100e-01 5.82911053e-02 -7.67821010e-03 1.04129033e+02] [-5.82938555e-02 9.98299458e-01 -1.34688852e-04 2.03478403e-01] [ 7.65730183e-03 5.82048324e-04 9.99970513e-01 5.17849220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:0.21, Z:0.52 [[ 9.98145280e-01 6.03907783e-02 -7.67820391e-03 1.04157362e+02] [-6.03935930e-02 9.98174632e-01 -1.35041264e-04 2.08056809e-01] [ 7.65603311e-03 5.98505122e-04 9.99970513e-01 5.19516622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17589822699999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:104.19, Y:0.21, Z:0.52 [[ 9.98126748e-01 6.06962893e-02 -7.67819772e-03 1.04185769e+02] [-6.06991157e-02 9.98156100e-01 -1.35392021e-04 2.11280170e-01] [ 7.65582210e-03 6.01198209e-04 9.99970513e-01 5.19051569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:0.22, Z:0.52 [[ 9.98133698e-01 6.05818979e-02 -7.67819139e-03 1.04214725e+02] [-6.05847236e-02 9.98163049e-01 -1.35750181e-04 2.15326523e-01] [ 7.65586293e-03 6.00677933e-04 9.99970513e-01 5.20266379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:104.24, Y:0.22, Z:0.52 [[ 9.98172040e-01 5.99468373e-02 -7.67818493e-03 1.04243436e+02] [-5.99496471e-02 9.98201393e-01 -1.36114736e-04 2.18778781e-01] [ 7.65621524e-03 5.96170401e-04 9.99970513e-01 5.19173776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:0.22, Z:0.52 [[ 9.98224866e-01 5.90606607e-02 -7.67817839e-03 1.04271299e+02] [-5.90634473e-02 9.98254221e-01 -1.36482290e-04 2.22652365e-01] [ 7.65671326e-03 5.89739701e-04 9.99970513e-01 5.21152425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:0.23, Z:0.52 [[ 9.98320631e-01 5.74191886e-02 -7.67817022e-03 1.04298753e+02] [-5.74219304e-02 9.98349990e-01 -1.36940758e-04 2.28806833e-01] [ 7.65763813e-03 5.77606140e-04 9.99970513e-01 5.21719717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:0.23, Z:0.52 [[ 9.98387273e-01 5.62485483e-02 -7.67816212e-03 1.04327825e+02] [-5.62512591e-02 9.98416635e-01 -1.37393473e-04 2.31546444e-01] [ 7.65827660e-03 5.69078182e-04 9.99970513e-01 5.21701300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:0.23, Z:0.52 [[ 9.98484400e-01 5.44972386e-02 -7.67815555e-03 1.04355727e+02] [-5.44999008e-02 9.98513766e-01 -1.37759585e-04 2.33397666e-01] [ 7.65923650e-03 5.56009512e-04 9.99970513e-01 5.20291365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:0.23, Z:0.52 [[ 9.98588131e-01 5.25622555e-02 -7.67814732e-03 1.04384910e+02] [-5.25648643e-02 9.98617502e-01 -1.38216800e-04 2.34303865e-01] [ 7.66026731e-03 5.41622427e-04 9.99970513e-01 5.20632738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.41, Y:0.23, Z:0.52 [[ 9.98697150e-01 5.04484829e-02 -7.67814066e-03 1.04412238e+02] [-5.04510323e-02 9.98726526e-01 -1.38585597e-04 2.34880155e-01] [ 7.66137132e-03 5.25775163e-04 9.99970513e-01 5.19903333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:0.24, Z:0.52 [[ 9.98797978e-01 4.84112186e-02 -7.67813067e-03 1.04441108e+02] [-4.84137123e-02 9.98827359e-01 -1.39136972e-04 2.36054071e-01] [ 7.66239119e-03 5.10696535e-04 9.99970513e-01 5.21105609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:0.24, Z:0.52 [[ 9.98871752e-01 4.68643639e-02 -7.67812411e-03 1.04469927e+02] [-4.68668149e-02 9.98901137e-01 -1.39497824e-04 2.37178887e-01] [ 7.66314943e-03 4.99189657e-04 9.99970513e-01 5.21760042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:0.24, Z:0.52 [[ 9.98923749e-01 4.57426417e-02 -7.67811745e-03 1.04499172e+02] [-4.57450625e-02 9.98953137e-01 -1.39863600e-04 2.37732531e-01] [ 7.66368178e-03 4.90949035e-04 9.99970513e-01 5.19886269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:0.24, Z:0.52 [[ 9.98976144e-01 4.45837544e-02 -7.67811077e-03 1.04526557e+02] [-4.45861438e-02 9.99005534e-01 -1.40229352e-04 2.37923390e-01] [ 7.66422320e-03 4.82423128e-04 9.99970513e-01 5.18243353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:0.24, Z:0.52 [[ 9.99111224e-01 4.14464668e-02 -7.67810241e-03 1.04554080e+02] [-4.14487674e-02 9.99140621e-01 -1.40685319e-04 2.36005190e-01] [ 7.66567310e-03 4.58808163e-04 9.99970513e-01 5.16807101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:0.23, Z:0.52 [[ 9.99165980e-01 4.01047595e-02 -7.67809322e-03 1.04582923e+02] [-4.01070245e-02 9.99195380e-01 -1.41185306e-04 2.34719485e-01] [ 7.66625307e-03 4.49013027e-04 9.99970513e-01 5.18330550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:0.23, Z:0.52 [[ 9.99211249e-01 3.89605839e-02 -7.67808653e-03 1.04610343e+02] [-3.89628180e-02 9.99240651e-01 -1.41547985e-04 2.33215984e-01] [ 7.66674140e-03 4.40596227e-04 9.99970513e-01 5.18506275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:0.23, Z:0.52 [[ 9.99238358e-01 3.82589965e-02 -7.67807817e-03 1.04639226e+02] [-3.82612134e-02 9.99267762e-01 -1.42000132e-04 2.32191194e-01] [ 7.66702321e-03 4.35664566e-04 9.99970513e-01 5.19917261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:0.23, Z:0.52 [[ 9.99247637e-01 3.80158870e-02 -7.67807144e-03 1.04668375e+02] [-3.80180995e-02 9.99277041e-01 -1.42363036e-04 2.31608479e-01] [ 7.66710845e-03 4.34161612e-04 9.99970513e-01 5.21323317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:0.23, Z:0.52 [[ 9.99249494e-01 3.79670522e-02 -7.67806448e-03 1.04697691e+02] [-3.79692661e-02 9.99278897e-01 -1.42737673e-04 2.32239348e-01] [ 7.66710848e-03 4.34161021e-04 9.99970513e-01 5.21548539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:0.23, Z:0.52 [[ 9.99238182e-01 3.82636099e-02 -7.67805749e-03 1.04725511e+02] [-3.82658354e-02 9.99267584e-01 -1.43112900e-04 2.31852413e-01] [ 7.66695794e-03 4.36811159e-04 9.99970513e-01 5.20904012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:0.23, Z:0.53 [[ 9.99086431e-01 4.20398758e-02 -7.67804800e-03 1.04754244e+02] [-4.20422164e-02 9.99115825e-01 -1.43620020e-04 2.30571857e-01] [ 7.66522149e-03 4.66290968e-04 9.99970513e-01 5.25123710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:0.23, Z:0.53 [[ 9.98952645e-01 4.51072038e-02 -7.67804106e-03 1.04781632e+02] [-4.51096375e-02 9.98982032e-01 -1.43990040e-04 2.30933155e-01] [ 7.66373007e-03 4.90192881e-04 9.99970513e-01 5.26939067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:0.23, Z:0.53 [[ 9.98797303e-01 4.84251620e-02 -7.67803243e-03 1.04809764e+02] [-4.84276968e-02 9.98826680e-01 -1.44448918e-04 2.32283028e-01] [ 7.66202868e-03 5.16104616e-04 9.99970513e-01 5.28175689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:0.23, Z:0.53 [[ 9.98622880e-01 5.18979021e-02 -7.67802390e-03 1.04837813e+02] [-5.19005425e-02 9.98652248e-01 -1.44900937e-04 2.34290543e-01] [ 7.66015577e-03 5.43194996e-04 9.99970513e-01 5.27644270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:0.24, Z:0.53 [[ 9.98472851e-01 5.47084368e-02 -7.67801548e-03 1.04865615e+02] [-5.47111632e-02 9.98502212e-01 -1.45345602e-04 2.36863026e-01] [ 7.65856381e-03 5.65196795e-04 9.99970513e-01 5.27440620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:0.24, Z:0.53 [[ 9.98381765e-01 5.63462431e-02 -7.67800531e-03 1.04894874e+02] [-5.63490217e-02 9.98411121e-01 -1.45880789e-04 2.39504911e-01] [ 7.65758605e-03 5.78292808e-04 9.99970513e-01 5.26399427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:0.24, Z:0.53 [[ 9.98419741e-01 5.56692855e-02 -7.67799850e-03 1.04923746e+02] [-5.56720470e-02 9.98449098e-01 -1.46238401e-04 2.44028828e-01] [ 7.65794969e-03 5.73457200e-04 9.99970513e-01 5.26647820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:0.25, Z:0.53 [[ 9.98536453e-01 5.35350336e-02 -7.67799159e-03 1.04951808e+02] [-5.35377351e-02 9.98565816e-01 -1.46600197e-04 2.46895115e-01] [ 7.65913169e-03 5.57447921e-04 9.99970513e-01 5.27080818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:0.25, Z:0.53 [[ 9.98672183e-01 5.09403588e-02 -7.67798173e-03 1.04980092e+02] [-5.09429879e-02 9.98701552e-01 -1.47114763e-04 2.49231623e-01] [ 7.66051819e-03 5.38058752e-04 9.99970513e-01 5.28465283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.045898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:105.01, Y:0.25, Z:0.53 [[ 9.98814732e-01 4.80643274e-02 -7.67797475e-03 1.05008196e+02] [-4.80668748e-02 9.98844109e-01 -1.47478193e-04 2.50461750e-01] [ 7.66201141e-03 5.16359643e-04 9.99970513e-01 5.26945825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.04, Y:0.25, Z:0.53 [[ 9.98932993e-01 4.55403676e-02 -7.67796587e-03 1.05036370e+02] [-4.55428442e-02 9.98962375e-01 -1.47939340e-04 2.51776546e-01] [ 7.66326181e-03 4.97457891e-04 9.99970513e-01 5.26690083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:0.25, Z:0.53 [[ 9.99082916e-01 4.21233449e-02 -7.67795712e-03 1.05065397e+02] [-4.21257245e-02 9.99112307e-01 -1.48391916e-04 2.54481211e-01] [ 7.66489068e-03 4.71695335e-04 9.99970513e-01 5.26924939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:0.26, Z:0.53 [[ 9.99118531e-01 4.12699730e-02 -7.67794993e-03 1.05093177e+02] [-4.12723303e-02 9.99147923e-01 -1.48762982e-04 2.56728528e-01] [ 7.66526828e-03 4.65518738e-04 9.99970513e-01 5.26702475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:0.26, Z:0.53 [[ 9.99154116e-01 4.03992823e-02 -7.67794092e-03 1.05122424e+02] [-4.04016175e-02 9.99183510e-01 -1.49226511e-04 2.58360550e-01] [ 7.66564332e-03 4.59301515e-04 9.99970513e-01 5.26999445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:0.26, Z:0.53 [[ 9.99183374e-01 3.96690529e-02 -7.67793398e-03 1.05151242e+02] [-3.96713693e-02 9.99212770e-01 -1.49582560e-04 2.59076700e-01] [ 7.66595589e-03 4.54054562e-04 9.99970513e-01 5.26032026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:0.26, Z:0.53 [[ 9.99186853e-01 3.95813275e-02 -7.67792693e-03 1.05180568e+02] [-3.95836441e-02 9.99216249e-01 -1.49943626e-04 2.58400875e-01] [ 7.66597438e-03 4.53742028e-04 9.99970513e-01 5.25581122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.21, Y:0.26, Z:0.52 [[ 9.99176826e-01 3.98336441e-02 -7.67791967e-03 1.05208721e+02] [-3.98359710e-02 9.99206221e-01 -1.50314349e-04 2.57758737e-01] [ 7.66583754e-03 4.56048000e-04 9.99970513e-01 5.23913375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:0.26, Z:0.52 [[ 9.99068289e-01 4.24688530e-02 -7.67791064e-03 1.05236777e+02] [-4.24712610e-02 9.99097678e-01 -1.50774641e-04 2.56553943e-01] [ 7.66457946e-03 4.76724710e-04 9.99970513e-01 5.23471365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.27, Y:0.26, Z:0.52 [[ 9.98967865e-01 4.47689087e-02 -7.67790016e-03 1.05265656e+02] [-4.47713884e-02 9.98997247e-01 -1.51306338e-04 2.56626355e-01] [ 7.66342730e-03 4.94900419e-04 9.99970513e-01 5.24065991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:0.26, Z:0.52 [[ 9.98849202e-01 4.73426032e-02 -7.67789298e-03 1.05294012e+02] [-4.73451614e-02 9.98878578e-01 -1.51669687e-04 2.56901346e-01] [ 7.66210238e-03 5.15006228e-04 9.99970513e-01 5.23526522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:0.26, Z:0.52 [[ 9.98697722e-01 5.04371975e-02 -7.67788579e-03 1.05322669e+02] [-5.04398494e-02 9.98727089e-01 -1.52033012e-04 2.56905203e-01] [ 7.66044440e-03 5.39106426e-04 9.99970513e-01 5.22652792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:0.26, Z:0.52 [[ 9.98534387e-01 5.35735693e-02 -7.67787854e-03 1.05349717e+02] [-5.35763162e-02 9.98563746e-01 -1.52398010e-04 2.56723713e-01] [ 7.65868665e-03 5.63527102e-04 9.99970513e-01 5.21865585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:0.26, Z:0.52 [[ 9.98391434e-01 5.61746867e-02 -7.67786277e-03 1.05377784e+02] [-5.61775162e-02 9.98420785e-01 -1.53188362e-04 2.56424240e-01] [ 7.65713246e-03 5.84265208e-04 9.99970513e-01 5.22758638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.465898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:105.41, Y:0.25, Z:0.52 [[ 9.98146505e-01 6.03705635e-02 -7.67785378e-03 1.05406056e+02] [-6.03735197e-02 9.98175843e-01 -1.53637790e-04 2.54376087e-01] [ 7.65457297e-03 6.16892080e-04 9.99970513e-01 5.24716551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49589822699998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:105.43, Y:0.25, Z:0.52 [[ 9.98053386e-01 6.18909556e-02 -7.67784497e-03 1.05433988e+02] [-6.18939599e-02 9.98082719e-01 -1.54076767e-04 2.53449175e-01] [ 7.65358842e-03 6.28989067e-04 9.99970513e-01 5.24948412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:0.25, Z:0.53 [[ 9.97979816e-01 6.30661413e-02 -7.67783448e-03 1.05462082e+02] [-6.30691841e-02 9.98009145e-01 -1.54597751e-04 2.53282739e-01] [ 7.65279914e-03 6.38520191e-04 9.99970513e-01 5.26693638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:0.25, Z:0.53 [[ 9.97912283e-01 6.41258614e-02 -7.67782350e-03 1.05489169e+02] [-6.41289395e-02 9.97941609e-01 -1.55140973e-04 2.52797016e-01] [ 7.65207099e-03 6.47187761e-04 9.99970513e-01 5.27725559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:0.25, Z:0.53 [[ 9.97845225e-01 6.51610185e-02 -7.67780818e-03 1.05517378e+02] [-6.51641328e-02 9.97874547e-01 -1.55895805e-04 2.52539108e-01] [ 7.65133103e-03 6.55877597e-04 9.99970513e-01 5.29242906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:0.25, Z:0.53 [[ 9.97777929e-01 6.61834979e-02 -7.67779909e-03 1.05544670e+02] [-6.61866456e-02 9.97807248e-01 -1.56341793e-04 2.51931161e-01] [ 7.65061634e-03 6.64162158e-04 9.99970513e-01 5.31140113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:0.25, Z:0.53 [[ 9.97781893e-01 6.61237476e-02 -7.67744326e-03 1.05572149e+02] [-6.61270263e-02 9.97811198e-01 -1.73721676e-04 2.52607122e-01] [ 7.64915173e-03 6.81022835e-04 9.99970513e-01 5.31352778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:0.25, Z:0.54 [[ 9.97855011e-01 6.50110377e-02 -7.67742921e-03 1.05600757e+02] [-6.50142889e-02 9.97884318e-01 -1.74405688e-04 2.52602911e-01] [ 7.64984792e-03 6.73174191e-04 9.99970513e-01 5.35438797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:0.25, Z:0.54 [[ 9.97915127e-01 6.40815937e-02 -7.67777214e-03 1.05629620e+02] [-6.40846901e-02 9.97944451e-01 -1.57711334e-04 2.53249948e-01] [ 7.65188371e-03 6.49410174e-04 9.99970513e-01 5.36513560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:0.25, Z:0.54 [[ 9.97995196e-01 6.28222990e-02 -7.67776492e-03 1.05657714e+02] [-6.28253611e-02 9.98024523e-01 -1.58061766e-04 2.53859940e-01] [ 7.65266787e-03 6.40103237e-04 9.99970513e-01 5.37185121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:0.25, Z:0.54 [[ 9.98086113e-01 6.13609315e-02 -7.67775398e-03 1.05685990e+02] [-6.13639547e-02 9.98115444e-01 -1.58591439e-04 2.53780566e-01] [ 7.65355351e-03 6.29425261e-04 9.99970513e-01 5.37095715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:0.25, Z:0.54 [[ 9.98247699e-01 5.86735414e-02 -7.67774293e-03 1.05713431e+02] [-5.86764897e-02 9.98277038e-01 -1.59124424e-04 2.52595085e-01] [ 7.65517808e-03 6.09348594e-04 9.99970513e-01 5.35061399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:0.25, Z:0.54 [[ 9.98303969e-01 5.77082142e-02 -7.67773377e-03 1.05741857e+02] [-5.77111375e-02 9.98333311e-01 -1.59565588e-04 2.52270729e-01] [ 7.65572912e-03 6.02385709e-04 9.99970513e-01 5.36119521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:0.25, Z:0.54 [[ 9.98338348e-01 5.71103865e-02 -7.67772611e-03 1.05770044e+02] [-5.71132951e-02 9.98367691e-01 -1.59932914e-04 2.52124902e-01] [ 7.65605986e-03 5.98167398e-04 9.99970513e-01 5.35857541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:0.25, Z:0.54 [[ 9.98361468e-01 5.67047867e-02 -7.67771658e-03 1.05798976e+02] [-5.67076869e-02 9.98390812e-01 -1.60389431e-04 2.52237686e-01] [ 7.65626684e-03 5.95512175e-04 9.99970513e-01 5.35924694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:0.25, Z:0.54 [[ 9.98403382e-01 5.59619539e-02 -7.67770916e-03 1.05828279e+02] [-5.59648349e-02 9.98432728e-01 -1.60743491e-04 2.52621532e-01] [ 7.65668058e-03 5.90168571e-04 9.99970513e-01 5.35649998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:0.25, Z:0.54 [[ 9.98451213e-01 5.51019876e-02 -7.67770161e-03 1.05857205e+02] [-5.51048461e-02 9.98480561e-01 -1.61103553e-04 2.52968263e-01] [ 7.65715868e-03 5.83932603e-04 9.99970513e-01 5.35317602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:0.25, Z:0.53 [[ 9.98529828e-01 5.36585147e-02 -7.67769398e-03 1.05885437e+02] [-5.36613335e-02 9.98559180e-01 -1.61466237e-04 2.51549040e-01] [ 7.65796777e-03 5.73224152e-04 9.99970513e-01 5.31754081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:0.25, Z:0.53 [[ 9.98550244e-01 5.32772221e-02 -7.67768447e-03 1.05914352e+02] [-5.32800331e-02 9.98579597e-01 -1.61917019e-04 2.51626854e-01] [ 7.65815258e-03 5.70749562e-04 9.99970513e-01 5.30310480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.94, Y:0.25, Z:0.53 [[ 9.98534284e-01 5.35755332e-02 -7.67767704e-03 1.05942134e+02] [-5.35783557e-02 9.98563635e-01 -1.62268790e-04 2.51589020e-01] [ 7.65795546e-03 5.73388262e-04 9.99970513e-01 5.28028055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:0.25, Z:0.53 [[ 9.98482414e-01 5.45336860e-02 -7.67766778e-03 1.05971122e+02] [-5.45365400e-02 9.98511762e-01 -1.62705731e-04 2.51880241e-01] [ 7.65736864e-03 5.81172247e-04 9.99970513e-01 5.28332100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.00, Y:0.25, Z:0.53 [[ 9.98407012e-01 5.58971549e-02 -7.67766034e-03 1.06000098e+02] [-5.59000517e-02 9.98436356e-01 -1.63055852e-04 2.52262187e-01] [ 7.65654086e-03 5.91977716e-04 9.99970513e-01 5.29670665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:0.25, Z:0.53 [[ 9.98309373e-01 5.76146688e-02 -7.67765251e-03 1.06027536e+02] [-5.76176189e-02 9.98338712e-01 -1.63423822e-04 2.53033968e-01] [ 7.65548211e-03 6.05515589e-04 9.99970513e-01 5.29723826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.06, Y:0.26, Z:0.53 [[ 9.98074373e-01 6.15515945e-02 -7.67764277e-03 1.06055987e+02] [-6.15546638e-02 9.98103700e-01 -1.63880463e-04 2.55718277e-01] [ 7.65299655e-03 6.36159609e-04 9.99970513e-01 5.31860327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:0.26, Z:0.53 [[ 9.98004166e-01 6.26796442e-02 -7.67763515e-03 1.06084934e+02] [-6.26827493e-02 9.98033489e-01 -1.64236475e-04 2.57779344e-01] [ 7.65224271e-03 6.45163965e-04 9.99970513e-01 5.32409637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.11, Y:0.26, Z:0.53 [[ 9.97990905e-01 6.28904372e-02 -7.67762744e-03 1.06113060e+02] [-6.28935512e-02 9.98020227e-01 -1.64596211e-04 2.59136559e-01] [ 7.65207595e-03 6.47138776e-04 9.99970513e-01 5.32391638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.14, Y:0.26, Z:0.53 [[ 9.98027723e-01 6.23034413e-02 -7.67761785e-03 1.06141429e+02] [-6.23065415e-02 9.98057046e-01 -1.65042310e-04 2.60115370e-01] [ 7.65241789e-03 6.43082616e-04 9.99970513e-01 5.33911870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.17, Y:0.26, Z:0.54 [[ 9.98080518e-01 6.14518797e-02 -7.67761005e-03 1.06169653e+02] [-6.14549576e-02 9.98109844e-01 -1.65404337e-04 2.60870997e-01] [ 7.65293376e-03 6.36914046e-04 9.99970513e-01 5.35892075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.20, Y:0.26, Z:0.54 [[ 9.98145324e-01 6.03901164e-02 -7.67760036e-03 1.06198189e+02] [-6.03931665e-02 9.98174653e-01 -1.65852824e-04 2.61573986e-01] [ 7.65357020e-03 6.29219818e-04 9.99970513e-01 5.38334725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.23, Y:0.26, Z:0.54 [[ 9.98179125e-01 5.98288335e-02 -7.67759266e-03 1.06226174e+02] [-5.98318699e-02 9.98208455e-01 -1.66208325e-04 2.62240323e-01] [ 7.65389386e-03 6.25270405e-04 9.99970513e-01 5.40059595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36589822699999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:106.26, Y:0.26, Z:0.54 [[ 9.98171520e-01 5.99555708e-02 -7.67758501e-03 1.06255119e+02] [-5.99586136e-02 9.98200850e-01 -1.66561232e-04 2.63207648e-01] [ 7.65378561e-03 6.26594030e-04 9.99970513e-01 5.42323652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:0.26, Z:0.54 [[ 9.98134682e-01 6.05657648e-02 -7.67757742e-03 1.06283448e+02] [-6.05688282e-02 9.98164009e-01 -1.66910365e-04 2.64772149e-01] [ 7.65337240e-03 6.31620892e-04 9.99970513e-01 5.43820538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:0.27, Z:0.54 [[ 9.98113752e-01 6.09097148e-02 -7.67756955e-03 1.06311253e+02] [-6.09127911e-02 9.98143078e-01 -1.67271491e-04 2.66647686e-01] [ 7.65312444e-03 6.34618166e-04 9.99970513e-01 5.42779190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.34, Y:0.27, Z:0.54 [[ 9.98086885e-01 6.13483975e-02 -7.67755974e-03 1.06340444e+02] [-6.13514901e-02 9.98116209e-01 -1.67720654e-04 2.68356023e-01] [ 7.65280743e-03 6.38429515e-04 9.99970513e-01 5.41733631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:0.27, Z:0.54 [[ 9.98042914e-01 6.20596171e-02 -7.67755202e-03 1.06368100e+02] [-6.20627333e-02 9.98072236e-01 -1.68073154e-04 2.69090296e-01] [ 7.65232096e-03 6.44234084e-04 9.99970513e-01 5.41332862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:0.27, Z:0.54 [[ 9.98013039e-01 6.25382293e-02 -7.67754240e-03 1.06397349e+02] [-6.25413630e-02 9.98042359e-01 -1.68511613e-04 2.67613129e-01] [ 7.65197410e-03 6.48340752e-04 9.99970513e-01 5.41345001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.43, Y:0.27, Z:0.54 [[ 9.98015905e-01 6.24924769e-02 -7.67753468e-03 1.06426664e+02] [-6.24956118e-02 9.98045224e-01 -1.68862551e-04 2.68344280e-01] [ 7.65197418e-03 6.48339738e-04 9.99970513e-01 5.41570231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:0.27, Z:0.54 [[ 9.98090822e-01 6.12843046e-02 -7.67752692e-03 1.06455877e+02] [-6.12874067e-02 9.98120146e-01 -1.69214505e-04 2.66580389e-01] [ 7.65272410e-03 6.39427160e-04 9.99970513e-01 5.41845600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:0.27, Z:0.54 [[ 9.98105960e-01 6.10372719e-02 -7.67751894e-03 1.06483992e+02] [-6.10403696e-02 9.98135284e-01 -1.69575954e-04 2.66191780e-01] [ 7.65285209e-03 6.37893363e-04 9.99970513e-01 5.41752874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:0.27, Z:0.54 [[ 9.98108717e-01 6.09921701e-02 -7.67750772e-03 1.06513307e+02] [-6.09952703e-02 9.98138041e-01 -1.70082185e-04 2.66927608e-01] [ 7.65283883e-03 6.38052171e-04 9.99970513e-01 5.41978116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.54, Y:0.27, Z:0.54 [[ 9.98094247e-01 6.12285087e-02 -7.67750002e-03 1.06542230e+02] [-6.12316185e-02 9.98123569e-01 -1.70429091e-04 2.66590197e-01] [ 7.65265861e-03 6.40210048e-04 9.99970513e-01 5.43627389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.57, Y:0.27, Z:0.55 [[ 9.98026592e-01 6.23215667e-02 -7.67749191e-03 1.06569927e+02] [-6.23247113e-02 9.98055911e-01 -1.70793716e-04 2.66276557e-01] [ 7.65192205e-03 6.48954137e-04 9.99970513e-01 5.45036581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.60, Y:0.27, Z:0.54 [[ 9.97794129e-01 6.59388517e-02 -7.67748177e-03 1.06597306e+02] [-6.59421061e-02 9.97823436e-01 -1.71248282e-04 2.66149635e-01] [ 7.64947933e-03 6.77139847e-04 9.99970513e-01 5.44949819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.63, Y:0.27, Z:0.54 [[ 9.97651740e-01 6.80592616e-02 -7.67747171e-03 1.06625793e+02] [-6.80625817e-02 9.97681039e-01 -1.71698120e-04 2.66891680e-01] [ 7.64798231e-03 6.93843473e-04 9.99970513e-01 5.42646795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.65, Y:0.27, Z:0.54 [[ 9.97522133e-01 6.99331849e-02 -7.67746416e-03 1.06654843e+02] [-6.99365627e-02 9.97551426e-01 -1.72035310e-04 2.67137891e-01] [ 7.64663434e-03 7.08544482e-04 9.99970513e-01 5.39387697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:106.68, Y:0.27, Z:0.53 [[ 9.97467226e-01 7.07120214e-02 -7.67745631e-03 1.06682432e+02] [-7.07154247e-02 9.97496516e-01 -1.72384741e-04 2.66761065e-01] [ 7.64604625e-03 7.14862713e-04 9.99970513e-01 5.34368215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:0.27, Z:0.53 [[ 9.97456782e-01 7.08591875e-02 -7.67744659e-03 1.06710747e+02] [-7.08625983e-02 9.97486071e-01 -1.72816758e-04 2.66447572e-01] [ 7.64590038e-03 7.16421061e-04 9.99970513e-01 5.32302247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.74, Y:0.27, Z:0.53 [[ 9.97491403e-01 7.03701432e-02 -7.67743700e-03 1.06738382e+02] [-7.03735430e-02 9.97520694e-01 -1.73241608e-04 2.66730539e-01] [ 7.64621124e-03 7.13095457e-04 9.99970513e-01 5.32981906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:0.27, Z:0.54 [[ 9.97562485e-01 6.93552098e-02 -7.67742534e-03 1.06767360e+02] [-6.93585836e-02 9.97591779e-01 -1.73756810e-04 2.67861040e-01] [ 7.64688546e-03 7.05828623e-04 9.99970513e-01 5.38379231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.80, Y:0.27, Z:0.54 [[ 9.97603508e-01 6.87626225e-02 -7.67741721e-03 1.06795185e+02] [-6.87659817e-02 9.97632803e-01 -1.74115277e-04 2.68619142e-01] [ 7.64727063e-03 7.01643142e-04 9.99970513e-01 5.39551356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:0.27, Z:0.54 [[ 9.97659646e-01 6.79432777e-02 -7.67740710e-03 1.06822785e+02] [-6.79466162e-02 9.97688943e-01 -1.74559936e-04 2.68900529e-01] [ 7.64780400e-03 6.95805237e-04 9.99970513e-01 5.40183284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.85, Y:0.27, Z:0.54 [[ 9.97710717e-01 6.71891601e-02 -7.67739511e-03 1.06851492e+02] [-6.71924805e-02 9.97740016e-01 -1.75085464e-04 2.69696323e-01] [ 7.64828048e-03 6.90547865e-04 9.99970513e-01 5.38874186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:0.27, Z:0.54 [[ 9.97756249e-01 6.65095888e-02 -7.67738688e-03 1.06880036e+02] [-6.65128920e-02 9.97785550e-01 -1.75445611e-04 2.71078286e-01] [ 7.64871688e-03 6.85697159e-04 9.99970513e-01 5.36401239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.91, Y:0.27, Z:0.53 [[ 9.97866159e-01 6.48396990e-02 -7.67737851e-03 1.06908134e+02] [-6.48429560e-02 9.97895466e-01 -1.75811352e-04 2.74584695e-01] [ 7.64982165e-03 6.73260115e-04 9.99970513e-01 5.33980305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:0.28, Z:0.54 [[ 9.97925747e-01 6.39160533e-02 -7.67736809e-03 1.06935981e+02] [-6.39192865e-02 9.97955056e-01 -1.76265217e-04 2.76342186e-01] [ 7.65040212e-03 6.66631489e-04 9.99970513e-01 5.35749158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11589822699999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:106.97, Y:0.28, Z:0.54 [[ 9.98004322e-01 6.26772031e-02 -7.67735775e-03 1.06965109e+02] [-6.26804034e-02 9.98033635e-01 -1.76714214e-04 2.77128745e-01] [ 7.65118531e-03 6.57581431e-04 9.99970513e-01 5.37180265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.99, Y:0.28, Z:0.54 [[ 9.98086927e-01 6.13477322e-02 -7.67734942e-03 1.06992566e+02] [-6.13508962e-02 9.98116244e-01 -1.77075578e-04 2.77698437e-01] [ 7.65202398e-03 6.47749087e-04 9.99970513e-01 5.41389312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:0.28, Z:0.54 [[ 9.98202675e-01 5.94346461e-02 -7.67733898e-03 1.07020861e+02] [-5.94377574e-02 9.98231998e-01 -1.77526995e-04 2.77720985e-01] [ 7.65321417e-03 6.33531733e-04 9.99970513e-01 5.44127227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.05, Y:0.28, Z:0.55 [[ 9.98361340e-01 5.67070918e-02 -7.67732854e-03 1.07048804e+02] [-5.67101264e-02 9.98390670e-01 -1.77977352e-04 2.77858271e-01] [ 7.65488061e-03 6.13067979e-04 9.99970513e-01 5.45142233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:107.08, Y:0.28, Z:0.54 [[ 9.98718674e-01 5.00206863e-02 -7.67731814e-03 1.07077673e+02] [-5.00235278e-02 9.98748024e-01 -1.78424900e-04 2.75353495e-01] [ 7.65878138e-03 5.62242817e-04 9.99970513e-01 5.43714949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:0.27, Z:0.55 [[ 9.98888202e-01 4.65125588e-02 -7.67730990e-03 1.07105540e+02] [-4.65153000e-02 9.98917562e-01 -1.78778511e-04 2.73539815e-01] [ 7.66068424e-03 5.35692119e-04 9.99970513e-01 5.45666362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.295898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:107.13, Y:0.27, Z:0.55 [[ 9.99083575e-01 4.21078390e-02 -7.67729961e-03 1.07133968e+02] [-4.21104540e-02 9.99112945e-01 -1.79219650e-04 2.70718589e-01] [ 7.66294287e-03 5.02349981e-04 9.99970513e-01 5.45820162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:0.27, Z:0.55 [[ 9.99262167e-01 3.76321685e-02 -7.67729110e-03 1.07161528e+02] [-3.76346548e-02 9.99291549e-01 -1.79583503e-04 2.67335859e-01] [ 7.66509400e-03 4.68383200e-04 9.99970513e-01 5.46595273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:0.26, Z:0.55 [[ 9.99411699e-01 3.34262605e-02 -7.67728260e-03 1.07189388e+02] [-3.34286259e-02 9.99441091e-01 -1.79946043e-04 2.63592905e-01] [ 7.66697677e-03 4.36481188e-04 9.99970513e-01 5.46089700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:0.26, Z:0.55 [[ 9.99527267e-01 2.97708122e-02 -7.67727228e-03 1.07218438e+02] [-2.97730734e-02 9.99556668e-01 -1.80385105e-04 2.59855549e-01] [ 7.66849849e-03 4.08875822e-04 9.99970513e-01 5.45494665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:0.25, Z:0.55 [[ 9.99662404e-01 2.48221123e-02 -7.67726371e-03 1.07246279e+02] [-2.48242307e-02 9.99691815e-01 -1.80749083e-04 2.50159143e-01] [ 7.67041112e-03 3.71270228e-04 9.99970513e-01 5.45966626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.27, Y:0.25, Z:0.55 [[ 9.99688776e-01 2.37362758e-02 -7.67725301e-03 1.07274900e+02] [-2.37383658e-02 9.99718189e-01 -1.81202405e-04 2.45999285e-01] [ 7.67078841e-03 3.63391451e-04 9.99970513e-01 5.48366657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.30, Y:0.24, Z:0.55 [[ 9.99685429e-01 2.38768228e-02 -7.67724425e-03 1.07303620e+02] [-2.38789197e-02 9.99714841e-01 -1.81572753e-04 2.41996060e-01] [ 7.67071964e-03 3.64839935e-04 9.99970513e-01 5.51143518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.33, Y:0.24, Z:0.55 [[ 9.99679641e-01 2.41179624e-02 -7.67723533e-03 1.07331241e+02] [-2.41200693e-02 9.99709052e-01 -1.81949077e-04 2.38069710e-01] [ 7.67061342e-03 3.67066236e-04 9.99970513e-01 5.52939133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.36, Y:0.23, Z:0.55 [[ 9.99673467e-01 2.43725315e-02 -7.67722325e-03 1.07360622e+02] [-2.43746497e-02 9.99702877e-01 -1.82457461e-04 2.34430645e-01] [ 7.67049523e-03 3.69527510e-04 9.99970513e-01 5.54925004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56589822699999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:107.39, Y:0.23, Z:0.55 [[ 9.99718011e-01 2.24713027e-02 -7.67721423e-03 1.07389645e+02] [-2.24733679e-02 9.99747425e-01 -1.82836292e-04 2.25537532e-01] [ 7.67116659e-03 3.55317594e-04 9.99970513e-01 5.49361556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.42, Y:0.22, Z:0.55 [[ 9.99755724e-01 2.07256694e-02 -7.67720525e-03 1.07417925e+02] [-2.07276861e-02 9.99785142e-01 -1.83212640e-04 2.21773690e-01] [ 7.67175853e-03 3.42298587e-04 9.99970513e-01 5.48235411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.45, Y:0.22, Z:0.55 [[ 9.99794301e-01 1.87727383e-02 -7.67719406e-03 1.07445859e+02] [-1.87747012e-02 9.99823723e-01 -1.83680170e-04 2.18995550e-01] [ 7.67239257e-03 3.27779412e-04 9.99970513e-01 5.46740312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.47, Y:0.22, Z:0.55 [[ 9.99830571e-01 1.67299056e-02 -7.67718297e-03 1.07473931e+02] [-1.67318119e-02 9.99859996e-01 -1.84142537e-04 2.16753046e-01] [ 7.67302745e-03 3.12564520e-04 9.99970513e-01 5.48199194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:0.21, Z:0.55 [[ 9.99866454e-01 1.44269197e-02 -7.67717233e-03 1.07502963e+02] [-1.44287617e-02 9.99895883e-01 -1.84585344e-04 2.14163163e-01] [ 7.67371000e-03 2.95332783e-04 9.99970513e-01 5.51075030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.53, Y:0.21, Z:0.55 [[ 9.99905010e-01 1.14468928e-02 -7.67716326e-03 1.07530707e+02] [-1.14486498e-02 9.99934445e-01 -1.84961555e-04 2.10796486e-01] [ 7.67454275e-03 2.72837140e-04 9.99970513e-01 5.53916144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:0.21, Z:0.56 [[ 9.99935953e-01 8.31567307e-03 -7.67715195e-03 1.07559406e+02] [-8.31734156e-03 9.99965393e-01 -1.85429955e-04 2.06703350e-01] [ 7.67534429e-03 2.49271574e-04 9.99970513e-01 5.56512064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.59, Y:0.20, Z:0.56 [[ 9.99962827e-01 3.92513783e-03 -7.67714296e-03 1.07587209e+02] [-3.92667989e-03 9.99992273e-01 -1.85801405e-04 1.97486224e-01] [ 7.67635434e-03 2.15940181e-04 9.99970513e-01 5.59596501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80589822699999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:107.61, Y:0.19, Z:0.56 [[ 9.99968185e-01 2.16559582e-03 -7.67713174e-03 1.07614683e+02] [-2.16708962e-03 9.99997635e-01 -1.86264032e-04 1.93720487e-01] [ 7.67671020e-03 2.02895138e-04 9.99970513e-01 5.59937477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:0.19, Z:0.56 [[ 9.99969603e-01 1.36160309e-03 -7.67712075e-03 1.07642299e+02] [-1.36307668e-03 9.99999054e-01 -1.86715841e-04 1.90053273e-01] [ 7.67685925e-03 1.97174670e-04 9.99970513e-01 5.63397014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:0.19, Z:0.56 [[ 9.99970532e-01 -3.60919036e-05 -7.67677494e-03 1.07671756e+02] [ 3.45509228e-05 9.99999979e-01 -2.00865363e-04 1.85526645e-01] [ 7.67678203e-03 2.00594204e-04 9.99970513e-01 5.60192296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:0.18, Z:0.56 [[ 9.99968911e-01 -1.79989351e-03 -7.67709725e-03 1.07701088e+02] [ 1.79850563e-03 9.99998365e-01 -1.87681314e-04 1.81276468e-01] [ 7.67742250e-03 1.73868176e-04 9.99970513e-01 5.57873618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.73, Y:0.18, Z:0.55 [[ 9.99964178e-01 -3.56432382e-03 -7.67708851e-03 1.07730035e+02] [ 3.56298518e-03 9.99993635e-01 -1.88037932e-04 1.76859447e-01] [ 7.67770988e-03 1.60677843e-04 9.99970513e-01 5.53938124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:0.17, Z:0.55 [[ 9.99946885e-01 -6.87674795e-03 -7.67707967e-03 1.07758051e+02] [ 6.87550413e-03 9.99976346e-01 -1.88398411e-04 1.66441877e-01] [ 7.67819364e-03 1.35604611e-04 9.99970513e-01 5.51363709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.79, Y:0.16, Z:0.55 [[ 9.99935765e-01 -8.33835155e-03 -7.67706865e-03 1.07786056e+02] [ 8.33714736e-03 9.99965228e-01 -1.88846191e-04 1.61187273e-01] [ 7.67837637e-03 1.24829208e-04 9.99970513e-01 5.53327830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.81, Y:0.16, Z:0.56 [[ 9.99925130e-01 -9.52878388e-03 -7.67703292e-03 1.07813539e+02] [ 9.52760369e-03 9.99954593e-01 -1.90288013e-04 1.55811122e-01] [ 7.67849754e-03 1.17130039e-04 9.99970513e-01 5.56055213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.84, Y:0.15, Z:0.56 [[ 9.99914392e-01 -1.05958990e-02 -7.67701728e-03 1.07841888e+02] [ 1.05947454e-02 9.99943856e-01 -1.90916598e-04 1.51220615e-01] [ 7.67860920e-03 1.09564210e-04 9.99970513e-01 5.57660734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:0.15, Z:0.56 [[ 9.99908602e-01 -1.11288269e-02 -7.67698135e-03 1.07870211e+02] [ 1.11276780e-02 9.99938067e-01 -1.92350694e-04 1.46933640e-01] [ 7.67864653e-03 1.06906137e-04 9.99970513e-01 5.57565944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:0.14, Z:0.56 [[ 9.99908901e-01 -1.11019947e-02 -7.67697016e-03 1.07898037e+02] [ 1.11008416e-02 9.99938365e-01 -1.92796482e-04 1.43233147e-01] [ 7.67863741e-03 1.07558088e-04 9.99970513e-01 5.55217997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:0.14, Z:0.55 [[ 9.99909729e-01 -1.10271434e-02 -7.67695902e-03 1.07926491e+02] [ 1.10259847e-02 9.99939193e-01 -1.93238766e-04 1.36662016e-01] [ 7.67862308e-03 1.08575289e-04 9.99970513e-01 5.52643769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:0.13, Z:0.55 [[ 9.99902792e-01 -1.16392364e-02 -7.67692340e-03 1.07954398e+02] [ 1.16380850e-02 9.99932256e-01 -1.94643797e-04 1.34715699e-01] [ 7.67866884e-03 1.05280190e-04 9.99970513e-01 5.52400541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:0.13, Z:0.56 [[ 9.99873703e-01 -1.39155747e-02 -7.67688587e-03 1.07981939e+02] [ 1.39144790e-02 9.99903170e-01 -1.96112772e-04 1.31018210e-01] [ 7.67887154e-03 8.92681364e-05 9.99970513e-01 5.55176369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:0.13, Z:0.56 [[ 9.99842559e-01 -1.59975803e-02 -7.67687422e-03 1.08010202e+02] [ 1.59965425e-02 9.99872028e-01 -1.96567999e-04 1.30102729e-01] [ 7.67903640e-03 7.37336063e-05 9.99970513e-01 5.57866385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:0.13, Z:0.56 [[ 9.99800176e-01 -1.84573528e-02 -7.67683726e-03 1.08038294e+02] [ 1.84563765e-02 9.99829647e-01 -1.98000790e-04 1.28862707e-01] [ 7.67918406e-03 5.62746261e-05 9.99970513e-01 5.59328366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.06, Y:0.13, Z:0.56 [[ 9.99748223e-01 -2.10845119e-02 -7.67679893e-03 1.08064937e+02] [ 2.10836018e-02 9.99777696e-01 -1.99475881e-04 1.27566392e-01] [ 7.67929820e-03 3.75710865e-05 9.99970513e-01 5.59097918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:0.13, Z:0.56 [[ 9.99682000e-01 -2.40201329e-02 -7.67678222e-03 1.08092511e+02] [ 2.40193044e-02 9.99711475e-01 -2.00117052e-04 1.26963738e-01] [ 7.67937411e-03 1.56624454e-05 9.99970513e-01 5.57512744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:0.13, Z:0.55 [[ 9.99603477e-01 -2.70916364e-02 -7.67674465e-03 1.08121357e+02] [ 2.70908875e-02 9.99632954e-01 -2.01548083e-04 1.26735375e-01] [ 7.67938720e-03 -6.50166123e-06 9.99970513e-01 5.54562052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:0.13, Z:0.55 [[ 9.99437321e-01 -3.26513248e-02 -7.67671137e-03 1.08149117e+02] [ 3.26507302e-02 9.99466802e-01 -2.02807650e-04 1.26624260e-01] [ 7.67924011e-03 -4.79566980e-05 9.99970513e-01 5.48165755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:0.13, Z:0.55 [[ 9.99334488e-01 -3.56603157e-02 -7.67618005e-03 1.08179008e+02] [ 3.56596562e-02 9.99363967e-01 -2.22801521e-04 1.27214918e-01] [ 7.67924292e-03 -5.10766981e-05 9.99970513e-01 5.49376272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:0.13, Z:0.55 [[ 9.99257704e-01 -3.77506320e-02 -7.67668720e-03 1.08208006e+02] [ 3.77501810e-02 9.99287187e-01 -2.03687811e-04 1.27740228e-01] [ 7.67890450e-03 -8.62597170e-05 9.99970513e-01 5.53457302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:0.13, Z:0.56 [[ 9.99181733e-01 -3.97106272e-02 -7.67665451e-03 1.08236752e+02] [ 3.97102246e-02 9.99211217e-01 -2.04912639e-04 1.28702107e-01] [ 7.67873650e-03 -1.00096709e-04 9.99970513e-01 5.58653999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:0.13, Z:0.56 [[ 9.99122500e-01 -4.11740262e-02 -7.67661826e-03 1.08264123e+02] [ 4.11736564e-02 9.99151984e-01 -2.06261781e-04 1.29759717e-01] [ 7.67860099e-03 -1.09993657e-04 9.99970513e-01 5.60932766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:0.13, Z:0.56 [[ 9.99114858e-01 -4.13590444e-02 -7.67660533e-03 1.08292609e+02] [ 4.13586765e-02 9.99144342e-01 -2.06741923e-04 1.30730907e-01] [ 7.67858743e-03 -1.10935310e-04 9.99970513e-01 5.61151598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:0.13, Z:0.56 [[ 9.99048746e-01 -4.29263791e-02 -7.67656678e-03 1.08320930e+02] [ 4.29260465e-02 9.99078231e-01 -2.08163494e-04 1.31609417e-01] [ 7.67842646e-03 -1.21559185e-04 9.99970513e-01 5.62080824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.35, Y:0.13, Z:0.56 [[ 9.98924880e-01 -4.57182071e-02 -7.67652807e-03 1.08348067e+02] [ 4.57179460e-02 9.98954366e-01 -2.09581298e-04 1.32143626e-01] [ 7.67808291e-03 -1.41599123e-04 9.99970513e-01 5.61474259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:0.13, Z:0.56 [[ 9.98871763e-01 -4.68644127e-02 -7.67650136e-03 1.08375905e+02] [ 4.68641779e-02 9.98901249e-01 -2.10555300e-04 1.33671097e-01] [ 7.67793434e-03 -1.49435182e-04 9.99970513e-01 5.63013893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:0.14, Z:0.56 [[ 9.98868014e-01 -4.69442430e-02 -7.67645986e-03 1.08402407e+02] [ 4.69439990e-02 9.98897500e-01 -2.12057383e-04 1.35993260e-01] [ 7.67795144e-03 -1.48546387e-04 9.99970513e-01 5.63336489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:0.14, Z:0.56 [[ 9.98906571e-01 -4.61165391e-02 -7.67644187e-03 1.08430393e+02] [ 4.61162657e-02 9.98936056e-01 -2.12706813e-04 1.39333239e-01] [ 7.67808387e-03 -1.41534600e-04 9.99970513e-01 5.64449203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.46, Y:0.14, Z:0.57 [[ 9.98995687e-01 -4.41439745e-02 -7.67640351e-03 1.08458765e+02] [ 4.41436324e-02 9.99025172e-01 -2.14082142e-04 1.42594226e-01] [ 7.67837077e-03 -1.24997198e-04 9.99970513e-01 5.65991043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:0.15, Z:0.57 [[ 9.99094940e-01 -4.18374746e-02 -7.67636226e-03 1.08486514e+02] [ 4.18370531e-02 9.99124424e-01 -2.15551017e-04 1.45860226e-01] [ 7.67865914e-03 -1.05800445e-04 9.99970513e-01 5.66966330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.51, Y:0.15, Z:0.56 [[ 9.99241215e-01 -3.81846545e-02 -7.67632059e-03 1.08513044e+02] [ 3.81841139e-02 9.99270697e-01 -2.17024912e-04 1.51359739e-01] [ 7.67900925e-03 -7.62532626e-05 9.99970513e-01 5.64835970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.54, Y:0.16, Z:0.56 [[ 9.99235971e-01 -3.83216434e-02 -7.67630237e-03 1.08540479e+02] [ 3.83211019e-02 9.99265453e-01 -2.17667801e-04 1.55012200e-01] [ 7.67900515e-03 -7.66628692e-05 9.99970513e-01 5.60167406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.825898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:108.57, Y:0.16, Z:0.56 [[ 9.99191855e-01 -3.94551978e-02 -7.67626355e-03 1.08569736e+02] [ 3.94546793e-02 9.99221337e-01 -2.19028190e-04 1.58498192e-01] [ 7.67892813e-03 -8.40133334e-05 9.99970513e-01 5.57762990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.60, Y:0.16, Z:0.56 [[ 9.99158182e-01 -4.02989084e-02 -7.67624377e-03 1.08597999e+02] [ 4.02984095e-02 9.99187665e-01 -2.19719349e-04 1.60552220e-01] [ 7.67886253e-03 -8.98060288e-05 9.99970513e-01 5.59346723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.63, Y:0.16, Z:0.57 [[ 9.98973015e-01 -4.46541474e-02 -7.67604706e-03 1.08626522e+02] [ 4.46537244e-02 9.99002499e-01 -2.26573341e-04 1.63490572e-01] [ 7.67850764e-03 -1.16423436e-04 9.99970513e-01 5.65361435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:0.17, Z:0.57 [[ 9.98870983e-01 -4.68810765e-02 -7.67620089e-03 1.08654892e+02] [ 4.68807602e-02 9.98900468e-01 -2.21235812e-04 1.65896334e-01] [ 7.67813244e-03 -1.38880100e-04 9.99970513e-01 5.68050689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.68, Y:0.17, Z:0.57 [[ 9.98816064e-01 -4.80369255e-02 -7.67615766e-03 1.08682724e+02] [ 4.80366319e-02 9.98845550e-01 -2.22725818e-04 1.68850453e-01] [ 7.67799498e-03 -1.46274635e-04 9.99970513e-01 5.68046314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97589822699999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:108.71, Y:0.17, Z:0.56 [[ 9.98806855e-01 -4.82280387e-02 -7.67611397e-03 1.08710795e+02] [ 4.82277392e-02 9.98836340e-01 -2.24221359e-04 1.72363360e-01] [ 7.67799535e-03 -1.46247792e-04 9.99970513e-01 5.62689621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:0.18, Z:0.56 [[ 9.98868963e-01 -4.69241095e-02 -7.67610044e-03 1.08738969e+02] [ 4.69237680e-02 9.98898448e-01 -2.24683924e-04 1.75616842e-01] [ 7.67818790e-03 -1.35761758e-04 9.99970513e-01 5.59619269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.77, Y:0.18, Z:0.56 [[ 9.98957464e-01 -4.50007037e-02 -7.67608732e-03 1.08768155e+02] [ 4.50003020e-02 9.98986948e-01 -2.25131248e-04 1.79310500e-01] [ 7.67844210e-03 -1.20529707e-04 9.99970513e-01 5.57053769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.80, Y:0.19, Z:0.56 [[ 9.99103945e-01 -4.16219260e-02 -7.67604999e-03 1.08796283e+02] [ 4.16214148e-02 9.99133428e-01 -2.26396747e-04 1.86307109e-01] [ 7.67882121e-03 -9.32941775e-05 9.99970513e-01 5.60243326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.83, Y:0.19, Z:0.56 [[ 9.99118718e-01 -4.12657830e-02 -7.67603620e-03 1.08825012e+02] [ 4.12652578e-02 9.99148201e-01 -2.26863339e-04 1.91083653e-01] [ 7.67885945e-03 -9.00902045e-05 9.99970513e-01 5.63438598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.85, Y:0.20, Z:0.57 [[ 9.99097950e-01 -4.17656102e-02 -7.67599745e-03 1.08851761e+02] [ 4.17650897e-02 9.99127432e-01 -2.28166948e-04 1.96209785e-01] [ 7.67882915e-03 -9.26275917e-05 9.99970513e-01 5.65720551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:0.20, Z:0.57 [[ 9.99053208e-01 -4.28224991e-02 -7.67596558e-03 1.08879467e+02] [ 4.28220015e-02 9.99082691e-01 -2.29234090e-04 2.01910416e-01] [ 7.67874073e-03 -9.96831568e-05 9.99970513e-01 5.66224078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.91, Y:0.21, Z:0.56 [[ 9.99000390e-01 -4.40374922e-02 -7.67592105e-03 1.08907597e+02] [ 4.40370191e-02 9.99029873e-01 -2.30715810e-04 2.06915051e-01] [ 7.67863458e-03 -1.07539498e-04 9.99970513e-01 5.64963053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:0.21, Z:0.56 [[ 9.98930871e-01 -4.55872369e-02 -7.67587639e-03 1.08933963e+02] [ 4.55867982e-02 9.98960355e-01 -2.32192078e-04 2.12417272e-01] [ 7.67848120e-03 -1.17974793e-04 9.99970513e-01 5.63251056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:0.22, Z:0.57 [[ 9.98703218e-01 -5.03285613e-02 -7.67584440e-03 1.08961938e+02] [ 5.03282545e-02 9.98732703e-01 -2.33244867e-04 2.24877389e-01] [ 7.67785570e-03 -1.53369451e-04 9.99970513e-01 5.65602549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.99, Y:0.23, Z:0.57 [[ 9.98576912e-01 -5.27753037e-02 -7.67580016e-03 1.08989861e+02] [ 5.27750580e-02 9.98606398e-01 -2.34691886e-04 2.32008357e-01] [ 7.67748908e-03 -1.70732899e-04 9.99970513e-01 5.69512911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.02, Y:0.24, Z:0.57 [[ 9.98466584e-01 -5.48230146e-02 -7.67575578e-03 1.09017264e+02] [ 5.48228183e-02 9.98496071e-01 -2.36134287e-04 2.38337423e-01] [ 7.67715758e-03 -1.85034369e-04 9.99970513e-01 5.73609022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.05, Y:0.24, Z:0.58 [[ 9.98356875e-01 -5.67858657e-02 -7.67571009e-03 1.09045144e+02] [ 5.67857160e-02 9.98386361e-01 -2.37610275e-04 2.44094063e-01] [ 7.67681717e-03 -1.98650842e-04 9.99970513e-01 5.76116251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36589822699999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:109.07, Y:0.25, Z:0.58 [[ 9.98248182e-01 -5.86655832e-02 -7.67566364e-03 1.09071694e+02] [ 5.86654776e-02 9.98277669e-01 -2.39101567e-04 2.49212642e-01] [ 7.67647064e-03 -2.11613769e-04 9.99970513e-01 5.75752421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.10, Y:0.26, Z:0.57 [[ 9.98007635e-01 -6.26246329e-02 -7.67563139e-03 1.09099539e+02] [ 6.26246363e-02 9.98037122e-01 -2.40132441e-04 2.59672188e-01] [ 7.67560327e-03 -2.41029614e-04 9.99970513e-01 5.72820686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.13, Y:0.27, Z:0.57 [[ 9.97931173e-01 -6.38314996e-02 -7.67558498e-03 1.09127422e+02] [ 6.38315274e-02 9.97960659e-01 -2.41606803e-04 2.66045354e-01] [ 7.67535397e-03 -2.48837353e-04 9.99970513e-01 5.70871619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.16, Y:0.27, Z:0.57 [[ 9.97872524e-01 -6.47418888e-02 -7.67557054e-03 1.09155349e+02] [ 6.47419400e-02 9.97902011e-01 -2.42064440e-04 2.72887956e-01] [ 7.67513899e-03 -2.55381874e-04 9.99970513e-01 5.70659319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:109.18, Y:0.28, Z:0.57 [[ 9.97859542e-01 -6.49416717e-02 -7.67552378e-03 1.09183357e+02] [ 6.49417174e-02 9.97889029e-01 -2.43538182e-04 2.79020415e-01] [ 7.67513675e-03 -2.55444798e-04 9.99970513e-01 5.69944807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.21, Y:0.29, Z:0.57 [[ 9.97925083e-01 -6.39266448e-02 -7.67550921e-03 1.09210795e+02] [ 6.39266571e-02 9.97954570e-01 -2.43996491e-04 2.89673591e-01] [ 7.67540737e-03 -2.47179427e-04 9.99970513e-01 5.74343511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.24, Y:0.29, Z:0.57 [[ 9.97921992e-01 -6.39748767e-02 -7.67546259e-03 1.09238472e+02] [ 6.39748791e-02 9.97951479e-01 -2.45454536e-04 2.94419387e-01] [ 7.67544217e-03 -2.46092312e-04 9.99970513e-01 5.74468663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.27, Y:0.30, Z:0.57 [[ 9.97884893e-01 -6.45509770e-02 -7.67541587e-03 1.09265396e+02] [ 6.45509853e-02 9.97914380e-01 -2.46906952e-04 2.98518333e-01] [ 7.67534595e-03 -2.49070939e-04 9.99970513e-01 5.73015771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.29, Y:0.30, Z:0.57 [[ 9.97805849e-01 -6.57615098e-02 -7.67536914e-03 1.09293053e+02] [ 6.57615427e-02 9.97835336e-01 -2.48351052e-04 3.02027892e-01] [ 7.67508648e-03 -2.56937983e-04 9.99970513e-01 5.71734539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:0.31, Z:0.57 [[ 9.97691160e-01 -6.74791665e-02 -7.67532307e-03 1.09320848e+02] [ 6.74792394e-02 9.97720647e-01 -2.49766697e-04 3.05180020e-01] [ 7.67468235e-03 -2.68734937e-04 9.99970513e-01 5.70162866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.35, Y:0.31, Z:0.57 [[ 9.97525703e-01 -6.98824836e-02 -7.67527691e-03 1.09348384e+02] [ 6.98826167e-02 9.97555190e-01 -2.51177365e-04 3.07713931e-01] [ 7.67406521e-03 -2.85812557e-04 9.99970513e-01 5.69766920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.38, Y:0.31, Z:0.57 [[ 9.97205558e-01 -7.43112839e-02 -7.67522838e-03 1.09375914e+02] [ 7.43115366e-02 9.97235043e-01 -2.52651410e-04 3.11525436e-01] [ 7.67278156e-03 -3.18412625e-04 9.99970513e-01 5.67042568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.40, Y:0.31, Z:0.57 [[ 9.97115859e-01 -7.55053322e-02 -7.67517966e-03 1.09402770e+02] [ 7.55056089e-02 9.97145345e-01 -2.54122994e-04 3.14013885e-01] [ 7.67245731e-03 -3.26129046e-04 9.99970513e-01 5.65013910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:109.43, Y:0.32, Z:0.56 [[ 9.97068921e-01 -7.61226561e-02 -7.67514594e-03 1.09430270e+02] [ 7.61229433e-02 9.97098407e-01 -2.55137465e-04 3.15555014e-01] [ 7.67229753e-03 -3.29865062e-04 9.99970513e-01 5.62790660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.46, Y:0.32, Z:0.56 [[ 9.97027510e-01 -7.66631351e-02 -7.67509843e-03 1.09459225e+02] [ 7.66634273e-02 9.97056996e-01 -2.56558765e-04 3.16276119e-01] [ 7.67217918e-03 -3.32603204e-04 9.99970513e-01 5.62822975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.49, Y:0.32, Z:0.56 [[ 9.96966059e-01 -7.74581921e-02 -7.67505526e-03 1.09487093e+02] [ 7.74584980e-02 9.96995544e-01 -2.57843753e-04 3.16762236e-01] [ 7.67196800e-03 -3.37436782e-04 9.99970513e-01 5.62577930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.51, Y:0.32, Z:0.56 [[ 9.96896913e-01 -7.83430836e-02 -7.67500529e-03 1.09514597e+02] [ 7.83434042e-02 9.96926398e-01 -2.59322570e-04 3.16924626e-01] [ 7.67173151e-03 -3.42768173e-04 9.99970513e-01 5.63913945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.54, Y:0.32, Z:0.57 [[ 9.96845319e-01 -7.89968682e-02 -7.67495490e-03 1.09542537e+02] [ 7.89971968e-02 9.96874804e-01 -2.60805470e-04 3.17875220e-01] [ 7.67157198e-03 -3.46317211e-04 9.99970513e-01 5.65009697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.57, Y:0.32, Z:0.57 [[ 9.96784855e-01 -7.97561785e-02 -7.67493928e-03 1.09570812e+02] [ 7.97565260e-02 9.96814340e-01 -2.61264453e-04 3.18928541e-01] [ 7.67132698e-03 -3.51702045e-04 9.99970513e-01 5.68422267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.60, Y:0.32, Z:0.57 [[ 9.96730637e-01 -8.04309178e-02 -7.67491572e-03 1.09599058e+02] [ 8.04312800e-02 9.96760122e-01 -2.61954752e-04 3.19899102e-01] [ 7.67111919e-03 -3.56204968e-04 9.99970513e-01 5.71064016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.63, Y:0.32, Z:0.57 [[ 9.96660320e-01 -8.12976232e-02 -7.67486575e-03 1.09627239e+02] [ 8.12979998e-02 9.96689804e-01 -2.63410528e-04 3.21219057e-01] [ 7.67087509e-03 -3.61420414e-04 9.99970513e-01 5.70990163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.65, Y:0.32, Z:0.57 [[ 9.96610888e-01 -8.19013701e-02 -7.67485023e-03 1.09654994e+02] [ 8.19017612e-02 9.96640372e-01 -2.63861953e-04 3.22762589e-01] [ 7.67067625e-03 -3.65616056e-04 9.99970513e-01 5.69848710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.68, Y:0.32, Z:0.57 [[ 9.96544729e-01 -8.27024858e-02 -7.67480027e-03 1.09682690e+02] [ 8.27028894e-02 9.96574213e-01 -2.65307244e-04 3.24119229e-01] [ 7.67044961e-03 -3.70337622e-04 9.99970513e-01 5.67978387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.71, Y:0.33, Z:0.56 [[ 9.96451385e-01 -8.38196553e-02 -7.67475000e-03 1.09710665e+02] [ 8.38200808e-02 9.96480869e-01 -2.66753588e-04 3.25692453e-01] [ 7.67010074e-03 -3.77491183e-04 9.99970513e-01 5.64222796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.74, Y:0.33, Z:0.56 [[ 9.96335635e-01 -8.51845120e-02 -7.67473434e-03 1.09738468e+02] [ 8.51849745e-02 9.96365118e-01 -2.67203235e-04 3.26817706e-01] [ 7.66959917e-03 -3.87547944e-04 9.99970513e-01 5.64791025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.77, Y:0.33, Z:0.56 [[ 9.96026930e-01 -8.87212108e-02 -7.67468464e-03 1.09766675e+02] [ 8.87217671e-02 9.96056412e-01 -2.68623433e-04 3.25985373e-01] [ 7.66825144e-03 -4.13355409e-04 9.99970513e-01 5.64625506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.80, Y:0.33, Z:0.56 [[ 9.95843444e-01 -9.07575634e-02 -7.67466088e-03 1.09795999e+02] [ 9.07581747e-02 9.95872924e-01 -2.69300506e-04 3.25709696e-01] [ 7.66742803e-03 -4.28357070e-04 9.99970513e-01 5.63769466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.82, Y:0.33, Z:0.56 [[ 9.95700149e-01 -9.23163765e-02 -7.67462064e-03 1.09824652e+02] [ 9.23170252e-02 9.95729629e-01 -2.70442260e-04 3.25883187e-01] [ 7.66681341e-03 -4.39218749e-04 9.99970513e-01 5.62212167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.85, Y:0.33, Z:0.56 [[ 9.95658588e-01 -9.27635566e-02 -7.67457742e-03 1.09852427e+02] [ 9.27642091e-02 9.95688067e-01 -2.71663391e-04 3.26136462e-01] [ 7.66668562e-03 -4.41442117e-04 9.99970513e-01 5.60642288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.88, Y:0.33, Z:0.56 [[ 9.95860189e-01 -9.05736485e-02 -7.67456204e-03 1.09881384e+02] [ 9.05742329e-02 9.95889670e-01 -2.72097137e-04 3.27081574e-01] [ 7.66766189e-03 -4.24146863e-04 9.99970513e-01 5.63670314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.265898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:109.91, Y:0.33, Z:0.57 [[ 9.96022899e-01 -8.87664693e-02 -7.67451890e-03 1.09910029e+02] [ 8.87669909e-02 9.96052381e-01 -2.73308617e-04 3.28649586e-01] [ 7.66848346e-03 -4.09022308e-04 9.99970513e-01 5.65985444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.94, Y:0.33, Z:0.57 [[ 9.96220463e-01 -8.65210514e-02 -7.67447530e-03 1.09938877e+02] [ 8.65214972e-02 9.96249946e-01 -2.74527439e-04 3.31401709e-01] [ 7.66944800e-03 -3.90517240e-04 9.99970513e-01 5.72910516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:0.33, Z:0.58 [[ 9.96389198e-01 -8.45557115e-02 -7.67442966e-03 1.09966563e+02] [ 8.45560894e-02 9.96418683e-01 -2.75797431e-04 3.34516889e-01] [ 7.67026534e-03 -3.74118178e-04 9.99970513e-01 5.76247150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:0.34, Z:0.58 [[ 9.96555135e-01 -8.25770275e-02 -7.67441335e-03 1.09994423e+02] [ 8.25773434e-02 9.96584621e-01 -2.76250586e-04 3.38042664e-01] [ 7.67101426e-03 -3.58433726e-04 9.99970513e-01 5.78788896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.02, Y:0.34, Z:0.58 [[ 9.96681316e-01 -8.10398548e-02 -7.67436233e-03 1.10022281e+02] [ 8.10401143e-02 9.96710802e-01 -2.77660756e-04 3.42256394e-01] [ 7.67162142e-03 -3.45191912e-04 9.99970513e-01 5.79704665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.05, Y:0.35, Z:0.58 [[ 9.96812137e-01 -7.94145394e-02 -7.67431114e-03 1.10048574e+02] [ 7.94147400e-02 9.96841623e-01 -2.79068447e-04 3.49414998e-01] [ 7.67223486e-03 -3.31274609e-04 9.99970513e-01 5.78386558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.08, Y:0.35, Z:0.58 [[ 9.96797611e-01 -7.95966557e-02 -7.67428887e-03 1.10077021e+02] [ 7.95968570e-02 9.96827097e-01 -2.79679378e-04 3.50633648e-01] [ 7.67220064e-03 -3.32065538e-04 9.99970513e-01 5.78605250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:0.35, Z:0.58 [[ 9.96759144e-01 -8.00769328e-02 -7.67423752e-03 1.10104234e+02] [ 8.00771376e-02 9.96788630e-01 -2.81081467e-04 3.54830060e-01] [ 7.67210084e-03 -3.34360451e-04 9.99970513e-01 5.78860442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.13, Y:0.36, Z:0.58 [[ 9.96685223e-01 -8.09918016e-02 -7.67421515e-03 1.10132177e+02] [ 8.09920288e-02 9.96714709e-01 -2.81690804e-04 3.59397242e-01] [ 7.67181777e-03 -3.40793192e-04 9.99970513e-01 5.78948798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53589822699999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:110.16, Y:0.36, Z:0.58 [[ 9.96623354e-01 -8.17495964e-02 -7.67416423e-03 1.10159021e+02] [ 8.17498354e-02 9.96652840e-01 -2.83071203e-04 3.63775811e-01] [ 7.67161854e-03 -3.45246290e-04 9.99970513e-01 5.75293220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.19, Y:0.37, Z:0.58 [[ 9.96538819e-01 -8.27737247e-02 -7.67414195e-03 1.10187118e+02] [ 8.27739893e-02 9.96568305e-01 -2.83673906e-04 3.69966433e-01] [ 7.67128738e-03 -3.52527284e-04 9.99970513e-01 5.76565354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.21, Y:0.38, Z:0.58 [[ 9.96418781e-01 -8.42064202e-02 -7.67409109e-03 1.10214599e+02] [ 8.42067167e-02 9.96448266e-01 -2.85043180e-04 3.75779877e-01] [ 7.67083723e-03 -3.62187637e-04 9.99970513e-01 5.75057878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.24, Y:0.38, Z:0.57 [[ 9.96060836e-01 -8.83398001e-02 -7.67404014e-03 1.10241961e+02] [ 8.83402085e-02 9.96090320e-01 -2.86408528e-04 3.84980414e-01] [ 7.66933837e-03 -3.92645988e-04 9.99970513e-01 5.71591715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.27, Y:0.39, Z:0.57 [[ 9.95825532e-01 -9.09539347e-02 -7.67402437e-03 1.10270954e+02] [ 9.09544171e-02 9.95855015e-01 -2.86830336e-04 3.89638486e-01] [ 7.66830401e-03 -4.12353442e-04 9.99970513e-01 5.69916082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.30, Y:0.39, Z:0.57 [[ 9.95595322e-01 -9.34401697e-02 -7.67398028e-03 1.10299151e+02] [ 9.34407168e-02 9.95624804e-01 -2.88005294e-04 3.93816241e-01] [ 7.66731637e-03 -4.30325494e-04 9.99970513e-01 5.69053379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.33, Y:0.40, Z:0.57 [[ 9.95406686e-01 -9.54287218e-02 -7.67393008e-03 1.10326471e+02] [ 9.54293175e-02 9.95436167e-01 -2.89336488e-04 3.98068412e-01] [ 7.66651856e-03 -4.44310436e-04 9.99970513e-01 5.72063085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74589822699998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:110.35, Y:0.40, Z:0.57 [[ 9.95317056e-01 -9.63590626e-02 -7.67387464e-03 1.10354432e+02] [ 9.63596747e-02 9.95346537e-01 -2.90799539e-04 4.01398297e-01] [ 7.66618572e-03 -4.50014322e-04 9.99970513e-01 5.71051225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.38, Y:0.41, Z:0.58 [[ 9.95286198e-01 -9.66772801e-02 -7.67385737e-03 1.10381623e+02] [ 9.66778981e-02 9.95315678e-01 -2.91254714e-04 4.08463333e-01] [ 7.66606826e-03 -4.52010603e-04 9.99970513e-01 5.76167715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:0.41, Z:0.58 [[ 9.95316920e-01 -9.63604694e-02 -7.67384057e-03 1.10409112e+02] [ 9.63610746e-02 9.95346401e-01 -2.91696670e-04 4.13117821e-01] [ 7.66623762e-03 -4.49128891e-04 9.99970513e-01 5.78359050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.44, Y:0.42, Z:0.58 [[ 9.95400570e-01 -9.54925004e-02 -7.67378554e-03 1.10435749e+02] [ 9.54930688e-02 9.95430052e-01 -2.93137065e-04 4.17973020e-01] [ 7.66670913e-03 -4.41004529e-04 9.99970513e-01 5.78392439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:110.46, Y:0.42, Z:0.58 [[ 9.95455006e-01 -9.49233576e-02 -7.67374596e-03 1.10463244e+02] [ 9.49239012e-02 9.95484488e-01 -2.94169761e-04 4.22810799e-01] [ 7.66701865e-03 -4.35589142e-04 9.99970513e-01 5.75983362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.49, Y:0.43, Z:0.58 [[ 9.95481846e-01 -9.46414746e-02 -7.67372892e-03 1.10491513e+02] [ 9.46420064e-02 9.95511328e-01 -2.94613543e-04 4.30131319e-01] [ 7.66716673e-03 -4.32974668e-04 9.99970513e-01 5.76285654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.52, Y:0.43, Z:0.58 [[ 9.95387141e-01 -9.56323870e-02 -7.67368073e-03 1.10518900e+02] [ 9.56329386e-02 9.95416623e-01 -2.95863474e-04 4.33261375e-01] [ 7.66680349e-03 -4.39357940e-04 9.99970513e-01 5.78040465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.55, Y:0.44, Z:0.58 [[ 9.95168558e-01 -9.78808254e-02 -7.67365480e-03 1.10546097e+02] [ 9.78814384e-02 9.95198039e-01 -2.96534457e-04 4.36254504e-01] [ 7.66583124e-03 -4.56006602e-04 9.99970513e-01 5.80270996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.57, Y:0.44, Z:0.58 [[ 9.94793064e-01 -1.01626158e-01 -7.67362551e-03 1.10574737e+02] [ 1.01626876e-01 9.94822542e-01 -2.97290388e-04 4.38919232e-01] [ 7.66410812e-03 -4.84104174e-04 9.99970513e-01 5.81655785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.60, Y:0.44, Z:0.58 [[ 9.94330193e-01 -1.06059343e-01 -7.67357812e-03 1.10602075e+02] [ 1.06060183e-01 9.94359668e-01 -2.98508537e-04 4.40224041e-01] [ 7.66195621e-03 -5.17045047e-04 9.99970513e-01 5.80006022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.63, Y:0.44, Z:0.57 [[ 9.93147192e-01 -1.16618062e-01 -7.67356126e-03 1.10630694e+02] [ 1.16619212e-01 9.93176656e-01 -2.98941479e-04 4.38174196e-01] [ 7.65606389e-03 -5.97991778e-04 9.99970513e-01 5.73701317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.66, Y:0.44, Z:0.57 [[ 9.92554694e-01 -1.21557791e-01 -7.67351334e-03 1.10658384e+02] [ 1.21559078e-01 9.92584153e-01 -3.00166519e-04 4.36732476e-01] [ 7.65309531e-03 -6.34853519e-04 9.99970513e-01 5.72487541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10589822699998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.69, Y:0.44, Z:0.57 [[ 9.92036312e-01 -1.25718229e-01 -7.67349634e-03 1.10686994e+02] [ 1.25719636e-01 9.92065765e-01 -3.00600321e-04 4.35388755e-01] [ 7.65040396e-03 -6.66502737e-04 9.99970513e-01 5.74897097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.72, Y:0.43, Z:0.58 [[ 9.91680733e-01 -1.28492962e-01 -7.67344640e-03 1.10715037e+02] [ 1.28494442e-01 9.91710183e-01 -3.01869770e-04 4.34391566e-01] [ 7.64862308e-03 -6.86636783e-04 9.99970513e-01 5.78043238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.74, Y:0.43, Z:0.58 [[ 9.91414724e-01 -1.30529554e-01 -7.67342001e-03 1.10743464e+02] [ 1.30531089e-01 9.91444170e-01 -3.02539133e-04 4.32929281e-01] [ 7.64725784e-03 -7.01678123e-04 9.99970513e-01 5.81371799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.77, Y:0.43, Z:0.58 [[ 9.91296498e-01 -1.31424395e-01 -7.67337062e-03 1.10771534e+02] [ 1.31425947e-01 9.91325944e-01 -3.03786796e-04 4.27426779e-01] [ 7.64673637e-03 -7.07337217e-04 9.99970513e-01 5.80588401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.80, Y:0.42, Z:0.58 [[ 9.91375738e-01 -1.30825327e-01 -7.67335308e-03 1.10799594e+02] [ 1.30826858e-01 9.91405185e-01 -3.04229113e-04 4.24372148e-01] [ 7.64720291e-03 -7.02275311e-04 9.99970513e-01 5.79778164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.83, Y:0.42, Z:0.58 [[ 9.91461164e-01 -1.30176346e-01 -7.67333568e-03 1.10827766e+02] [ 1.30177855e-01 9.91490612e-01 -3.04667303e-04 4.21211458e-01] [ 7.64770077e-03 -6.96832581e-04 9.99970513e-01 5.81092590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.86, Y:0.42, Z:0.58 [[ 9.91547179e-01 -1.29519548e-01 -7.67327973e-03 1.10855190e+02] [ 1.29521026e-01 9.91576628e-01 -3.06070216e-04 4.18504419e-01] [ 7.64828692e-03 -6.90368003e-04 9.99970513e-01 5.81383204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.88, Y:0.42, Z:0.58 [[ 9.91594392e-01 -1.29157589e-01 -7.67325531e-03 1.10883293e+02] [ 1.29159052e-01 9.91623843e-01 -3.06681026e-04 4.15769962e-01] [ 7.64859310e-03 -6.86967195e-04 9.99970513e-01 5.81463134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.91, Y:0.41, Z:0.58 [[ 9.91599846e-01 -1.29115711e-01 -7.67319912e-03 1.10909848e+02] [ 1.29117162e-01 9.91629297e-01 -3.08080707e-04 4.12559250e-01] [ 7.64874711e-03 -6.85248912e-04 9.99970513e-01 5.77472420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:0.40, Z:0.58 [[ 9.91419550e-01 -1.30492927e-01 -7.67273455e-03 1.10939160e+02] [ 1.30494331e-01 9.91449004e-01 -3.19595541e-04 4.04803497e-01] [ 7.64882999e-03 -6.84395091e-04 9.99970513e-01 5.76771797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.97, Y:0.40, Z:0.58 [[ 9.91418430e-01 -1.30501420e-01 -7.67312793e-03 1.10966738e+02] [ 1.30502899e-01 9.91447879e-01 -3.09854149e-04 4.01611379e-01] [ 7.64794282e-03 -6.94170324e-04 9.99970513e-01 5.76536419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.00, Y:0.40, Z:0.58 [[ 9.91346371e-01 -1.31047714e-01 -7.67265877e-03 1.10997140e+02] [ 1.31049120e-01 9.91375824e-01 -3.21430622e-04 3.98518515e-01] [ 7.64861116e-03 -6.86846098e-04 9.99970513e-01 5.81099023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:0.40, Z:0.58 [[ 9.91311688e-01 -1.31309789e-01 -7.67307374e-03 1.11026269e+02] [ 1.31311281e-01 9.91341137e-01 -3.11198796e-04 3.95168763e-01] [ 7.64749710e-03 -6.99066141e-04 9.99970513e-01 5.83645855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.05, Y:0.39, Z:0.58 [[ 9.91242998e-01 -1.31827325e-01 -7.67302415e-03 1.11054526e+02] [ 1.31828823e-01 9.91272447e-01 -3.12416858e-04 3.91258956e-01] [ 7.64724250e-03 -7.01844723e-04 9.99970513e-01 5.84961397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.08, Y:0.38, Z:0.59 [[ 9.91032937e-01 -1.33397309e-01 -7.67299771e-03 1.11082532e+02] [ 1.33398849e-01 9.91062384e-01 -3.13064743e-04 3.82969689e-01] [ 7.64618140e-03 -7.13311593e-04 9.99970513e-01 5.86579464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.11, Y:0.38, Z:0.59 [[ 9.90978827e-01 -1.33798693e-01 -7.67294165e-03 1.11110254e+02] [ 1.33800234e-01 9.91008274e-01 -3.14432956e-04 3.80157264e-01] [ 7.64601937e-03 -7.15044984e-04 9.99970513e-01 5.85807659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.14, Y:0.38, Z:0.58 [[ 9.90992965e-01 -1.33693939e-01 -7.67288471e-03 1.11138350e+02] [ 1.33695466e-01 9.91022413e-01 -3.15816155e-04 3.77949961e-01] [ 7.64622343e-03 -7.12858309e-04 9.99970513e-01 5.84791949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.17, Y:0.38, Z:0.59 [[ 9.91018775e-01 -1.33502494e-01 -7.67282725e-03 1.11166409e+02] [ 1.33504005e-01 9.91048223e-01 -3.17206084e-04 3.76086668e-01] [ 7.64648962e-03 -7.09995981e-04 9.99970513e-01 5.85017973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.19, Y:0.37, Z:0.58 [[ 9.91158030e-01 -1.32464666e-01 -7.67276755e-03 1.11193891e+02] [ 1.32466135e-01 9.91187481e-01 -3.18643711e-04 3.71652907e-01] [ 7.64736017e-03 -7.00555591e-04 9.99970513e-01 5.83950137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.22, Y:0.37, Z:0.58 [[ 9.91217189e-01 -1.32021258e-01 -7.67274153e-03 1.11222037e+02] [ 1.32022709e-01 9.91246641e-01 -3.19268979e-04 3.70311961e-01] [ 7.64772956e-03 -6.96511221e-04 9.99970513e-01 5.84225567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.25, Y:0.37, Z:0.58 [[ 9.91359418e-01 -1.30948975e-01 -7.67268394e-03 1.11249594e+02] [ 1.30950384e-01 9.91388871e-01 -3.20646962e-04 3.69158627e-01] [ 7.64860187e-03 -6.86864519e-04 9.99970513e-01 5.83572412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:0.37, Z:0.58 [[ 9.91538239e-01 -1.29588010e-01 -7.67262646e-03 1.11277701e+02] [ 1.29589368e-01 9.91567694e-01 -3.22016499e-04 3.68009208e-01] [ 7.64965801e-03 -6.74999140e-04 9.99970513e-01 5.83409642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.31, Y:0.37, Z:0.58 [[ 9.91747733e-01 -1.27974864e-01 -7.67257204e-03 1.11306194e+02] [ 1.27976164e-01 9.91777191e-01 -3.23308092e-04 3.67119795e-01] [ 7.65085726e-03 -6.61266271e-04 9.99970513e-01 5.83680391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.33, Y:0.37, Z:0.58 [[ 9.92028554e-01 -1.25779494e-01 -7.67251274e-03 1.11334042e+02] [ 1.25780718e-01 9.92058015e-01 -3.24709316e-04 3.66543773e-01] [ 7.65241953e-03 -6.42933249e-04 9.99970513e-01 5.84136625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.36, Y:0.37, Z:0.59 [[ 9.92855996e-01 -1.19071844e-01 -7.67245352e-03 1.11362504e+02] [ 1.19072858e-01 9.92885466e-01 -3.26102571e-04 3.65302048e-01] [ 7.65669722e-03 -5.89808079e-04 9.99970513e-01 5.89614980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.39, Y:0.37, Z:0.59 [[ 9.93329134e-01 -1.15058102e-01 -7.67239907e-03 1.11389208e+02] [ 1.15058987e-01 9.93358607e-01 -3.27378760e-04 3.66791522e-01] [ 7.65911123e-03 -5.57583607e-04 9.99970513e-01 5.88964593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.42, Y:0.37, Z:0.59 [[ 9.93829966e-01 -1.10648694e-01 -7.67235637e-03 1.11417307e+02] [ 1.10649441e-01 9.93859444e-01 -3.28376298e-04 3.69663871e-01] [ 7.66157824e-03 -5.22591735e-04 9.99970513e-01 5.88997086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.45, Y:0.37, Z:0.59 [[ 9.94327804e-01 -1.06081825e-01 -7.67229638e-03 1.11445136e+02] [ 1.06082425e-01 9.94357285e-01 -3.29771944e-04 3.73581904e-01] [ 7.66398661e-03 -4.85994394e-04 9.99970513e-01 5.88682419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:0.38, Z:0.59 [[ 9.94764602e-01 -1.01904482e-01 -7.67223399e-03 1.11473255e+02] [ 1.01904948e-01 9.94794085e-01 -3.31217229e-04 3.78152038e-01] [ 7.66604551e-03 -4.52355431e-04 9.99970513e-01 5.88064711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:0.38, Z:0.59 [[ 9.95432823e-01 -9.51558296e-02 -7.67217116e-03 1.11500892e+02] [ 9.51560842e-02 9.95462309e-01 -3.32666173e-04 3.84692640e-01] [ 7.66901235e-03 -3.98906937e-04 9.99970513e-01 5.86458213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.53, Y:0.39, Z:0.59 [[ 9.95531314e-01 -9.41198289e-02 -7.67210814e-03 1.11528878e+02] [ 9.41200418e-02 9.95560800e-01 -3.34113321e-04 3.88327891e-01] [ 7.66949681e-03 -3.89478865e-04 9.99970513e-01 5.86205437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.56, Y:0.39, Z:0.59 [[ 9.95477593e-01 -9.46863331e-02 -7.67204521e-03 1.11555729e+02] [ 9.46865517e-02 9.95507079e-01 -3.35552099e-04 3.91858349e-01] [ 7.66934752e-03 -3.92404909e-04 9.99970513e-01 5.85422060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:0.39, Z:0.59 [[ 9.95319020e-01 -9.63389246e-02 -7.67200153e-03 1.11584018e+02] [ 9.63391844e-02 9.95348506e-01 -3.36547857e-04 3.94985032e-01] [ 7.66873792e-03 -4.04141888e-04 9.99970513e-01 5.87170110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.61, Y:0.40, Z:0.59 [[ 9.95103438e-01 -9.85408026e-02 -7.67193985e-03 1.11610777e+02] [ 9.85411169e-02 9.95132923e-01 -3.37948080e-04 3.98052316e-01] [ 7.66790160e-03 -4.19708225e-04 9.99970513e-01 5.87744665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:0.40, Z:0.59 [[ 9.94479972e-01 -1.04645721e-01 -7.67191310e-03 1.11638845e+02] [ 1.04646212e-01 9.94509455e-01 -3.38554245e-04 4.04496691e-01] [ 7.66521837e-03 -4.66151227e-04 9.99970513e-01 5.89581219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:0.41, Z:0.59 [[ 9.94135823e-01 -1.07866154e-01 -7.67185860e-03 1.11666316e+02] [ 1.07866730e-01 9.94165305e-01 -3.39784736e-04 4.09416446e-01] [ 7.66374692e-03 -4.89746124e-04 9.99970513e-01 5.89353098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:0.41, Z:0.59 [[ 9.93849524e-01 -1.10472929e-01 -7.67179604e-03 1.11694294e+02] [ 1.10473572e-01 9.93879003e-01 -3.41191513e-04 4.13843433e-01] [ 7.66252943e-03 -5.08437690e-04 9.99970513e-01 5.89296531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.72, Y:0.42, Z:0.59 [[ 9.93640262e-01 -1.12339551e-01 -7.67172950e-03 1.11721673e+02] [ 1.12340238e-01 9.93669741e-01 -3.42681280e-04 4.17419025e-01] [ 7.66166212e-03 -5.21342000e-04 9.99970513e-01 5.87322470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.75, Y:0.42, Z:0.59 [[ 9.93469126e-01 -1.13843054e-01 -7.67170887e-03 1.11749091e+02] [ 1.13843782e-01 9.93498604e-01 -3.43142306e-04 4.20154790e-01] [ 7.66089642e-03 -5.32475067e-04 9.99970513e-01 5.86114970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.78, Y:0.42, Z:0.59 [[ 9.93192887e-01 -1.16228376e-01 -7.67164420e-03 1.11776742e+02] [ 1.16229164e-01 9.93222363e-01 -3.44582299e-04 4.24116206e-01] [ 7.65969882e-03 -5.49432100e-04 9.99970513e-01 5.89679480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:0.43, Z:0.59 [[ 9.92975660e-01 -1.18069847e-01 -7.67134639e-03 1.11805130e+02] [ 1.18070638e-01 9.93005136e-01 -3.51194808e-04 4.27358559e-01] [ 7.65915188e-03 -5.57032867e-04 9.99970513e-01 5.87949444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:0.43, Z:0.59 [[ 9.92954406e-01 -1.18248443e-01 -7.67156472e-03 1.11833566e+02] [ 1.18249277e-01 9.92983881e-01 -3.46358910e-04 4.28809309e-01] [ 7.65869651e-03 -5.63238378e-04 9.99970513e-01 5.88167874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:0.43, Z:0.59 [[ 9.92696933e-01 -1.20390812e-01 -7.67150216e-03 1.11861869e+02] [ 1.20391699e-01 9.92726406e-01 -3.47739048e-04 4.31978708e-01] [ 7.65756736e-03 -5.78385695e-04 9.99970513e-01 5.88736894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:0.43, Z:0.59 [[ 9.92170625e-01 -1.24653916e-01 -7.67146257e-03 1.11888996e+02] [ 1.24654923e-01 9.92200095e-01 -3.48610213e-04 4.33148640e-01] [ 7.65508152e-03 -6.10404760e-04 9.99970513e-01 5.90658511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:0.43, Z:0.59 [[ 9.91786906e-01 -1.27671047e-01 -7.67057826e-03 1.11919069e+02] [ 1.27671995e-01 9.91816377e-01 -3.68025366e-04 4.34004874e-01] [ 7.65479133e-03 -6.14315287e-04 9.99970513e-01 5.86505726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.95, Y:0.43, Z:0.59 [[ 9.91484892e-01 -1.29995606e-01 -7.67142202e-03 1.11946614e+02] [ 1.29996765e-01 9.91514356e-01 -3.49505366e-04 4.34551416e-01] [ 7.65175923e-03 -6.50730755e-04 9.99970513e-01 5.86220692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.97, Y:0.44, Z:0.59 [[ 9.91320386e-01 -1.31244209e-01 -7.67135828e-03 1.11974679e+02] [ 1.31245395e-01 9.91349849e-01 -3.50898865e-04 4.35452283e-01] [ 7.65105332e-03 -6.58977245e-04 9.99970513e-01 5.86662634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.00, Y:0.44, Z:0.59 [[ 9.91228636e-01 -1.31935369e-01 -7.67133849e-03 1.12003506e+02] [ 1.31936571e-01 9.91258098e-01 -3.51331052e-04 4.37078745e-01] [ 7.65062939e-03 -6.63880699e-04 9.99970513e-01 5.89133823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:0.44, Z:0.59 [[ 9.91217459e-01 -1.32019322e-01 -7.67128071e-03 1.12031417e+02] [ 1.32020517e-01 9.91246921e-01 -3.52588036e-04 4.39238612e-01] [ 7.65068182e-03 -6.63275029e-04 9.99970513e-01 5.89083527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:0.44, Z:0.59 [[ 9.91371317e-01 -1.30858945e-01 -7.67126014e-03 1.12059556e+02] [ 1.30860102e-01 9.91400781e-01 -3.53035109e-04 4.41112908e-01] [ 7.65149110e-03 -6.53873005e-04 9.99970513e-01 5.92197017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:0.44, Z:0.59 [[ 9.91909327e-01 -1.26716377e-01 -7.67119332e-03 1.12087898e+02] [ 1.26717400e-01 9.91938796e-01 -3.54481021e-04 4.42845345e-01] [ 7.65427282e-03 -6.20460640e-04 9.99970513e-01 5.92182864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:0.44, Z:0.59 [[ 9.92220060e-01 -1.24259835e-01 -7.67113457e-03 1.12115765e+02] [ 1.24260775e-01 9.92249532e-01 -3.55747989e-04 4.44510887e-01] [ 7.65588487e-03 -6.00240839e-04 9.99970513e-01 5.91490264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:0.45, Z:0.59 [[ 9.92483773e-01 -1.22135638e-01 -7.67111361e-03 1.12143416e+02] [ 1.22136512e-01 9.92513247e-01 -3.56199446e-04 4.47399096e-01] [ 7.65718652e-03 -5.83400886e-04 9.99970513e-01 5.92967218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:0.45, Z:0.60 [[ 9.92984582e-01 -1.17994809e-01 -7.67109334e-03 1.12170958e+02] [ 1.17995556e-01 9.93014059e-01 -3.56635254e-04 4.53199847e-01] [ 7.65958465e-03 -5.51021619e-04 9.99970513e-01 5.95409583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:0.46, Z:0.60 [[ 9.93183119e-01 -1.16311853e-01 -7.67107321e-03 1.12199210e+02] [ 1.16312547e-01 9.93212598e-01 -3.57067798e-04 4.57106149e-01] [ 7.66053777e-03 -5.37608357e-04 9.99970513e-01 5.95206699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:0.46, Z:0.59 [[ 9.93320503e-01 -1.15132680e-01 -7.67100576e-03 1.12227087e+02] [ 1.15133329e-01 9.93349983e-01 -3.58511077e-04 4.61162459e-01] [ 7.66126978e-03 -5.27072024e-04 9.99970513e-01 5.92218960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.26, Y:0.47, Z:0.59 [[ 9.93379170e-01 -1.14625396e-01 -7.67098476e-03 1.12256262e+02] [ 1.14626026e-01 9.93408650e-01 -3.58959731e-04 4.65071839e-01] [ 7.66156852e-03 -5.22711381e-04 9.99970513e-01 5.90841951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:0.47, Z:0.59 [[ 9.93353744e-01 -1.14845530e-01 -7.67095620e-03 1.12283656e+02] [ 1.14846162e-01 9.93383224e-01 -3.59569153e-04 4.69243978e-01] [ 7.66149411e-03 -5.23800514e-04 9.99970513e-01 5.90405444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.31, Y:0.48, Z:0.60 [[ 9.93132961e-01 -1.16739357e-01 -7.67093575e-03 1.12311820e+02] [ 1.16740042e-01 9.93162440e-01 -3.60004924e-04 4.75464203e-01] [ 7.66051201e-03 -5.37972604e-04 9.99970513e-01 5.97944958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.34, Y:0.48, Z:0.60 [[ 9.93078825e-01 -1.17199000e-01 -7.67087627e-03 1.12340538e+02] [ 1.17199688e-01 9.93108304e-01 -3.61267870e-04 4.79149328e-01] [ 7.66035115e-03 -5.40256837e-04 9.99970513e-01 6.00694027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.37, Y:0.48, Z:0.60 [[ 9.93090300e-01 -1.17101729e-01 -7.67081693e-03 1.12367656e+02] [ 1.17102405e-01 9.93119779e-01 -3.62523469e-04 4.83289438e-01] [ 7.66049214e-03 -5.38252572e-04 9.99970513e-01 6.01716513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.40, Y:0.49, Z:0.60 [[ 9.93182472e-01 -1.16317394e-01 -7.67078737e-03 1.12395197e+02] [ 1.16318042e-01 9.93211952e-01 -3.63147852e-04 4.87379252e-01] [ 7.66095811e-03 -5.31578883e-04 9.99970513e-01 6.00945191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.42, Y:0.49, Z:0.60 [[ 9.93356314e-01 -1.14823311e-01 -7.67072034e-03 1.12422704e+02] [ 1.14823903e-01 9.93385795e-01 -3.64558136e-04 4.91508970e-01] [ 7.66184440e-03 -5.18645924e-04 9.99970513e-01 5.99423997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.45, Y:0.50, Z:0.60 [[ 9.93567997e-01 -1.12976971e-01 -7.67069950e-03 1.12451653e+02] [ 1.12977505e-01 9.93597479e-01 -3.64996203e-04 4.95673718e-01] [ 7.66282385e-03 -5.03967946e-04 9.99970513e-01 5.98784673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.48, Y:0.50, Z:0.60 [[ 9.94086428e-01 -1.08320520e-01 -7.67064005e-03 1.12478980e+02] [ 1.08320907e-01 9.94115912e-01 -3.66241212e-04 5.03002721e-01] [ 7.66517677e-03 -4.66815266e-04 9.99970513e-01 5.98605016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05589822699999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:112.51, Y:0.51, Z:0.60 [[ 9.94286654e-01 -1.06466949e-01 -7.67061893e-03 1.12507573e+02] [ 1.06467278e-01 9.94316139e-01 -3.66683103e-04 5.07149711e-01] [ 7.66605983e-03 -4.52081801e-04 9.99970513e-01 5.98288974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:0.51, Z:0.60 [[ 9.94421281e-01 -1.05202085e-01 -7.67056101e-03 1.12535051e+02] [ 1.05202366e-01 9.94450766e-01 -3.67890665e-04 5.12334057e-01] [ 7.66669814e-03 -4.41122862e-04 9.99970513e-01 6.01877611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.56, Y:0.52, Z:0.60 [[ 9.94502985e-01 -1.04426891e-01 -7.67049482e-03 1.12563264e+02] [ 1.04427139e-01 9.94532471e-01 -3.69265681e-04 5.17669675e-01] [ 7.66711743e-03 -4.33772010e-04 9.99970513e-01 6.03145379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.59, Y:0.53, Z:0.60 [[ 9.94715058e-01 -1.02387096e-01 -7.67042722e-03 1.12591133e+02] [ 1.02387273e-01 9.94744545e-01 -3.70664633e-04 5.26658688e-01] [ 7.66806690e-03 -4.16648430e-04 9.99970513e-01 6.01058030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.62, Y:0.53, Z:0.60 [[ 9.94805479e-01 -1.01504799e-01 -7.67040620e-03 1.12619126e+02] [ 1.01504947e-01 9.94834965e-01 -3.71099010e-04 5.30897891e-01] [ 7.66845662e-03 -4.09412845e-04 9.99970513e-01 5.99313375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.65, Y:0.53, Z:0.60 [[ 9.94942459e-01 -1.00153224e-01 -7.67033927e-03 1.12646957e+02] [ 1.00153321e-01 9.94971946e-01 -3.72477321e-04 5.34913968e-01] [ 7.66907719e-03 -3.97616450e-04 9.99970513e-01 6.01004051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.68, Y:0.54, Z:0.60 [[ 9.95014169e-01 -9.94383462e-02 -7.66940478e-03 1.12675613e+02] [ 9.94382744e-02 9.95043655e-01 -3.91631559e-04 5.39374654e-01] [ 7.67033576e-03 -3.72953426e-04 9.99970513e-01 6.00452122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.70, Y:0.54, Z:0.60 [[ 9.95067687e-01 -9.89012936e-02 -7.67025614e-03 1.12703938e+02] [ 9.89013401e-02 9.95097174e-01 -3.74179580e-04 5.44401795e-01] [ 7.66965705e-03 -3.86264603e-04 9.99970513e-01 6.02457106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.73, Y:0.55, Z:0.60 [[ 9.95123520e-01 -9.83379236e-02 -7.67019655e-03 1.12731153e+02] [ 9.83379440e-02 9.95153007e-01 -3.75397192e-04 5.48540786e-01] [ 7.66993494e-03 -3.80704783e-04 9.99970513e-01 6.02748209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.76, Y:0.55, Z:0.60 [[ 9.95148141e-01 -9.80884545e-02 -7.67017542e-03 1.12759893e+02] [ 9.80884642e-02 9.95177628e-01 -3.75828314e-04 5.52261130e-01] [ 7.67005140e-03 -3.78350879e-04 9.99970513e-01 6.01963760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:0.55, Z:0.60 [[ 9.95186776e-01 -9.76957007e-02 -7.67011550e-03 1.12788575e+02] [ 9.76956894e-02 9.95216263e-01 -3.77047326e-04 5.54470923e-01] [ 7.67025959e-03 -3.74104709e-04 9.99970513e-01 6.00742204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:0.56, Z:0.60 [[ 9.95287838e-01 -9.66606985e-02 -7.67005529e-03 1.12816838e+02] [ 9.66606472e-02 9.95317324e-01 -3.78268088e-04 5.56924246e-01] [ 7.67070257e-03 -3.64906881e-04 9.99970513e-01 5.99174483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:0.56, Z:0.60 [[ 9.95675038e-01 -9.25871995e-02 -7.66999517e-03 1.12845945e+02] [ 9.25870181e-02 9.95704524e-01 -3.79483389e-04 5.59745105e-01] [ 7.67218419e-03 -3.32299844e-04 9.99970513e-01 5.98989590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.87, Y:0.56, Z:0.60 [[ 9.95899337e-01 -9.01425645e-02 -7.66993272e-03 1.12874170e+02] [ 9.01423011e-02 9.95928823e-01 -3.80741277e-04 5.60603292e-01] [ 7.67302806e-03 -3.12205399e-04 9.99970513e-01 6.00029442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.90, Y:0.56, Z:0.60 [[ 9.96132983e-01 -8.75228654e-02 -7.66991561e-03 1.12903354e+02] [ 8.75225218e-02 9.96162468e-01 -3.81085623e-04 5.61364260e-01] [ 7.67383577e-03 -2.91678398e-04 9.99970513e-01 6.01616949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.93, Y:0.56, Z:0.60 [[ 9.96405547e-01 -8.43632481e-02 -7.66990682e-03 1.12932116e+02] [ 8.43628096e-02 9.96435031e-01 -3.81262505e-04 5.62218948e-01] [ 7.67472838e-03 -2.67162814e-04 9.99970513e-01 6.02463147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53589822699999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:112.96, Y:0.56, Z:0.60 [[ 9.96629940e-01 -8.16696739e-02 -7.66989806e-03 1.12961467e+02] [ 8.16691543e-02 9.96659422e-01 -3.81438611e-04 5.63142225e-01] [ 7.67542814e-03 -2.46240949e-04 9.99970513e-01 6.00958171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.99, Y:0.56, Z:0.60 [[ 9.96879552e-01 -7.85641886e-02 -7.66988898e-03 1.12989691e+02] [ 7.85635758e-02 9.96909032e-01 -3.81621247e-04 5.64273952e-01] [ 7.67616336e-03 -2.22143486e-04 9.99970513e-01 6.02452678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.02, Y:0.56, Z:0.60 [[ 9.97308000e-01 -7.29241169e-02 -7.66987214e-03 1.13019418e+02] [ 7.29233348e-02 9.97337476e-01 -3.81959375e-04 5.63460379e-01] [ 7.67730497e-03 -1.78381513e-04 9.99970513e-01 6.04061777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.05, Y:0.56, Z:0.61 [[ 9.97508837e-01 -7.01234219e-02 -7.66986302e-03 1.13048787e+02] [ 7.01225555e-02 9.97538311e-01 -3.82142343e-04 5.63746535e-01] [ 7.67777933e-03 -1.56640032e-04 9.99970513e-01 6.06388543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.08, Y:0.56, Z:0.61 [[ 9.97706112e-01 -6.72583639e-02 -7.66985849e-03 1.13078196e+02] [ 6.72574123e-02 9.97735583e-01 -3.82233329e-04 5.64014321e-01] [ 7.67819912e-03 -1.34498306e-04 9.99970513e-01 6.07714073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:0.56, Z:0.61 [[ 9.97894085e-01 -6.44093766e-02 -7.66984922e-03 1.13106616e+02] [ 6.44083393e-02 9.97923554e-01 -3.82419163e-04 5.63633838e-01] [ 7.67855457e-03 -1.12388431e-04 9.99970513e-01 6.07719536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.14, Y:0.56, Z:0.61 [[ 9.98042212e-01 -6.20718615e-02 -7.66983538e-03 1.13136447e+02] [ 6.20707531e-02 9.98071678e-01 -3.82696469e-04 5.63036230e-01] [ 7.67880016e-03 -9.41252286e-05 9.99970513e-01 6.06258175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.17, Y:0.56, Z:0.60 [[ 9.98173300e-01 -5.99269258e-02 -7.66982630e-03 1.13165617e+02] [ 5.99257527e-02 9.98202764e-01 -3.82878428e-04 5.61535512e-01] [ 7.67898654e-03 -7.74410899e-05 9.99970513e-01 6.04083928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.20, Y:0.56, Z:0.60 [[ 9.98330329e-01 -5.72514425e-02 -7.66981272e-03 1.13195219e+02] [ 5.72501883e-02 9.98359789e-01 -3.83150228e-04 5.57203956e-01] [ 7.67916852e-03 -5.65877296e-05 9.99970513e-01 6.04261513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.22, Y:0.56, Z:0.60 [[ 9.98391022e-01 -5.61831010e-02 -7.66980336e-03 1.13223952e+02] [ 5.61818139e-02 9.98420481e-01 -3.83337568e-04 5.56603256e-01] [ 7.67922585e-03 -4.81826788e-05 9.99970513e-01 6.04066422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:0.56, Z:0.60 [[ 9.98473094e-01 -5.47051597e-02 -7.66978934e-03 1.13252247e+02] [ 5.47038268e-02 9.98502551e-01 -3.83617889e-04 5.56252176e-01] [ 7.67929010e-03 -3.65346869e-05 9.99970513e-01 6.04425910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:113.28, Y:0.56, Z:0.60 [[ 9.98573776e-01 -5.28354882e-02 -7.66977583e-03 1.13281503e+02] [ 5.28340981e-02 9.98603230e-01 -3.83887832e-04 5.55486038e-01] [ 7.67934581e-03 -2.18853668e-05 9.99970513e-01 6.04173483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:0.55, Z:0.61 [[ 9.98898912e-01 -4.62832504e-02 -7.66971184e-03 1.13310052e+02] [ 4.62816573e-02 9.98928356e-01 -3.85162033e-04 5.52617872e-01] [ 7.67931919e-03 2.97709612e-05 9.99970513e-01 6.08918452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.34, Y:0.55, Z:0.61 [[ 9.99032628e-01 -4.33010897e-02 -7.66965094e-03 1.13340017e+02] [ 4.32993994e-02 9.99062067e-01 -3.86370850e-04 5.52112439e-01] [ 7.67918760e-03 5.39058060e-05 9.99970513e-01 6.10250976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:0.55, Z:0.61 [[ 9.99127540e-01 -4.10528472e-02 -7.66964134e-03 1.13368693e+02] [ 4.10510893e-02 9.99156974e-01 -3.86561442e-04 5.52032039e-01] [ 7.67904508e-03 7.13770507e-05 9.99970513e-01 6.10693700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:0.55, Z:0.61 [[ 9.99190660e-01 -3.94867173e-02 -7.66962702e-03 1.13397359e+02] [ 3.94849110e-02 9.99220092e-01 -3.86845376e-04 5.52069831e-01] [ 7.67892067e-03 8.36977462e-05 9.99970513e-01 6.10953360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.43, Y:0.55, Z:0.61 [[ 9.99226119e-01 -3.85790024e-02 -7.66961350e-03 1.13425796e+02] [ 3.85771673e-02 9.99255549e-01 -3.87113152e-04 5.52188344e-01] [ 7.67883829e-03 9.09416097e-05 9.99970513e-01 6.10679734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.45, Y:0.55, Z:0.61 [[ 9.99285444e-01 -3.70105355e-02 -7.66954813e-03 1.13453517e+02] [ 3.70086443e-02 9.99314870e-01 -3.88403903e-04 5.50355891e-01] [ 7.67866853e-03 1.04286788e-04 9.99970513e-01 6.06837189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:0.55, Z:0.60 [[ 9.99309766e-01 -3.63478972e-02 -7.66948289e-03 1.13482332e+02] [ 3.63459767e-02 9.99339191e-01 -3.89687958e-04 5.50054590e-01] [ 7.67857916e-03 1.10664136e-04 9.99970513e-01 6.04549175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.51, Y:0.55, Z:0.60 [[ 9.99339580e-01 -3.55187932e-02 -7.66941707e-03 1.13510829e+02] [ 3.55168384e-02 9.99369002e-01 -3.90979080e-04 5.50084574e-01] [ 7.67846479e-03 1.18327423e-04 9.99970513e-01 6.03897801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.54, Y:0.55, Z:0.60 [[ 9.99395386e-01 -3.39122925e-02 -7.66935014e-03 1.13539015e+02] [ 3.39102804e-02 9.99424804e-01 -3.92287625e-04 5.50172177e-01] [ 7.67824213e-03 1.31980629e-04 9.99970513e-01 6.03301287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.57, Y:0.55, Z:0.60 [[ 9.99448278e-01 -3.23159660e-02 -7.66932635e-03 1.13567624e+02] [ 3.23139033e-02 9.99477692e-01 -3.92752215e-04 5.50585339e-01] [ 7.67801277e-03 1.44709655e-04 9.99970513e-01 6.04599718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.60, Y:0.55, Z:0.61 [[ 9.99500191e-01 -3.06684118e-02 -7.66925889e-03 1.13595415e+02] [ 3.06662905e-02 9.99529601e-01 -3.94065019e-04 5.51799025e-01] [ 7.67773663e-03 1.58680340e-04 9.99970513e-01 6.05322445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.62, Y:0.55, Z:0.61 [[ 9.99595630e-01 -2.73817281e-02 -7.66923485e-03 1.13624529e+02] [ 2.73795065e-02 9.99625033e-01 -3.94532333e-04 5.52859290e-01] [ 7.67716212e-03 1.84392930e-04 9.99970513e-01 6.06808104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.65, Y:0.55, Z:0.61 [[ 9.99590977e-01 -2.75510746e-02 -7.66916761e-03 1.13653786e+02] [ 2.75488480e-02 9.99620380e-01 -3.95835183e-04 5.54515280e-01] [ 7.67716192e-03 1.84396545e-04 9.99970513e-01 6.07033250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.68, Y:0.56, Z:0.61 [[ 9.99616352e-01 -2.66145464e-02 -7.66910033e-03 1.13682924e+02] [ 2.66122823e-02 9.99645752e-01 -3.97134409e-04 5.55472689e-01] [ 7.67695311e-03 1.92889786e-04 9.99970513e-01 6.07050868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.71, Y:0.56, Z:0.61 [[ 9.99610496e-01 -2.68335838e-02 -7.66908599e-03 1.13711332e+02] [ 2.68313240e-02 9.99639896e-01 -3.97411021e-04 5.55707611e-01] [ 7.67698829e-03 1.91484497e-04 9.99970513e-01 6.07229856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:0.56, Z:0.61 [[ 9.99565664e-01 -2.84547065e-02 -7.66901706e-03 1.13740323e+02] [ 2.84524843e-02 9.99595067e-01 -3.98736790e-04 5.56004309e-01] [ 7.67725756e-03 1.80361017e-04 9.99970513e-01 6.07016396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:0.55, Z:0.61 [[ 9.99412811e-01 -3.33949002e-02 -7.66900239e-03 1.13768745e+02] [ 3.33928212e-02 9.99442225e-01 -3.99018738e-04 5.52885416e-01] [ 7.67805000e-03 1.42694814e-04 9.99970513e-01 6.08648526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.80, Y:0.55, Z:0.61 [[ 9.99343418e-01 -3.54107375e-02 -7.66897836e-03 1.13797380e+02] [ 3.54087142e-02 9.99372835e-01 -3.99480024e-04 5.51398035e-01] [ 7.67831453e-03 1.27669069e-04 9.99970513e-01 6.10310157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.435898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:113.83, Y:0.55, Z:0.61 [[ 9.99283607e-01 -3.70602269e-02 -7.66896177e-03 1.13826704e+02] [ 3.70582498e-02 9.99313027e-01 -3.99798415e-04 5.49423753e-01] [ 7.67851002e-03 1.15313701e-04 9.99970513e-01 6.09913467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:0.55, Z:0.61 [[ 9.99253503e-01 -3.78632392e-02 -7.66889338e-03 1.13855076e+02] [ 3.78612757e-02 9.99282924e-01 -4.01105866e-04 5.48472438e-01] [ 7.67858137e-03 1.10452355e-04 9.99970513e-01 6.13594870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.88, Y:0.55, Z:0.61 [[ 9.99242366e-01 -3.81560163e-02 -7.66886920e-03 1.13883426e+02] [ 3.81540578e-02 9.99271788e-01 -4.01567732e-04 5.47036905e-01] [ 7.67860686e-03 1.08665012e-04 9.99970513e-01 6.13468213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.91, Y:0.54, Z:0.61 [[ 9.99271560e-01 -3.73836619e-02 -7.66879383e-03 1.13911287e+02] [ 3.73816697e-02 9.99300980e-01 -4.03001812e-04 5.42711818e-01] [ 7.67849888e-03 1.16035931e-04 9.99970513e-01 6.11349486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:0.54, Z:0.61 [[ 9.99302141e-01 -3.65571087e-02 -7.66871516e-03 1.13938916e+02] [ 3.65550808e-02 9.99331558e-01 -4.04493392e-04 5.40379680e-01] [ 7.67837618e-03 1.23880610e-04 9.99970513e-01 6.10704147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:0.54, Z:0.61 [[ 9.99343300e-01 -3.54141209e-02 -7.66868090e-03 1.13966052e+02] [ 3.54120544e-02 9.99372714e-01 -4.05141795e-04 5.37452837e-01] [ 7.67821819e-03 1.33311993e-04 9.99970513e-01 6.11739123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:0.53, Z:0.61 [[ 9.99396915e-01 -3.38673600e-02 -7.66864691e-03 1.13994084e+02] [ 3.38652429e-02 9.99426326e-01 -4.05784267e-04 5.34549603e-01] [ 7.67799044e-03 1.45838954e-04 9.99970513e-01 6.14474708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.02, Y:0.53, Z:0.62 [[ 9.99474372e-01 -3.14987861e-02 -7.66856699e-03 1.14021876e+02] [ 3.14965878e-02 9.99503776e-01 -4.07289023e-04 5.32050843e-01] [ 7.67759077e-03 1.65541247e-04 9.99970513e-01 6.16170983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:0.53, Z:0.61 [[ 9.99674607e-01 -2.43284601e-02 -7.66848737e-03 1.14049121e+02] [ 2.43260395e-02 9.99703995e-01 -4.08782569e-04 5.28017659e-01] [ 7.67616251e-03 2.22105627e-04 9.99970513e-01 6.14371133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:114.08, Y:0.53, Z:0.61 [[ 9.99769538e-01 -2.00515843e-02 -7.66842957e-03 1.14077516e+02] [ 2.00490297e-02 9.99798914e-01 -4.09864089e-04 5.27284070e-01] [ 7.67510598e-03 2.56025059e-04 9.99970513e-01 6.09790103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.11, Y:0.53, Z:0.61 [[ 9.99845330e-01 -1.58275519e-02 -7.66840529e-03 1.14105575e+02] [ 1.58248698e-02 9.99874695e-01 -4.10317707e-04 5.28642456e-01] [ 7.67393873e-03 2.88902728e-04 9.99970513e-01 6.09898539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:0.53, Z:0.61 [[ 9.99909135e-01 -1.10868873e-02 -7.66832796e-03 1.14133526e+02] [ 1.10840549e-02 9.99938485e-01 -4.11757894e-04 5.29378155e-01] [ 7.67242136e-03 3.26724312e-04 9.99970513e-01 6.07865494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.795898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:114.16, Y:0.53, Z:0.61 [[ 9.99946920e-01 -6.88150536e-03 -7.66830398e-03 1.14161644e+02] [ 6.87854619e-03 9.99976258e-01 -4.12204000e-04 5.30245806e-01] [ 7.67095850e-03 3.59435337e-04 9.99970513e-01 6.05903719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.19, Y:0.53, Z:0.61 [[ 9.99970283e-01 -7.94405467e-04 -7.66822653e-03 1.14188316e+02] [ 7.91256780e-04 9.99999601e-01 -4.13639833e-04 5.33576055e-01] [ 7.66855207e-03 4.07560004e-04 9.99970513e-01 6.07487251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:0.54, Z:0.61 [[ 9.99970549e-01 3.18014030e-04 -7.66817092e-03 1.14215799e+02] [-3.21203192e-04 9.99999862e-01 -4.14668175e-04 5.36389485e-01] [ 7.66803800e-03 4.17119003e-04 9.99970513e-01 6.08066967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.24, Y:0.54, Z:0.61 [[ 9.99970599e-01 -2.98467395e-05 -7.66809327e-03 1.14243210e+02] [ 2.66568339e-05 9.99999913e-01 -4.16099100e-04 5.39230390e-01] [ 7.66810503e-03 4.15882460e-04 9.99970513e-01 6.08283827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:0.54, Z:0.61 [[ 9.99963983e-01 -3.63777972e-03 -7.66806913e-03 1.14271943e+02] [ 3.63469220e-03 9.99993308e-01 -4.16543612e-04 5.41674557e-01] [ 7.66953310e-03 3.88657538e-04 9.99970513e-01 6.05923563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:0.54, Z:0.61 [[ 9.99951352e-01 -6.20445141e-03 -7.66804969e-03 1.14301018e+02] [ 6.20143643e-03 9.99980684e-01 -4.16901102e-04 5.42906523e-01] [ 7.67048822e-03 3.69327898e-04 9.99970513e-01 6.06657113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:0.54, Z:0.61 [[ 9.99929704e-01 -9.04370260e-03 -7.66802955e-03 1.14329068e+02] [ 9.04076809e-03 9.99959044e-01 -4.17271322e-04 5.43998265e-01] [ 7.67148917e-03 3.47917112e-04 9.99970513e-01 6.07335410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.36, Y:0.54, Z:0.61 [[ 9.99904748e-01 -1.14759297e-02 -7.66794870e-03 1.14357147e+02] [ 1.14730552e-02 9.99934095e-01 -4.18751753e-04 5.44518312e-01] [ 7.67224890e-03 3.30737067e-04 9.99970513e-01 6.08033268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.38, Y:0.55, Z:0.61 [[ 9.99889381e-01 -1.27447812e-02 -7.66792350e-03 1.14384866e+02] [ 1.27419405e-02 9.99918730e-01 -4.19212583e-04 5.45405856e-01] [ 7.67264311e-03 3.21461985e-04 9.99970513e-01 6.10530082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06589822699999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:114.41, Y:0.55, Z:0.61 [[ 9.99880809e-01 -1.34004569e-02 -7.66788626e-03 1.14412670e+02] [ 1.33976302e-02 9.99910160e-01 -4.19892702e-04 5.45885908e-01] [ 7.67282413e-03 3.17111150e-04 9.99970513e-01 6.09345052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.44, Y:0.55, Z:0.61 [[ 9.99917583e-01 -1.02971596e-02 -7.66780782e-03 1.14440531e+02] [ 1.02942309e-02 9.99946924e-01 -4.21320225e-04 5.48295430e-01] [ 7.67173925e-03 3.42351317e-04 9.99970513e-01 6.13400275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.47, Y:0.55, Z:0.61 [[ 9.99942291e-01 -7.52467820e-03 -7.66772709e-03 1.14468201e+02] [ 7.52165694e-03 9.99971623e-01 -4.22784416e-04 5.50519480e-01] [ 7.67069082e-03 3.65086005e-04 9.99970513e-01 6.13739767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:0.55, Z:0.62 [[ 9.99959896e-01 -4.62731889e-03 -7.66770205e-03 1.14495884e+02] [ 4.62420918e-03 9.99989219e-01 -4.23238150e-04 5.52523154e-01] [ 7.66957784e-03 3.87764118e-04 9.99970513e-01 6.15092703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:0.55, Z:0.62 [[ 9.99968381e-01 -2.10838280e-03 -7.66762195e-03 1.14523830e+02] [ 2.10518819e-03 9.99997694e-01 -4.24684212e-04 5.54127674e-01] [ 7.66849967e-03 4.08528997e-04 9.99970513e-01 6.16926665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.55, Y:0.55, Z:0.62 [[ 9.99969757e-01 1.30149375e-03 -7.66754091e-03 1.14550525e+02] [-1.30479945e-03 9.99999058e-01 -4.26142318e-04 5.54941457e-01] [ 7.66697907e-03 4.36134033e-04 9.99970513e-01 6.18902606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.58, Y:0.56, Z:0.62 [[ 9.99969182e-01 1.68675418e-03 -7.66750588e-03 1.14578910e+02] [-1.69007597e-03 9.99998481e-01 -4.26771853e-04 5.56456874e-01] [ 7.66677437e-03 4.39717368e-04 9.99970513e-01 6.18679888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.61, Y:0.56, Z:0.62 [[ 9.99969142e-01 1.71010958e-03 -7.66748544e-03 1.14607541e+02] [-1.71343486e-03 9.99998441e-01 -4.27138688e-04 5.58352027e-01] [ 7.66674303e-03 4.40263245e-04 9.99970513e-01 6.18736835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30589822699999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:114.64, Y:0.56, Z:0.62 [[ 9.99969102e-01 1.73354231e-03 -7.66746485e-03 1.14635601e+02] [-1.73687111e-03 9.99998400e-01 -4.27507964e-04 5.60077253e-01] [ 7.66671148e-03 4.40812153e-04 9.99970513e-01 6.17918962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.66, Y:0.56, Z:0.62 [[ 9.99966424e-01 2.89144321e-03 -7.66743919e-03 1.14662172e+02] [-2.89480944e-03 9.99995718e-01 -4.27967629e-04 5.62811511e-01] [ 7.66616892e-03 4.50149035e-04 9.99970513e-01 6.21462272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.69, Y:0.57, Z:0.62 [[ 9.99949963e-01 6.42517133e-03 -7.66740338e-03 1.14689803e+02] [-6.42864595e-03 9.99979244e-01 -4.28608240e-04 5.65933209e-01] [ 7.66449036e-03 4.77877815e-04 9.99970513e-01 6.23080381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39589822699999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:114.72, Y:0.57, Z:0.62 [[ 9.99933593e-01 8.60358666e-03 -7.66732218e-03 1.14717927e+02] [-8.60713612e-03 9.99962865e-01 -4.30056028e-04 5.68522312e-01] [ 7.66333743e-03 4.96021155e-04 9.99970513e-01 6.20841347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:0.57, Z:0.62 [[ 9.99901299e-01 1.17730682e-02 -7.66729699e-03 1.14745274e+02] [-1.17767138e-02 9.99930559e-01 -4.30504591e-04 5.72759133e-01] [ 7.66169621e-03 5.20757662e-04 9.99970513e-01 6.23084789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.77, Y:0.58, Z:0.62 [[ 9.99870719e-01 1.41338218e-02 -7.66680392e-03 1.14772596e+02] [-1.41376034e-02 9.99899963e-01 -4.39272638e-04 5.76696085e-01] [ 7.65982835e-03 5.47606082e-04 9.99970513e-01 6.20433350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.80, Y:0.58, Z:0.62 [[ 9.99841904e-01 1.60431001e-02 -7.66724491e-03 1.14800229e+02] [-1.60468778e-02 9.99871147e-01 -4.31435474e-04 5.80708206e-01] [ 7.65933541e-03 5.54402607e-04 9.99970513e-01 6.17345483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.83, Y:0.59, Z:0.62 [[ 9.99812516e-01 1.77805263e-02 -7.66722044e-03 1.14829094e+02] [-1.77843581e-02 9.99841753e-01 -4.31870047e-04 5.86411883e-01] [ 7.65832824e-03 5.68145672e-04 9.99970513e-01 6.15827413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.86, Y:0.59, Z:0.62 [[ 9.99817293e-01 1.75098318e-02 -7.66719995e-03 1.14856798e+02] [-1.75136585e-02 9.99846531e-01 -4.32233422e-04 5.89975644e-01] [ 7.65845494e-03 5.66435171e-04 9.99970513e-01 6.15949270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.575898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:114.89, Y:0.59, Z:0.62 [[ 9.99832401e-01 1.66247821e-02 -7.66717437e-03 1.14885415e+02] [-1.66285864e-02 9.99861642e-01 -4.32686684e-04 5.93390853e-01] [ 7.65892023e-03 5.60108437e-04 9.99970513e-01 6.15003740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.91, Y:0.60, Z:0.62 [[ 9.99848695e-01 1.56141813e-02 -7.66715398e-03 1.14914308e+02] [-1.56179587e-02 9.99877938e-01 -4.33047668e-04 5.97264912e-01] [ 7.65945643e-03 5.52727440e-04 9.99970513e-01 6.16413598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.94, Y:0.60, Z:0.62 [[ 9.99865640e-01 1.44885189e-02 -7.66713361e-03 1.14942066e+02] [-1.44922662e-02 9.99894888e-01 -4.33407979e-04 6.00377025e-01] [ 7.66004826e-03 5.44463888e-04 9.99970513e-01 6.15090937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.97, Y:0.60, Z:0.62 [[ 9.99886373e-01 1.29790581e-02 -7.66710828e-03 1.14970564e+02] [-1.29827646e-02 9.99915626e-01 -4.33855730e-04 6.04324038e-01] [ 7.66083034e-03 5.33346695e-04 9.99970513e-01 6.15993738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.00, Y:0.61, Z:0.62 [[ 9.99889037e-01 1.27721912e-02 -7.66708782e-03 1.14997624e+02] [-1.27758944e-02 9.99918291e-01 -4.34217036e-04 6.07163989e-01] [ 7.66091544e-03 5.32122758e-04 9.99970513e-01 6.16989011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.03, Y:0.61, Z:0.62 [[ 9.99898050e-01 1.20469272e-02 -7.66554784e-03 1.15026920e+02] [-1.20508159e-02 9.99927280e-01 -4.61308681e-04 6.09505413e-01] [ 7.65943304e-03 5.53637757e-04 9.99970513e-01 6.17710550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.05, Y:0.61, Z:0.62 [[ 9.99894504e-01 1.23368645e-02 -7.66700261e-03 1.15054634e+02] [-1.23405664e-02 9.99923757e-01 -4.35709738e-04 6.11429123e-01] [ 7.66104276e-03 5.30278927e-04 9.99970513e-01 6.17551788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:0.61, Z:0.61 [[ 9.99892178e-01 1.25245226e-02 -7.66605087e-03 1.15084368e+02] [-1.25283575e-02 9.99921415e-01 -4.52426286e-04 6.13318099e-01] [ 7.65978201e-03 5.48420531e-04 9.99970513e-01 6.13745759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:0.61, Z:0.61 [[ 9.99883271e-01 1.32160037e-02 -7.66696795e-03 1.15111745e+02] [-1.32197359e-02 9.99912520e-01 -4.36311197e-04 6.14855664e-01] [ 7.66053095e-03 5.37615558e-04 9.99970513e-01 6.13831634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:0.62, Z:0.62 [[ 9.99874266e-01 1.38805774e-02 -7.66694078e-03 1.15140286e+02] [-1.38843326e-02 9.99903513e-01 -4.36788001e-04 6.17025637e-01] [ 7.66013815e-03 5.43183438e-04 9.99970513e-01 6.16092252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:0.62, Z:0.62 [[ 9.99864190e-01 1.45883580e-02 -7.66692093e-03 1.15169449e+02] [-1.45921366e-02 9.99893434e-01 -4.37136139e-04 6.19159328e-01] [ 7.65972680e-03 5.48953529e-04 9.99970513e-01 6.18908398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.20, Y:0.62, Z:0.62 [[ 9.99851800e-01 1.54141556e-02 -7.66690104e-03 1.15197837e+02] [-1.54179610e-02 9.99881040e-01 -4.37484765e-04 6.20864761e-01] [ 7.65924553e-03 5.55627911e-04 9.99970513e-01 6.20331511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.23, Y:0.62, Z:0.61 [[ 9.99831447e-01 1.66821960e-02 -7.66688089e-03 1.15225754e+02] [-1.66860412e-02 9.99860682e-01 -4.37837681e-04 6.21189637e-01] [ 7.65850866e-03 5.65693772e-04 9.99970513e-01 6.14803382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.25, Y:0.62, Z:0.62 [[ 9.99835078e-01 1.64632033e-02 -7.66685573e-03 1.15254271e+02] [-1.64670454e-02 9.99864313e-01 -4.38277686e-04 6.22081605e-01] [ 7.65859998e-03 5.64455866e-04 9.99970513e-01 6.15429002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.28, Y:0.62, Z:0.62 [[ 9.99847916e-01 1.56641261e-02 -7.66683478e-03 1.15282500e+02] [-1.56679477e-02 9.99877154e-01 -4.38643900e-04 6.22806627e-01] [ 7.65902197e-03 5.58700755e-04 9.99970513e-01 6.17024062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.31, Y:0.62, Z:0.62 [[ 9.99908461e-01 1.11485381e-02 -7.66680866e-03 1.15310373e+02] [-1.11522311e-02 9.99937716e-01 -4.39100024e-04 6.22035698e-01] [ 7.66143581e-03 5.24561852e-04 9.99970513e-01 6.22324592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.34, Y:0.62, Z:0.62 [[ 9.99936851e-01 8.21673900e-03 -7.66678040e-03 1.15339346e+02] [-8.22034995e-03 9.99966116e-01 -4.39592894e-04 6.21831861e-01] [ 7.66290859e-03 5.02588752e-04 9.99970513e-01 6.22763753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.37, Y:0.62, Z:0.62 [[ 9.99958702e-01 4.88006922e-03 -7.66676019e-03 1.15367585e+02] [-4.88358519e-03 9.99987978e-01 -4.39944972e-04 6.21661979e-01] [ 7.66452106e-03 4.77368079e-04 9.99970513e-01 6.22369810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.40, Y:0.62, Z:0.62 [[ 9.99968805e-01 1.90017620e-03 -7.66673362e-03 1.15396553e+02] [-1.90360845e-03 9.99998091e-01 -4.40407586e-04 6.20936214e-01] [ 7.66588213e-03 4.54988306e-04 9.99970513e-01 6.21868695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.43, Y:0.62, Z:0.62 [[ 9.99968892e-01 1.85383168e-03 -7.66671327e-03 1.15425826e+02] [-1.85726527e-03 9.99998178e-01 -4.40761451e-04 6.22706525e-01] [ 7.66588221e-03 4.54986860e-04 9.99970513e-01 6.22093925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.45, Y:0.62, Z:0.62 [[ 9.99970274e-01 -8.20812686e-04 -7.66669283e-03 1.15454751e+02] [ 8.17454725e-04 9.99999569e-01 -4.41116761e-04 6.21499689e-01] [ 7.66705160e-03 4.34836473e-04 9.99970513e-01 6.22041039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.48, Y:0.62, Z:0.62 [[ 9.99966164e-01 -2.98218618e-03 -7.66667166e-03 1.15483933e+02] [ 2.97888873e-03 9.99995466e-01 -4.41484333e-04 6.20153723e-01] [ 7.66795349e-03 4.18631233e-04 9.99970513e-01 6.23063152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.51, Y:0.62, Z:0.62 [[ 9.99959276e-01 -4.76127903e-03 -7.66665038e-03 1.15511671e+02] [ 4.75803090e-03 9.99988583e-01 -4.41853699e-04 6.18518680e-01] [ 7.66866663e-03 4.05357546e-04 9.99970513e-01 6.23230392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.54, Y:0.61, Z:0.62 [[ 9.99944342e-01 -7.24820622e-03 -7.66662385e-03 1.15540401e+02] [ 7.24502747e-03 9.99973657e-01 -4.42313446e-04 6.14687302e-01] [ 7.66962787e-03 3.86743927e-04 9.99970513e-01 6.22033125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.57, Y:0.61, Z:0.62 [[ 9.99942195e-01 -7.53854981e-03 -7.66659255e-03 1.15568378e+02] [ 7.53537544e-03 9.99971511e-01 -4.42855385e-04 6.13116047e-01] [ 7.66971262e-03 3.85059132e-04 9.99970513e-01 6.21178214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.60, Y:0.61, Z:0.62 [[ 9.99946712e-01 -6.91366890e-03 -7.66650512e-03 1.15595791e+02] [ 6.91046467e-03 9.99976024e-01 -4.44363717e-04 6.11288685e-01] [ 7.66939349e-03 3.91360924e-04 9.99970513e-01 6.19308690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.62, Y:0.61, Z:0.62 [[ 9.99952323e-01 -6.04781633e-03 -7.66646714e-03 1.15624135e+02] [ 6.04458171e-03 9.99981632e-01 -4.45017970e-04 6.09220671e-01] [ 7.66901772e-03 3.98656166e-04 9.99970513e-01 6.18756276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.65, Y:0.60, Z:0.62 [[ 9.99966137e-01 -2.99180492e-03 -7.66638314e-03 1.15651832e+02] [ 2.98846972e-03 9.99995435e-01 -4.46460380e-04 6.03943375e-01] [ 7.66768387e-03 4.23534507e-04 9.99970513e-01 6.21042987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.68, Y:0.60, Z:0.62 [[ 9.99968238e-01 -2.17956559e-03 -7.66634496e-03 1.15679891e+02] [ 2.17620159e-03 9.99997532e-01 -4.47115097e-04 6.02926008e-01] [ 7.66730056e-03 4.30417384e-04 9.99970513e-01 6.22658250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.71, Y:0.60, Z:0.62 [[ 9.99969679e-01 -1.36750971e-03 -7.66626235e-03 1.15706630e+02] [ 1.36411114e-03 9.99998969e-01 -4.48527040e-04 6.01563923e-01] [ 7.66686781e-03 4.38055807e-04 9.99970513e-01 6.24043579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.73, Y:0.60, Z:0.62 [[ 9.99969437e-01 -1.53473248e-03 -7.66620293e-03 1.15734644e+02] [ 1.53133106e-03 9.99998726e-01 -4.49540433e-04 6.00121315e-01] [ 7.66688309e-03 4.37787199e-04 9.99970513e-01 6.24343145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.76, Y:0.60, Z:0.62 [[ 9.99968037e-01 -2.27074081e-03 -7.66612109e-03 1.15763139e+02] [ 2.26735031e-03 9.99997328e-01 -4.50931774e-04 5.98281199e-01] [ 7.66712455e-03 4.33535579e-04 9.99970513e-01 6.23937906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:0.60, Z:0.62 [[ 9.99965406e-01 -3.22777391e-03 -7.66603836e-03 1.15789916e+02] [ 3.22440073e-03 9.99994699e-01 -4.52333813e-04 5.95719277e-01] [ 7.66745776e-03 4.27599785e-04 9.99970513e-01 6.23601083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:0.59, Z:0.62 [[ 9.99957793e-01 -5.06407727e-03 -7.66598117e-03 1.15818925e+02] [ 5.06075050e-03 9.99987092e-01 -4.53301046e-04 5.89416271e-01] [ 7.66817776e-03 4.14486296e-04 9.99970513e-01 6.22585407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:0.59, Z:0.62 [[ 9.99952825e-01 -5.96490766e-03 -7.66596055e-03 1.15847403e+02] [ 5.96160462e-03 9.99982127e-01 -4.53649420e-04 5.87526220e-01] [ 7.66852951e-03 4.07926594e-04 9.99970513e-01 6.22169079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:0.59, Z:0.62 [[ 9.99950250e-01 -6.38211501e-03 -7.66587435e-03 1.15874174e+02] [ 6.37881310e-03 9.99979552e-01 -4.55101343e-04 5.86016558e-01] [ 7.66862211e-03 4.06179522e-04 9.99970513e-01 6.21877686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.90, Y:0.59, Z:0.62 [[ 9.99952437e-01 -6.02974827e-03 -7.66583676e-03 1.15902078e+02] [ 6.02643120e-03 9.99981737e-01 -4.55733749e-04 5.85309395e-01] [ 7.66844472e-03 4.09514436e-04 9.99970513e-01 6.23639603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.93, Y:0.59, Z:0.63 [[ 9.99959840e-01 -4.64278491e-03 -7.66574860e-03 1.15929750e+02] [ 4.63941590e-03 9.99989133e-01 -4.57211893e-04 5.85041408e-01] [ 7.66778803e-03 4.21628935e-04 9.99970513e-01 6.25123909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.96, Y:0.58, Z:0.63 [[ 9.99970553e-01 -3.62306566e-04 -7.66565949e-03 1.15956821e+02] [ 3.58800825e-04 9.99999830e-01 -4.58700988e-04 5.84903319e-01] [ 7.66582438e-03 4.55937035e-04 9.99970513e-01 6.25860278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.99, Y:0.59, Z:0.63 [[ 9.99970475e-01 -5.36282596e-04 -7.66562067e-03 1.15985246e+02] [ 5.32776999e-04 9.99999753e-01 -4.59348904e-04 5.86800775e-01] [ 7.66586511e-03 4.55251275e-04 9.99970513e-01 6.26079032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.01, Y:0.59, Z:0.63 [[ 9.99963270e-01 3.83381508e-03 -7.66554052e-03 1.16013476e+02] [-3.83745877e-03 9.99992531e-01 -4.60682564e-04 5.89384022e-01] [ 7.66371709e-03 4.90081839e-04 9.99970513e-01 6.27196760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:0.59, Z:0.63 [[ 9.99953976e-01 5.76945265e-03 -7.66545219e-03 1.16040806e+02] [-5.77316416e-03 9.99983228e-01 -4.62147657e-04 5.91834664e-01] [ 7.66265728e-03 5.06380301e-04 9.99970513e-01 6.27629283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83589822699999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:116.07, Y:0.59, Z:0.63 [[ 9.99947912e-01 6.73899841e-03 -7.66541395e-03 1.16069200e+02] [-6.74274311e-03 9.99977160e-01 -4.62780993e-04 5.94548855e-01] [ 7.66212019e-03 5.14442804e-04 9.99970513e-01 6.26765162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:0.60, Z:0.63 [[ 9.99939295e-01 7.91507801e-03 -7.66539204e-03 1.16097132e+02] [-7.91885988e-03 9.99968538e-01 -4.63143524e-04 5.97131150e-01] [ 7.66148506e-03 5.23816574e-04 9.99970513e-01 6.30096629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.13, Y:0.60, Z:0.63 [[ 9.99940018e-01 7.82330023e-03 -7.66528820e-03 1.16125019e+02] [-7.82709252e-03 9.99969260e-01 -4.64861295e-04 6.00147852e-01] [ 7.66141582e-03 5.24830332e-04 9.99970513e-01 6.28961458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:116.15, Y:0.60, Z:0.63 [[ 9.99944700e-01 7.20001115e-03 -7.66534196e-03 1.16153251e+02] [-7.20377844e-03 9.99973945e-01 -4.63973071e-04 6.03270450e-01] [ 7.66180163e-03 5.19166838e-04 9.99970513e-01 6.26732662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.18, Y:0.61, Z:0.63 [[ 9.99941880e-01 7.58155888e-03 -7.66531976e-03 1.16180615e+02] [-7.58534013e-03 9.99971123e-01 -4.64339675e-04 6.08464363e-01] [ 7.66157799e-03 5.22456745e-04 9.99970513e-01 6.25499851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.21, Y:0.61, Z:0.62 [[ 9.99939234e-01 7.92280368e-03 -7.66529203e-03 1.16208500e+02] [-7.92659839e-03 9.99968476e-01 -4.64796957e-04 6.11990946e-01] [ 7.66136789e-03 5.25528404e-04 9.99970513e-01 6.24318787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.24, Y:0.62, Z:0.63 [[ 9.99934205e-01 8.53397024e-03 -7.66526554e-03 1.16236993e+02] [-8.53778615e-03 9.99963444e-01 -4.65233426e-04 6.15348035e-01] [ 7.66101504e-03 5.30647214e-04 9.99970513e-01 6.26353649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.26, Y:0.62, Z:0.63 [[ 9.99910286e-01 1.09847573e-02 -7.66524344e-03 1.16263956e+02] [-1.09886476e-02 9.99939515e-01 -4.65597163e-04 6.18106051e-01] [ 7.65966534e-03 5.49786051e-04 9.99970513e-01 6.30181693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.30, Y:0.62, Z:0.62 [[ 9.99908633e-01 1.11360436e-02 -7.66245373e-03 1.16296360e+02] [-1.11402864e-02 9.99937814e-01 -5.11261398e-04 6.22879706e-01] [ 7.65628380e-03 5.96576615e-04 9.99970512e-01 6.24449512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.32, Y:0.63, Z:0.62 [[ 9.99889455e-01 1.27406143e-02 -7.66517200e-03 1.16324674e+02] [-1.27445637e-02 9.99918676e-01 -4.66607096e-04 6.29873846e-01] [ 7.65860378e-03 5.64244787e-04 9.99970513e-01 6.23449983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.35, Y:0.63, Z:0.62 [[ 9.99892058e-01 1.25347047e-02 -7.66515008e-03 1.16353207e+02] [-1.25386508e-02 9.99921279e-01 -4.66966915e-04 6.33325151e-01] [ 7.65869338e-03 5.63027149e-04 9.99970513e-01 6.23858366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:0.64, Z:0.62 [[ 9.99907235e-01 1.12591350e-02 -7.66512818e-03 1.16380948e+02] [-1.12630465e-02 9.99936461e-01 -4.67326188e-04 6.35846101e-01] [ 7.65937945e-03 5.53615532e-04 9.99970513e-01 6.23504525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.41, Y:0.64, Z:0.62 [[ 9.99928247e-01 9.20580441e-03 -7.66509864e-03 1.16408651e+02] [-9.20965962e-03 9.99957481e-01 -4.67810259e-04 6.37199153e-01] [ 7.66046615e-03 5.38369642e-04 9.99970513e-01 6.23975116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:0.64, Z:0.63 [[ 9.99961268e-01 4.32542692e-03 -7.66507238e-03 1.16437457e+02] [-4.32914268e-03 9.99990520e-01 -4.68239987e-04 6.36444577e-01] [ 7.66297438e-03 5.01405043e-04 9.99970513e-01 6.28064124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.47, Y:0.64, Z:0.63 [[ 9.99967519e-01 2.49155097e-03 -7.66504990e-03 1.16465376e+02] [-2.49521589e-03 9.99996777e-01 -4.68607715e-04 6.37175909e-01] [ 7.66385764e-03 4.87718448e-04 9.99970513e-01 6.30546771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:0.64, Z:0.63 [[ 9.99969354e-01 1.59299814e-03 -7.66501790e-03 1.16493065e+02] [-1.59664076e-03 9.99998615e-01 -4.69130668e-04 6.38626952e-01] [ 7.66425996e-03 4.81354571e-04 9.99970513e-01 6.32160085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.52, Y:0.64, Z:0.63 [[ 9.99969026e-01 1.78767647e-03 -7.66499101e-03 1.16521690e+02] [-1.79132814e-03 9.99998285e-01 -4.69569558e-04 6.40144358e-01] [ 7.66413843e-03 4.83285528e-04 9.99970513e-01 6.33448713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.55, Y:0.64, Z:0.63 [[ 9.99966610e-01 2.83320144e-03 -7.66496887e-03 1.16549007e+02] [-2.83688646e-03 9.99995866e-01 -4.69930740e-04 6.41731928e-01] [ 7.66360577e-03 4.91659696e-04 9.99970513e-01 6.33792667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.58, Y:0.64, Z:0.63 [[ 9.99961228e-01 4.33496639e-03 -7.66493036e-03 1.16576544e+02] [-4.33870013e-03 9.99990477e-01 -4.70557989e-04 6.43801286e-01] [ 7.66281751e-03 5.03795579e-04 9.99970513e-01 6.33833674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.60, Y:0.65, Z:0.63 [[ 9.99922316e-01 9.82914436e-03 -7.66484247e-03 1.16604275e+02] [-9.83304963e-03 9.99951543e-01 -4.71985193e-04 6.46560728e-01] [ 7.65983185e-03 5.47317304e-04 9.99970513e-01 6.31115163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.63, Y:0.65, Z:0.63 [[ 9.99882528e-01 1.32733249e-02 -7.66475314e-03 1.16632975e+02] [-1.32773418e-02 9.99911740e-01 -4.73431431e-04 6.48908287e-01] [ 7.65779264e-03 5.75143364e-04 9.99970513e-01 6.30303232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.66, Y:0.65, Z:0.63 [[ 9.99841559e-01 1.60657901e-02 -7.66473096e-03 1.16661677e+02] [-1.60698913e-02 9.99870759e-01 -4.73790365e-04 6.51007467e-01] [ 7.65612854e-03 5.96886690e-04 9.99970513e-01 6.30509089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.69, Y:0.65, Z:0.63 [[ 9.99814022e-01 1.76967311e-02 -7.66470880e-03 1.16689395e+02] [-1.77008827e-02 9.99843215e-01 -4.74148558e-04 6.53384972e-01] [ 7.65511620e-03 6.09732488e-04 9.99970513e-01 6.30516566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52589822699998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:116.72, Y:0.66, Z:0.63 [[ 9.99810108e-01 1.79164789e-02 -7.66468125e-03 1.16718376e+02] [-1.79206404e-02 9.99839300e-01 -4.74593510e-04 6.55616749e-01] [ 7.65494649e-03 6.11859385e-04 9.99970513e-01 6.29972204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.75, Y:0.66, Z:0.63 [[ 9.99806648e-01 1.81085571e-02 -7.66465938e-03 1.16746095e+02] [-1.81127268e-02 9.99835838e-01 -4.74946443e-04 6.58159582e-01] [ 7.65480054e-03 6.13682492e-04 9.99970513e-01 6.32006547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:0.66, Z:0.63 [[ 9.99840444e-01 1.61350678e-02 -7.66463216e-03 1.16775202e+02] [-1.61391832e-02 9.99869642e-01 -4.75385313e-04 6.59970470e-01] [ 7.65596264e-03 5.99010364e-04 9.99970513e-01 6.30647436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.80, Y:0.66, Z:0.63 [[ 9.99862449e-01 1.47083623e-02 -7.66461076e-03 1.16804169e+02] [-1.47124387e-02 9.99891653e-01 -4.75730035e-04 6.61446999e-01] [ 7.65678311e-03 5.88429714e-04 9.99970513e-01 6.30446903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64589822699999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:116.83, Y:0.66, Z:0.63 [[ 9.99882658e-01 1.32636190e-02 -7.66458916e-03 1.16831711e+02] [-1.32676558e-02 9.99911867e-01 -4.76077743e-04 6.62802760e-01] [ 7.65759915e-03 5.77713010e-04 9.99970513e-01 6.28690311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.86, Y:0.67, Z:0.63 [[ 9.99886699e-01 1.29554392e-02 -7.66456221e-03 1.16860090e+02] [-1.29594703e-02 9.99915909e-01 -4.76511271e-04 6.65498570e-01] [ 7.65774428e-03 5.75785948e-04 9.99970513e-01 6.30409363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:0.67, Z:0.63 [[ 9.99887910e-01 1.28616306e-02 -7.66454056e-03 1.16887775e+02] [-1.28656616e-02 9.99917120e-01 -4.76859207e-04 6.68025870e-01] [ 7.65777214e-03 5.75415142e-04 9.99970513e-01 6.29236227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73589822699999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:116.92, Y:0.67, Z:0.63 [[ 9.99888191e-01 1.28397950e-02 -7.66451362e-03 1.16916342e+02] [-1.28438287e-02 9.99917401e-01 -4.77291869e-04 6.69828713e-01] [ 7.65775221e-03 5.75680204e-04 9.99970513e-01 6.26689584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.94, Y:0.67, Z:0.63 [[ 9.99868591e-01 1.42848163e-02 -7.66449176e-03 1.16944807e+02] [-1.42888949e-02 9.99897794e-01 -4.77642635e-04 6.71182326e-01] [ 7.65688537e-03 5.87096985e-04 9.99970513e-01 6.27470219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.97, Y:0.67, Z:0.63 [[ 9.99859313e-01 1.49201215e-02 -7.66446901e-03 1.16972757e+02] [-1.49242214e-02 9.99888513e-01 -4.78007404e-04 6.72765543e-01] [ 7.65648260e-03 5.92326387e-04 9.99970513e-01 6.27060853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.00, Y:0.67, Z:0.63 [[ 9.99848245e-01 1.56442915e-02 -7.66444069e-03 1.17001950e+02] [-1.56484160e-02 9.99877442e-01 -4.78461072e-04 6.74486192e-01] [ 7.65601616e-03 5.98324819e-04 9.99970513e-01 6.29471529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.03, Y:0.68, Z:0.63 [[ 9.99837781e-01 1.62993073e-02 -7.66441913e-03 1.17030849e+02] [-1.63034536e-02 9.99866975e-01 -4.78806195e-04 6.75983301e-01] [ 7.65559536e-03 6.03685026e-04 9.99970513e-01 6.32683421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:0.68, Z:0.63 [[ 9.99827309e-01 1.69295196e-02 -7.66439605e-03 1.17058316e+02] [-1.69336871e-02 9.99856500e-01 -4.79175323e-04 6.76899932e-01] [ 7.65518400e-03 6.08879059e-04 9.99970513e-01 6.33442484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.09, Y:0.68, Z:0.63 [[ 9.99816247e-01 1.75706826e-02 -7.66436735e-03 1.17087246e+02] [-1.75748723e-02 9.99845435e-01 -4.79633964e-04 6.78118877e-01] [ 7.65475521e-03 6.14246107e-04 9.99970513e-01 6.33707121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.11, Y:0.68, Z:0.63 [[ 9.99778840e-01 1.95838798e-02 -7.66434487e-03 1.17114557e+02] [-1.95881310e-02 9.99808019e-01 -4.79992856e-04 6.79530173e-01] [ 7.65347334e-03 6.30016892e-04 9.99970513e-01 6.34938685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.14, Y:0.68, Z:0.64 [[ 9.99746509e-01 2.11701592e-02 -7.66431697e-03 1.17142760e+02] [-2.11744601e-02 9.99775681e-01 -4.80438060e-04 6.82445285e-01] [ 7.65242676e-03 6.42604047e-04 9.99970513e-01 6.36562823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:0.69, Z:0.64 [[ 9.99710912e-01 2.27892701e-02 -7.66429531e-03 1.17171304e+02] [-2.27936208e-02 9.99740076e-01 -4.80783361e-04 6.85881263e-01] [ 7.65134647e-03 6.55341414e-04 9.99970513e-01 6.37979479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:117.20, Y:0.69, Z:0.64 [[ 9.99699234e-01 2.32959521e-02 -7.66427258e-03 1.17200018e+02] [-2.33003204e-02 9.99728395e-01 -4.81145411e-04 6.89965875e-01] [ 7.65098218e-03 6.59580706e-04 9.99970513e-01 6.35853908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:117.23, Y:0.69, Z:0.64 [[ 9.99700327e-01 2.32490096e-02 -7.66424996e-03 1.17229283e+02] [-2.32533793e-02 9.99729488e-01 -4.81505388e-04 6.91886414e-01] [ 7.65098216e-03 6.59580805e-04 9.99970513e-01 6.36079137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:0.70, Z:0.64 [[ 9.99694686e-01 2.34902963e-02 -7.66422734e-03 1.17256489e+02] [-2.34946757e-02 9.99723846e-01 -4.81865263e-04 6.97082221e-01] [ 7.65079167e-03 6.61786679e-04 9.99970513e-01 6.35591172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:0.70, Z:0.64 [[ 9.99711349e-01 2.27701249e-02 -7.66419918e-03 1.17285282e+02] [-2.27744868e-02 9.99740511e-01 -4.82312721e-04 7.04950760e-01] [ 7.65122808e-03 6.56721704e-04 9.99970513e-01 6.35757450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:0.71, Z:0.64 [[ 9.99721254e-01 2.23310057e-02 -7.66417678e-03 1.17313526e+02] [-2.23353574e-02 9.99750418e-01 -4.82668326e-04 7.09266094e-01] [ 7.65148547e-03 6.53715912e-04 9.99970513e-01 6.38146010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.34, Y:0.71, Z:0.64 [[ 9.99739641e-01 2.14921004e-02 -7.66415416e-03 1.17341291e+02] [-2.14964304e-02 9.99768808e-01 -4.83027209e-04 7.13470938e-01] [ 7.65200101e-03 6.47653405e-04 9.99970513e-01 6.39765387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:0.72, Z:0.64 [[ 9.99765024e-01 2.02770124e-02 -7.66412342e-03 1.17369606e+02] [-2.02813106e-02 9.99794196e-01 -4.83514550e-04 7.18312884e-01] [ 7.65274188e-03 6.38839403e-04 9.99970513e-01 6.40290795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:0.72, Z:0.64 [[ 9.99799255e-01 1.85124584e-02 -7.66410120e-03 1.17397814e+02] [-1.85167078e-02 9.99828434e-01 -4.83866432e-04 7.23348977e-01] [ 7.65382875e-03 6.25683221e-04 9.99970513e-01 6.38711565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27589822699998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:117.43, Y:0.73, Z:0.64 [[ 9.99845089e-01 1.58448423e-02 -7.66407889e-03 1.17425168e+02] [-1.58490165e-02 9.99874279e-01 -4.84219626e-04 7.27787002e-01] [ 7.65544297e-03 6.05612728e-04 9.99970513e-01 6.35428960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.45, Y:0.73, Z:0.64 [[ 9.99883942e-01 1.31668013e-02 -7.66405114e-03 1.17453510e+02] [-1.31709007e-02 9.99913142e-01 -4.84658434e-04 7.32247252e-01] [ 7.65700406e-03 5.85544643e-04 9.99970513e-01 6.35812264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33589822699999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:117.48, Y:0.74, Z:0.63 [[ 9.99947661e-01 6.77782487e-03 -7.66402892e-03 1.17481757e+02] [-6.78174029e-03 9.99976886e-01 -4.85009580e-04 7.35831381e-01] [ 7.66056446e-03 5.36959649e-04 9.99970513e-01 6.33715301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.51, Y:0.74, Z:0.64 [[ 9.99961294e-01 4.32119134e-03 -7.66401234e-03 1.17510611e+02] [-4.32503694e-03 9.99990529e-01 -4.85271343e-04 7.38265418e-01] [ 7.66184281e-03 5.18399697e-04 9.99970513e-01 6.37581716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:0.74, Z:0.64 [[ 9.99969285e-01 1.64054751e-03 -7.66399032e-03 1.17539182e+02] [-1.64431738e-03 9.99998530e-01 -4.85618953e-04 7.40017739e-01] [ 7.66318237e-03 4.98206070e-04 9.99970513e-01 6.38514684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.57, Y:0.74, Z:0.64 [[ 9.99970553e-01 -3.97031417e-04 -7.66397317e-03 1.17567303e+02] [ 3.93319077e-04 9.99999805e-01 -4.85889480e-04 7.41036314e-01] [ 7.66416458e-03 4.82860785e-04 9.99970513e-01 6.37586941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:0.74, Z:0.64 [[ 9.99968175e-01 -2.21671694e-03 -7.66394454e-03 1.17596142e+02] [ 2.21305439e-03 9.99997433e-01 -4.86340545e-04 7.42311165e-01] [ 7.66500295e-03 4.69364340e-04 9.99970513e-01 6.36928006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.62, Y:0.74, Z:0.64 [[ 9.99964537e-01 -3.49138502e-03 -7.66392216e-03 1.17624729e+02] [ 3.48775708e-03 9.99993799e-01 -4.86693037e-04 7.43905212e-01] [ 7.66557387e-03 4.59945879e-04 9.99970513e-01 6.36683263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.65, Y:0.74, Z:0.64 [[ 9.99963414e-01 -3.79948499e-03 -7.66389856e-03 1.17652302e+02] [ 3.79586323e-03 9.99992677e-01 -4.87064321e-04 7.43372285e-01] [ 7.66569303e-03 4.57955391e-04 9.99970513e-01 6.35555699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:0.74, Z:0.64 [[ 9.99965249e-01 -3.28123467e-03 -7.66380406e-03 1.17680591e+02] [ 3.27758643e-03 9.99994509e-01 -4.88546685e-04 7.43090736e-01] [ 7.66536502e-03 4.63410928e-04 9.99970513e-01 6.36953520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.71, Y:0.74, Z:0.64 [[ 9.99968178e-01 -2.21583915e-03 -7.66370980e-03 1.17707750e+02] [ 2.21214848e-03 9.99997433e-01 -4.90020862e-04 7.42522051e-01] [ 7.66477594e-03 4.73052005e-04 9.99970513e-01 6.36320442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.74, Y:0.74, Z:0.64 [[ 9.99970628e-01 -1.09191165e-04 -7.66366871e-03 1.17736106e+02] [ 1.05433972e-04 9.99999874e-01 -4.90662693e-04 7.41085727e-01] [ 7.66372132e-03 4.89840270e-04 9.99970513e-01 6.37015151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:0.74, Z:0.64 [[ 9.99970438e-01 6.26913253e-04 -7.66357389e-03 1.17763788e+02] [-6.30703243e-04 9.99999680e-01 -4.92139307e-04 7.40655201e-01] [ 7.66326291e-03 4.96958199e-04 9.99970513e-01 6.37435098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:0.74, Z:0.64 [[ 9.99969985e-01 1.13943200e-03 -7.66354448e-03 1.17791398e+02] [-1.14324047e-03 9.99999225e-01 -4.92596772e-04 7.39395301e-01] [ 7.66297726e-03 5.01343261e-04 9.99970513e-01 6.39562858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:0.74, Z:0.64 [[ 9.99970395e-01 6.98075011e-04 -7.66304567e-03 1.17820245e+02] [-7.01929653e-04 9.99999628e-01 -5.00338946e-04 7.38879249e-01] [ 7.66269355e-03 5.05703053e-04 9.99970513e-01 6.40884474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:0.74, Z:0.64 [[ 9.99970281e-01 8.42132762e-04 -7.66345112e-03 1.17848637e+02] [-8.45943625e-04 9.99999520e-01 -4.94049761e-04 7.37973129e-01] [ 7.66303139e-03 5.00517926e-04 9.99970513e-01 6.41397984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.88, Y:0.74, Z:0.64 [[ 9.99970640e-01 3.71855476e-06 -7.66288574e-03 1.17876761e+02] [-7.57173072e-06 9.99999874e-01 -5.02807200e-04 7.38421741e-01] [ 7.66288290e-03 5.02850459e-04 9.99970513e-01 6.40376236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:0.74, Z:0.64 [[ 9.99970553e-01 4.07189999e-04 -7.66339037e-03 1.17905250e+02] [-4.10995354e-04 9.99999793e-01 -4.94994616e-04 7.38952861e-01] [ 7.66318723e-03 4.98129658e-04 9.99970513e-01 6.35784047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:0.74, Z:0.63 [[ 9.99969909e-01 1.20583579e-03 -7.66330999e-03 1.17931677e+02] [-1.20967397e-03 9.99999145e-01 -4.96235866e-04 7.41189798e-01] [ 7.66270506e-03 5.05491041e-04 9.99970513e-01 6.34479215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84589822699999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:117.96, Y:0.74, Z:0.63 [[ 9.99968798e-01 1.91780245e-03 -7.66326985e-03 1.17960347e+02] [-1.92166617e-03 9.99998030e-01 -4.96855066e-04 7.44022500e-01] [ 7.66230188e-03 5.11565809e-04 9.99970513e-01 6.34551498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.875898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:117.99, Y:0.75, Z:0.64 [[ 9.99965023e-01 3.35087381e-03 -7.66318962e-03 1.17988322e+02] [-3.35478884e-03 9.99994249e-01 -4.98089389e-04 7.46487173e-01] [ 7.66147651e-03 5.23780350e-04 9.99970513e-01 6.38276395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.02, Y:0.75, Z:0.64 [[ 9.99964611e-01 3.47266495e-03 -7.66277479e-03 1.18017114e+02] [-3.47663211e-03 9.99993829e-01 -5.04458746e-04 7.49242724e-01] [ 7.66097569e-03 5.31081542e-04 9.99970513e-01 6.43171206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.05, Y:0.75, Z:0.64 [[ 9.99962782e-01 3.96365347e-03 -7.66313577e-03 1.18045718e+02] [-3.96759269e-03 9.99992005e-01 -4.98914266e-04 7.51134549e-01] [ 7.66109697e-03 5.29299898e-04 9.99970513e-01 6.44901706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:0.75, Z:0.64 [[ 9.99958944e-01 4.83596390e-03 -7.66311192e-03 1.18073479e+02] [-4.83993140e-03 9.99988163e-01 -4.99280302e-04 7.51468257e-01] [ 7.66060671e-03 5.36348739e-04 9.99970513e-01 6.41478111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99589822699998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.10, Y:0.75, Z:0.64 [[ 9.99959162e-01 4.79075110e-03 -7.66308229e-03 1.18102117e+02] [-4.79472075e-03 9.99988380e-01 -4.99734553e-04 7.53325847e-01] [ 7.66059915e-03 5.36456484e-04 9.99970513e-01 6.39993314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02589822699998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:118.13, Y:0.76, Z:0.64 [[ 9.99960189e-01 4.57142951e-03 -7.66305841e-03 1.18129787e+02] [-4.57539554e-03 9.99989408e-01 -5.00100483e-04 7.55244159e-01] [ 7.66069107e-03 5.35142097e-04 9.99970513e-01 6.39037692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.16, Y:0.76, Z:0.64 [[ 9.99959705e-01 4.67615718e-03 -7.66302857e-03 1.18158166e+02] [-4.68012975e-03 9.99988923e-01 -5.00557373e-04 7.57801560e-01] [ 7.66060300e-03 5.36401171e-04 9.99970513e-01 6.41719381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:0.76, Z:0.64 [[ 9.99957757e-01 5.07572348e-03 -7.66300543e-03 1.18187335e+02] [-5.07971043e-03 9.99986973e-01 -5.00911355e-04 7.59787164e-01] [ 7.66036311e-03 5.39816044e-04 9.99970513e-01 6.42902113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11589822699999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:118.22, Y:0.76, Z:0.64 [[ 9.99953062e-01 5.92894518e-03 -7.66298144e-03 1.18216184e+02] [-5.93295985e-03 9.99982274e-01 -5.01278054e-04 7.61314845e-01] [ 7.65987356e-03 5.46718686e-04 9.99970513e-01 6.40956212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.24, Y:0.76, Z:0.64 [[ 9.99940114e-01 7.81335259e-03 -7.66295754e-03 1.18244279e+02] [-7.81742508e-03 9.99969318e-01 -5.01643108e-04 7.63601232e-01] [ 7.65880291e-03 5.61517663e-04 9.99970513e-01 6.42134953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:0.77, Z:0.64 [[ 9.99899652e-01 1.19149145e-02 -7.66292552e-03 1.18272839e+02] [-1.19191105e-02 9.99928839e-01 -5.02131863e-04 7.68865659e-01] [ 7.65639736e-03 5.93416731e-04 9.99970513e-01 6.39427787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:0.77, Z:0.64 [[ 9.99872879e-01 1.39823889e-02 -7.66284191e-03 1.18300931e+02] [-1.39866549e-02 9.99902055e-01 -5.03404534e-04 7.73386668e-01] [ 7.65505258e-03 6.10518067e-04 9.99970513e-01 6.37732784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:0.78, Z:0.64 [[ 9.99851993e-01 1.54036675e-02 -7.66281219e-03 1.18329868e+02] [-1.54079784e-02 9.99881163e-01 -5.03856470e-04 7.77991904e-01] [ 7.65414033e-03 6.21850341e-04 9.99970513e-01 6.38497028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:0.78, Z:0.64 [[ 9.99845467e-01 1.58216218e-02 -7.66278928e-03 1.18358468e+02] [-1.58259476e-02 9.99874635e-01 -5.04204723e-04 7.82170178e-01] [ 7.65385129e-03 6.25397708e-04 9.99970513e-01 6.39467414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:0.79, Z:0.64 [[ 9.99850653e-01 1.54904534e-02 -7.66276515e-03 1.18386407e+02] [-1.54947723e-02 9.99879822e-01 -5.04571204e-04 7.85822647e-01] [ 7.65402821e-03 6.23228649e-04 9.99970513e-01 6.39458226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:0.79, Z:0.64 [[ 9.99866123e-01 1.44574699e-02 -7.66273505e-03 1.18414089e+02] [-1.44617621e-02 9.99895296e-01 -5.05027789e-04 7.89510813e-01] [ 7.65463131e-03 6.15776828e-04 9.99970513e-01 6.39030214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.44, Y:0.79, Z:0.64 [[ 9.99892635e-01 1.24900902e-02 -7.66270517e-03 1.18442386e+02] [-1.24943284e-02 9.99921815e-01 -5.05480787e-04 7.94876934e-01] [ 7.65579256e-03 6.01166871e-04 9.99970513e-01 6.42280579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.47, Y:0.80, Z:0.64 [[ 9.99903401e-01 1.15961818e-02 -7.66268167e-03 1.18470002e+02] [-1.16003967e-02 9.99932585e-01 -5.05836856e-04 7.99014504e-01] [ 7.65629931e-03 5.94678140e-04 9.99970513e-01 6.43037537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.50, Y:0.80, Z:0.64 [[ 9.99913546e-01 1.06856916e-02 -7.66265227e-03 1.18497618e+02] [-1.06898833e-02 9.99942733e-01 -5.06281813e-04 8.02892314e-01] [ 7.65680348e-03 5.88150901e-04 9.99970513e-01 6.43195016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.53, Y:0.81, Z:0.64 [[ 9.99927679e-01 9.26933464e-03 -7.66262131e-03 1.18526185e+02] [-9.27348857e-03 9.99956872e-01 -5.06749975e-04 8.06430220e-01] [ 7.65759360e-03 5.77772558e-04 9.99970513e-01 6.41860364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.55, Y:0.81, Z:0.64 [[ 9.99937615e-01 8.12715935e-03 -7.66259790e-03 1.18553690e+02] [-8.13128263e-03 9.99966812e-01 -5.07103627e-04 8.08999488e-01] [ 7.65822228e-03 5.69378741e-04 9.99970513e-01 6.41331534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.58, Y:0.81, Z:0.64 [[ 9.99949479e-01 6.50567053e-03 -7.66256873e-03 1.18582318e+02] [-6.50974982e-03 9.99978683e-01 -5.07544039e-04 8.10498488e-01] [ 7.65910347e-03 5.57399803e-04 9.99970513e-01 6.41847641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:0.81, Z:0.64 [[ 9.99964506e-01 3.50303280e-03 -7.66254500e-03 1.18610019e+02] [-3.50702711e-03 9.99993721e-01 -5.07902131e-04 8.09535176e-01] [ 7.66071769e-03 5.34756856e-04 9.99970513e-01 6.43483571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56589822699999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:118.64, Y:0.81, Z:0.64 [[ 9.99969729e-01 1.35151665e-03 -7.66251545e-03 1.18637593e+02] [-1.35545149e-03 9.99998952e-01 -5.08347504e-04 8.09514169e-01] [ 7.66182038e-03 5.18718283e-04 9.99970513e-01 6.42814072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:0.81, Z:0.64 [[ 9.99970635e-01 -1.27804106e-04 -7.66248655e-03 1.18666849e+02] [ 1.23909187e-04 9.99999863e-01 -5.08782678e-04 8.09872996e-01] [ 7.66255053e-03 5.07818285e-04 9.99970513e-01 6.44702429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:0.81, Z:0.65 [[ 9.99969935e-01 -1.18988168e-03 -7.66246336e-03 1.18695925e+02] [ 1.18601514e-03 9.99999167e-01 -5.09131709e-04 8.10278252e-01] [ 7.66306279e-03 5.00028604e-04 9.99970513e-01 6.46235233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.72, Y:0.81, Z:0.65 [[ 9.99969955e-01 -1.17305174e-03 -7.66244520e-03 1.18724347e+02] [ 1.16918263e-03 9.99999187e-01 -5.09404960e-04 8.11171762e-01] [ 7.66303652e-03 5.00430857e-04 9.99970513e-01 6.46424892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:0.81, Z:0.65 [[ 9.99970610e-01 2.60072275e-04 -7.66234659e-03 1.18751367e+02] [-2.63994559e-04 9.99999835e-01 -5.10883809e-04 8.11939145e-01] [ 7.66221246e-03 5.12891612e-04 9.99970513e-01 6.45354465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71589822699998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:118.78, Y:0.81, Z:0.64 [[ 9.99968938e-01 1.84742958e-03 -7.66227621e-03 1.18779860e+02] [-1.85140629e-03 9.99998155e-01 -5.11937316e-04 8.12764825e-01] [ 7.66131630e-03 5.26107401e-04 9.99970513e-01 6.42909778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:0.81, Z:0.65 [[ 9.99963292e-01 3.83471825e-03 -7.66218276e-03 1.18807339e+02] [-3.83876364e-03 9.99992500e-01 -5.13332112e-04 8.13899494e-01] [ 7.66015681e-03 5.42726578e-04 9.99970513e-01 6.45567161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:0.81, Z:0.65 [[ 9.99958397e-01 4.94948080e-03 -7.66208663e-03 1.18835754e+02] [-4.95356967e-03 9.99987599e-01 -5.14762958e-04 8.14204193e-01] [ 7.65944380e-03 5.52696222e-04 9.99970513e-01 6.48331626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:0.81, Z:0.65 [[ 9.99961534e-01 4.26887970e-03 -7.66206182e-03 1.18863234e+02] [-4.27295150e-03 9.99990738e-01 -5.15131974e-04 8.14427086e-01] [ 7.65979182e-03 5.47851777e-04 9.99970513e-01 6.47759160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:118.89, Y:0.81, Z:0.64 [[ 9.99967878e-01 2.35283072e-03 -7.66202865e-03 1.18891559e+02] [-2.35685031e-03 9.99997090e-01 -5.15624886e-04 8.14108404e-01] [ 7.66079318e-03 5.33666577e-04 9.99970513e-01 6.44870108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.92, Y:0.81, Z:0.65 [[ 9.99970307e-01 8.23925173e-04 -7.66199561e-03 1.18919050e+02] [-8.27903838e-04 9.99999524e-01 -5.16115393e-04 8.13561319e-01] [ 7.66156672e-03 5.22443464e-04 9.99970513e-01 6.45499716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.95, Y:0.81, Z:0.65 [[ 9.99970045e-01 -1.09719252e-03 -7.66196603e-03 1.18946619e+02] [ 1.09326665e-03 9.99999269e-01 -5.16554110e-04 8.13641705e-01] [ 7.66252719e-03 5.08162065e-04 9.99970513e-01 6.45664540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92589822699999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:118.98, Y:0.81, Z:0.65 [[ 9.99964895e-01 -3.39164933e-03 -7.66193755e-03 1.18975044e+02] [ 3.38778730e-03 9.99994128e-01 -5.16976208e-04 8.13945876e-01] [ 7.66364596e-03 4.91001045e-04 9.99970513e-01 6.45364725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95589822699999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:119.00, Y:0.82, Z:0.65 [[ 9.99964259e-01 -3.57442867e-03 -7.66191401e-03 1.19003449e+02] [ 3.57056932e-03 9.99993492e-01 -5.17324932e-04 8.16044974e-01] [ 7.66371328e-03 4.89949047e-04 9.99970513e-01 6.45583459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.03, Y:0.81, Z:0.65 [[ 9.99946892e-01 -6.89278254e-03 -7.66181919e-03 1.19031532e+02] [ 6.88900953e-03 9.99976136e-01 -5.18725425e-04 8.13387078e-01] [ 7.66521181e-03 4.65915531e-04 9.99970513e-01 6.48767621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:0.81, Z:0.65 [[ 9.99936473e-01 -8.26721343e-03 -7.66178972e-03 1.19059422e+02] [ 8.26347731e-03 9.99965722e-01 -5.19160300e-04 8.13407183e-01] [ 7.66581910e-03 4.55814293e-04 9.99970513e-01 6.49926903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.09, Y:0.81, Z:0.65 [[ 9.99933531e-01 -8.61581174e-03 -7.66169131e-03 1.19086017e+02] [ 8.61207475e-03 9.99962780e-01 -5.20608570e-04 8.13227129e-01] [ 7.66589161e-03 4.54590907e-04 9.99970513e-01 6.48948020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:0.81, Z:0.65 [[ 9.99935333e-01 -8.40413417e-03 -7.66162334e-03 1.19113861e+02] [ 8.40038337e-03 9.99964580e-01 -5.21607079e-04 8.13518466e-01] [ 7.66573562e-03 4.57212775e-04 9.99970513e-01 6.48309364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:0.81, Z:0.65 [[ 9.99940821e-01 -7.72365397e-03 -7.66152577e-03 1.19141261e+02] [ 7.71987235e-03 9.99970065e-01 -5.23036207e-04 8.11382293e-01] [ 7.66533617e-03 4.63859253e-04 9.99970513e-01 6.46936316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:0.81, Z:0.65 [[ 9.99939430e-01 -7.90173960e-03 -7.66148341e-03 1.19169667e+02] [ 7.89795846e-03 9.99968674e-01 -5.23655977e-04 8.13511329e-01] [ 7.66538120e-03 4.63114182e-04 9.99970513e-01 6.47155058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:0.81, Z:0.65 [[ 9.99937641e-01 -8.12507891e-03 -7.66138991e-03 1.19198518e+02] [ 8.12129389e-03 9.99966884e-01 -5.25020446e-04 8.12012076e-01] [ 7.66540202e-03 4.62767308e-04 9.99970513e-01 6.52043690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:0.81, Z:0.65 [[ 9.99935587e-01 -8.37416019e-03 -7.66130529e-03 1.19226087e+02] [ 8.37037305e-03 9.99964829e-01 -5.26252301e-04 8.11955063e-01] [ 7.66544276e-03 4.62090420e-04 9.99970513e-01 6.53854614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.25, Y:0.81, Z:0.65 [[ 9.99939120e-01 -7.94119878e-03 -7.66120742e-03 1.19253807e+02] [ 7.93738813e-03 9.99968359e-01 -5.27673310e-04 8.11434574e-01] [ 7.66515537e-03 4.66831209e-04 9.99970513e-01 6.54604231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:0.81, Z:0.65 [[ 9.99948461e-01 -6.66198351e-03 -7.66110847e-03 1.19280748e+02] [ 6.65812453e-03 9.99977694e-01 -5.29105954e-04 8.10947817e-01] [ 7.66446248e-03 4.78070070e-04 9.99970513e-01 6.53578503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.31, Y:0.81, Z:0.65 [[ 9.99958158e-01 -4.99906954e-03 -7.66106532e-03 1.19308378e+02] [ 4.99515719e-03 9.99987384e-01 -5.29730099e-04 8.11647568e-01] [ 7.66361682e-03 4.91439708e-04 9.99970513e-01 6.52303130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:0.81, Z:0.65 [[ 9.99968642e-01 -2.00619817e-03 -7.66096390e-03 1.19334985e+02] [ 2.00218720e-03 9.99997855e-01 -5.31192754e-04 8.12452245e-01] [ 7.66201314e-03 5.15837413e-04 9.99970513e-01 6.51903629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.36, Y:0.81, Z:0.65 [[ 9.99966374e-01 2.92611737e-03 -7.66091966e-03 1.19362223e+02] [-2.93027723e-03 9.99995565e-01 -5.31830096e-04 8.14195495e-01] [ 7.65932948e-03 5.54260831e-04 9.99970513e-01 6.50973116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:0.82, Z:0.65 [[ 9.99962372e-01 4.06999831e-03 -7.66087722e-03 1.19390278e+02] [-4.07419622e-03 9.99991559e-01 -5.32440654e-04 8.15557176e-01] [ 7.65864552e-03 5.63632536e-04 9.99970513e-01 6.51432452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.405898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:119.42, Y:0.82, Z:0.65 [[ 9.99965904e-01 3.08262341e-03 -7.66084040e-03 1.19419134e+02] [-3.08679653e-03 9.99995094e-01 -5.32969947e-04 8.17242380e-01] [ 7.65915987e-03 5.56599230e-04 9.99970513e-01 6.50363228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:0.82, Z:0.65 [[ 9.99969352e-01 1.61454355e-03 -7.66081540e-03 1.19446793e+02] [-1.61867655e-03 9.99998548e-01 -5.33329018e-04 8.17485471e-01] [ 7.65994319e-03 5.45713055e-04 9.99970513e-01 6.51462824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:0.82, Z:0.65 [[ 9.99970338e-01 -7.97237807e-04 -7.66078424e-03 1.19475396e+02] [ 7.93171825e-04 9.99999543e-01 -5.33776277e-04 8.17774642e-01] [ 7.66120628e-03 5.27684126e-04 9.99970513e-01 6.52669217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.50, Y:0.82, Z:0.65 [[ 9.99952924e-01 -5.95498846e-03 -7.66075943e-03 1.19503732e+02] [ 5.95107045e-03 9.99982150e-01 -5.34132039e-04 8.17544158e-01] [ 7.66380343e-03 4.88517175e-04 9.99970513e-01 6.54620055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.53, Y:0.82, Z:0.66 [[ 9.99942963e-01 -7.44198960e-03 -7.66072858e-03 1.19530632e+02] [ 7.43811169e-03 9.99972194e-01 -5.34574166e-04 8.19379628e-01] [ 7.66449386e-03 4.77562321e-04 9.99970513e-01 6.55613886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.56, Y:0.82, Z:0.66 [[ 9.99939339e-01 -7.91409535e-03 -7.66068634e-03 1.19558615e+02] [ 7.91022662e-03 9.99968570e-01 -5.35178723e-04 8.21835952e-01] [ 7.66468103e-03 4.74548494e-04 9.99970513e-01 6.57490684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.59, Y:0.83, Z:0.66 [[ 9.99937059e-01 -8.19714071e-03 -7.66058881e-03 1.19586483e+02] [ 8.19326963e-03 9.99966291e-01 -5.36571253e-04 8.25256412e-01] [ 7.66472892e-03 4.73772211e-04 9.99970513e-01 6.58625753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.61, Y:0.83, Z:0.66 [[ 9.99936149e-01 -8.30756495e-03 -7.66049102e-03 1.19614372e+02] [ 8.30368647e-03 9.99965379e-01 -5.37963765e-04 8.28313066e-01] [ 7.66469497e-03 4.74319099e-04 9.99970513e-01 6.59569444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:0.83, Z:0.66 [[ 9.99931849e-01 -8.80999748e-03 -7.66039299e-03 1.19641323e+02] [ 8.80612306e-03 9.99961080e-01 -5.39356037e-04 8.31128072e-01] [ 7.66484657e-03 4.71860916e-04 9.99970513e-01 6.59036787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.67, Y:0.83, Z:0.66 [[ 9.99892439e-01 -1.25071918e-02 -7.66035035e-03 1.19668793e+02] [ 1.25034209e-02 9.99921683e-01 -5.39960927e-04 8.33119133e-01] [ 7.66650381e-03 4.44122264e-04 9.99970513e-01 6.57033741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:0.83, Z:0.66 [[ 9.99843836e-01 -1.59255755e-02 -7.66025206e-03 1.19696786e+02] [ 1.59218939e-02 9.99873092e-01 -5.41351745e-04 8.34852365e-01] [ 7.66790125e-03 4.19301485e-04 9.99970513e-01 6.56601861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:119.73, Y:0.84, Z:0.66 [[ 9.99773021e-01 -1.98803720e-02 -7.66015306e-03 1.19725029e+02] [ 1.98767955e-02 9.99802290e-01 -5.42749047e-04 8.36511047e-01] [ 7.66942862e-03 3.90366558e-04 9.99970513e-01 6.56657537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.75, Y:0.84, Z:0.66 [[ 9.99706728e-01 -2.29734850e-02 -7.66004857e-03 1.19751973e+02] [ 2.29699879e-02 9.99736007e-01 -5.44219818e-04 8.36793916e-01] [ 7.67052899e-03 3.68108991e-04 9.99970513e-01 6.59154438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.78, Y:0.83, Z:0.66 [[ 9.99561692e-01 -2.85963064e-02 -7.66000302e-03 1.19778932e+02] [ 2.85929691e-02 9.99590989e-01 -5.44860170e-04 8.34919243e-01] [ 7.67245098e-03 3.25599124e-04 9.99970513e-01 6.63354244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:0.83, Z:0.66 [[ 9.99503669e-01 -3.05571746e-02 -7.65993240e-03 1.19806680e+02] [ 3.05538872e-02 9.99532972e-01 -5.45851124e-04 8.34653537e-01] [ 7.67303467e-03 3.11539491e-04 9.99970513e-01 6.64570506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:0.83, Z:0.66 [[ 9.99482179e-01 -3.12522115e-02 -7.65983071e-03 1.19834241e+02] [ 3.12489336e-02 9.99511483e-01 -5.47274400e-04 8.34241893e-01] [ 7.67319229e-03 3.07629468e-04 9.99970513e-01 6.63672743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.86, Y:0.83, Z:0.66 [[ 9.99486350e-01 -3.11185412e-02 -7.65978632e-03 1.19862653e+02] [ 3.11152546e-02 9.99515653e-01 -5.47894960e-04 8.33541226e-01] [ 7.67312602e-03 3.09277332e-04 9.99970513e-01 6.62655568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.89, Y:0.83, Z:0.66 [[ 9.99513808e-01 -3.02237664e-02 -7.65968062e-03 1.19889917e+02] [ 3.02204423e-02 9.99543107e-01 -5.49368721e-04 8.32216413e-01] [ 7.67278496e-03 3.17622687e-04 9.99970513e-01 6.61644803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.92, Y:0.83, Z:0.66 [[ 9.99609408e-01 -2.68767843e-02 -7.65963457e-03 1.19918611e+02] [ 2.68733572e-02 9.99638695e-01 -5.50010033e-04 8.27374275e-01] [ 7.67164961e-03 3.43955108e-04 9.99970513e-01 6.61066331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.95, Y:0.83, Z:0.66 [[ 9.99682219e-01 -2.40164881e-02 -7.65953054e-03 1.19945365e+02] [ 2.40129662e-02 9.99711495e-01 -5.51455047e-04 8.26939455e-01] [ 7.67056474e-03 3.67351758e-04 9.99970513e-01 6.59513556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.97, Y:0.83, Z:0.66 [[ 9.99753372e-01 -2.08453357e-02 -7.65948543e-03 1.19972355e+02] [ 2.08417162e-02 9.99782635e-01 -5.52080905e-04 8.27356760e-01] [ 7.66932884e-03 3.92307925e-04 9.99970513e-01 6.57835786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.00, Y:0.83, Z:0.66 [[ 9.99809441e-01 -1.79559228e-02 -7.65944163e-03 1.20000064e+02] [ 1.79522141e-02 9.99838693e-01 -5.52687816e-04 8.27903807e-01] [ 7.66813013e-03 4.15078560e-04 9.99970513e-01 6.57388721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.03, Y:0.83, Z:0.66 [[ 9.99853830e-01 -1.52857089e-02 -7.65933708e-03 1.20027554e+02] [ 1.52819110e-02 9.99883071e-01 -5.54133033e-04 8.27616857e-01] [ 7.66691180e-03 4.37002727e-04 9.99970513e-01 6.56818632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:0.83, Z:0.66 [[ 9.99879517e-01 -1.35013521e-02 -7.65929161e-03 1.20055253e+02] [ 1.34974972e-02 9.99908751e-01 -5.54760727e-04 8.27043222e-01] [ 7.66608273e-03 4.51312620e-04 9.99970513e-01 6.58197006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.08, Y:0.82, Z:0.66 [[ 9.99905564e-01 -1.14105374e-02 -7.65918695e-03 1.20083917e+02] [ 1.14066104e-02 9.99934788e-01 -5.56202019e-04 8.22619692e-01] [ 7.66503404e-03 4.68784132e-04 9.99970513e-01 6.59460008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:0.82, Z:0.66 [[ 9.99903306e-01 -1.16067075e-02 -7.65915445e-03 1.20111956e+02] [ 1.16027828e-02 9.99932531e-01 -5.56649182e-04 8.21968986e-01] [ 7.66509855e-03 4.67727852e-04 9.99970513e-01 6.60385802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:0.82, Z:0.66 [[ 9.99898003e-01 -1.20549836e-02 -7.65905120e-03 1.20139085e+02] [ 1.20510613e-02 9.99927228e-01 -5.58066258e-04 8.21289461e-01] [ 7.66522131e-03 4.65709641e-04 9.99970513e-01 6.60805883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:0.82, Z:0.66 [[ 9.99889562e-01 -1.27359226e-02 -7.65900636e-03 1.20167492e+02] [ 1.27320155e-02 9.99918789e-01 -5.58680944e-04 8.20771643e-01] [ 7.66549968e-03 4.61104656e-04 9.99970513e-01 6.61208719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.19, Y:0.82, Z:0.66 [[ 9.99893210e-01 -1.24462587e-02 -7.65890171e-03 1.20194297e+02] [ 1.24423322e-02 9.99922434e-01 -5.60111897e-04 8.20248860e-01] [ 7.66527894e-03 4.64757483e-04 9.99970513e-01 6.61016942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.22, Y:0.82, Z:0.66 [[ 9.99908577e-01 -1.11435470e-02 -7.65885611e-03 1.20221221e+02] [ 1.11395777e-02 9.99937796e-01 -5.60734754e-04 8.20405808e-01] [ 7.66462827e-03 4.75367068e-04 9.99970513e-01 6.60429998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:120.25, Y:0.82, Z:0.66 [[ 9.99943916e-01 -7.31493428e-03 -7.65881098e-03 1.20250557e+02] [ 7.31084838e-03 9.99973118e-01 -5.61350503e-04 8.22062167e-01] [ 7.66271133e-03 5.05326614e-04 9.99970513e-01 6.56024191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.28, Y:0.82, Z:0.66 [[ 9.99956158e-01 -5.38761426e-03 -7.65872745e-03 1.20278358e+02] [ 5.38346342e-03 9.99985351e-01 -5.62487751e-04 8.24691337e-01] [ 7.66164572e-03 5.21232611e-04 9.99970513e-01 6.56547067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.31, Y:0.83, Z:0.66 [[ 9.99962905e-01 -3.94133613e-03 -7.65862438e-03 1.20305876e+02] [ 3.93713240e-03 9.99992090e-01 -5.63887659e-04 8.27675212e-01] [ 7.66078627e-03 5.33713724e-04 9.99970513e-01 6.57215534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.33, Y:0.83, Z:0.66 [[ 9.99967099e-01 -2.67336793e-03 -7.65859232e-03 1.20333366e+02] [ 2.66912388e-03 9.99996279e-01 -5.64322757e-04 8.30728918e-01] [ 7.66007246e-03 5.43862459e-04 9.99970513e-01 6.59569870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.36, Y:0.83, Z:0.66 [[ 9.99969449e-01 -1.56492935e-03 -7.65849098e-03 1.20361552e+02] [ 1.56064250e-03 9.99998622e-01 -5.65694663e-04 8.34035162e-01] [ 7.65936570e-03 5.53725213e-04 9.99970513e-01 6.62313361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:0.84, Z:0.66 [[ 9.99970664e-01 -1.42107073e-04 -7.65838615e-03 1.20389593e+02] [ 1.37767940e-04 9.99999830e-01 -5.67110364e-04 8.37824361e-01] [ 7.65846544e-03 5.66038647e-04 9.99970513e-01 6.63681118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:0.84, Z:0.66 [[ 9.99969551e-01 1.49909761e-03 -7.65827797e-03 1.20416190e+02] [-1.50349570e-03 9.99998708e-01 -5.68567436e-04 8.42336441e-01] [ 7.65741574e-03 5.80064312e-04 9.99970513e-01 6.63503017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:0.85, Z:0.66 [[ 9.99966730e-01 2.80899569e-03 -7.65820161e-03 1.20444389e+02] [-2.81343979e-03 9.99995880e-01 -5.69594188e-04 8.47238673e-01] [ 7.65657007e-03 5.91121127e-04 9.99970513e-01 6.62873066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:0.86, Z:0.66 [[ 9.99961050e-01 4.38766636e-03 -7.65809557e-03 1.20471767e+02] [-4.39216729e-03 9.99990191e-01 -5.71016343e-04 8.56668312e-01] [ 7.65551502e-03 6.04629739e-04 9.99970513e-01 6.59777297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:0.86, Z:0.66 [[ 9.99962590e-01 4.02156315e-03 -7.65806270e-03 1.20499849e+02] [-4.02605677e-03 9.99991732e-01 -5.71456734e-04 8.62102989e-01] [ 7.65570124e-03 6.02267151e-04 9.99970513e-01 6.58485411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.53, Y:0.87, Z:0.66 [[ 9.99967554e-01 2.49926185e-03 -7.65803681e-03 1.20527778e+02] [-2.50371374e-03 9.99996702e-01 -5.71803474e-04 8.67337511e-01] [ 7.65658247e-03 5.90958453e-04 9.99970513e-01 6.56901758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.56, Y:0.87, Z:0.66 [[ 9.99970668e-01 -1.33871235e-04 -7.65800453e-03 1.20556065e+02] [ 1.29492828e-04 9.99999828e-01 -5.72235538e-04 8.71683650e-01] [ 7.65807982e-03 5.71227097e-04 9.99970513e-01 6.57217608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:0.88, Z:0.66 [[ 9.99962399e-01 -4.06891108e-03 -7.65797875e-03 1.20584442e+02] [ 4.06464483e-03 9.99991575e-01 -5.72580280e-04 8.75058979e-01] [ 7.66024401e-03 5.41431787e-04 9.99970513e-01 6.59285255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.61, Y:0.88, Z:0.66 [[ 9.99931890e-01 -8.80747653e-03 -7.65795232e-03 1.20613202e+02] [ 8.80334590e-03 9.99961086e-01 -5.72933525e-04 8.77808254e-01] [ 7.66270042e-03 5.05478899e-04 9.99970513e-01 6.60616203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.64, Y:0.88, Z:0.66 [[ 9.99815455e-01 -1.76185049e-02 -7.65792589e-03 1.20640738e+02] [ 1.76146290e-02 9.99844686e-01 -5.73286554e-04 8.80317870e-01] [ 7.66683696e-03 4.38289233e-04 9.99970513e-01 6.60444244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.67, Y:0.88, Z:0.66 [[ 9.99758555e-01 -2.05958358e-02 -7.65789293e-03 1.20667469e+02] [ 2.05920436e-02 9.99787797e-01 -5.73726578e-04 8.83166038e-01] [ 7.66808428e-03 4.15896390e-04 9.99970513e-01 6.58345096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.69, Y:0.89, Z:0.66 [[ 9.99735777e-01 -2.16733598e-02 -7.65778907e-03 1.20694923e+02] [ 2.16695886e-02 9.99765021e-01 -5.75109437e-04 8.85801816e-01] [ 7.66845421e-03 4.09016341e-04 9.99970513e-01 6.58985880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:0.89, Z:0.66 [[ 9.99726204e-01 -2.21105414e-02 -7.65768105e-03 1.20722893e+02] [ 2.21067720e-02 9.99755449e-01 -5.76544237e-04 8.88673629e-01] [ 7.66855606e-03 4.07099772e-04 9.99970513e-01 6.58881349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.75, Y:0.89, Z:0.66 [[ 9.99722944e-01 -2.22575063e-02 -7.65757308e-03 1.20750889e+02] [ 2.22537303e-02 9.99752188e-01 -5.77974707e-04 8.91476828e-01] [ 7.66853972e-03 4.07405010e-04 9.99970513e-01 6.61234775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.78, Y:0.89, Z:0.66 [[ 9.99718675e-01 -2.24484918e-02 -7.65746245e-03 1.20779289e+02] [ 2.24447102e-02 9.99747918e-01 -5.79436694e-04 8.93795825e-01] [ 7.66853962e-03 4.07404158e-04 9.99970513e-01 6.61453505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:0.90, Z:0.66 [[ 9.99727937e-01 -2.20321861e-02 -7.65735148e-03 1.20807515e+02] [ 2.20283811e-02 9.99757177e-01 -5.80899503e-04 8.95778688e-01] [ 7.66829059e-03 4.12062405e-04 9.99970513e-01 6.62831411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:0.90, Z:0.66 [[ 9.99736093e-01 -2.16589563e-02 -7.65731702e-03 1.20835887e+02] [ 2.16551370e-02 9.99765331e-01 -5.81353443e-04 8.96988531e-01] [ 7.66811159e-03 4.15379770e-04 9.99970513e-01 6.64398483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.86, Y:0.90, Z:0.67 [[ 9.99756320e-01 -2.07043018e-02 -7.65720848e-03 1.20862784e+02] [ 2.07004437e-02 9.99785553e-01 -5.82779562e-04 8.97611524e-01] [ 7.66763246e-03 4.24129938e-04 9.99970513e-01 6.65554480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:0.90, Z:0.67 [[ 9.99811948e-01 -1.78167536e-02 -7.65716124e-03 1.20891313e+02] [ 1.78128063e-02 9.99841169e-01 -5.83399531e-04 8.97394290e-01] [ 7.66633933e-03 4.46894291e-04 9.99970513e-01 6.67042267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:0.90, Z:0.67 [[ 9.99840202e-01 -1.61536503e-02 -7.65704857e-03 1.20918761e+02] [ 1.61496431e-02 9.99869415e-01 -5.84874639e-04 8.98749951e-01] [ 7.66549653e-03 4.61122575e-04 9.99970513e-01 6.67984585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:0.90, Z:0.67 [[ 9.99867109e-01 -1.43922075e-02 -7.65699951e-03 1.20946702e+02] [ 1.43881440e-02 9.99896314e-01 -5.85516135e-04 9.00027624e-01] [ 7.66463246e-03 4.75268313e-04 9.99970513e-01 6.69715761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:0.90, Z:0.67 [[ 9.99888622e-01 -1.28107397e-02 -7.65689256e-03 1.20974716e+02] [ 1.28066193e-02 9.99917820e-01 -5.86911403e-04 9.01738732e-01] [ 7.66378209e-03 4.88787126e-04 9.99970513e-01 6.70395450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:0.90, Z:0.67 [[ 9.99908389e-01 -1.11618952e-02 -7.65678108e-03 1.21002192e+02] [ 1.11577157e-02 9.99937578e-01 -5.88362193e-04 9.03590404e-01] [ 7.66287037e-03 5.02876106e-04 9.99970513e-01 6.70464900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.03, Y:0.90, Z:0.67 [[ 9.99928323e-01 -9.20456454e-03 -7.65666822e-03 1.21028834e+02] [ 9.20031670e-03 9.99957502e-01 -5.89827300e-04 9.04837061e-01] [ 7.66177193e-03 5.19341250e-04 9.99970513e-01 6.68034203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.06, Y:0.91, Z:0.67 [[ 9.99949198e-01 -6.55575453e-03 -7.65661915e-03 1.21057610e+02] [ 6.55142457e-03 9.99978365e-01 -5.90463528e-04 9.05278696e-01] [ 7.66032444e-03 5.40271768e-04 9.99970513e-01 6.65394404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:0.91, Z:0.67 [[ 9.99955124e-01 -5.57923675e-03 -7.65652117e-03 1.21085797e+02] [ 5.57486865e-03 9.99984285e-01 -5.91731322e-04 9.06835464e-01] [ 7.65970226e-03 5.49020667e-04 9.99970513e-01 6.66609100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.11, Y:0.91, Z:0.67 [[ 9.99961270e-01 -4.34009472e-03 -7.65648641e-03 1.21113839e+02] [ 4.33568706e-03 9.99990426e-01 -5.92180735e-04 9.08229645e-01] [ 7.65898323e-03 5.58961670e-04 9.99970513e-01 6.69163298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.14, Y:0.91, Z:0.67 [[ 9.99964275e-01 -3.58142319e-03 -7.65645191e-03 1.21141350e+02] [ 3.57699002e-03 9.99993427e-01 -5.92626547e-04 9.10092552e-01] [ 7.65852403e-03 5.65218324e-04 9.99970513e-01 6.71953017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.17, Y:0.91, Z:0.67 [[ 9.99966288e-01 -2.96702649e-03 -7.65634219e-03 1.21169221e+02] [ 2.96256465e-03 9.99995435e-01 -5.94040622e-04 9.11804541e-01] [ 7.65806978e-03 5.71338187e-04 9.99970513e-01 6.73127129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.20, Y:0.91, Z:0.67 [[ 9.99967225e-01 -2.63271860e-03 -7.65623002e-03 1.21197065e+02] [ 2.62823602e-03 9.99996369e-01 -5.95482892e-04 9.13431243e-01] [ 7.65776995e-03 5.75340996e-04 9.99970513e-01 6.72220433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.22, Y:0.91, Z:0.67 [[ 9.99968503e-01 -2.09217625e-03 -7.65611587e-03 1.21224624e+02] [ 2.08766678e-03 9.99997643e-01 -5.96946801e-04 9.14889939e-01] [ 7.65734674e-03 5.80944580e-04 9.99970513e-01 6.66578120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:0.92, Z:0.67 [[ 9.99968106e-01 -2.27400490e-03 -7.65608055e-03 1.21253021e+02] [ 2.26949728e-03 9.99997246e-01 -5.97399564e-04 9.17273069e-01] [ 7.65741795e-03 5.80005056e-04 9.99970513e-01 6.66796925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:0.92, Z:0.67 [[ 9.99965139e-01 -3.33284774e-03 -7.65597166e-03 1.21281414e+02] [ 3.32836038e-03 9.99994282e-01 -5.98791697e-04 9.18210503e-01] [ 7.65792357e-03 5.73288990e-04 9.99970513e-01 6.65609213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:121.31, Y:0.92, Z:0.67 [[ 9.99958163e-01 -5.00606673e-03 -7.65586176e-03 1.21309938e+02] [ 5.00161747e-03 9.99987312e-01 -6.00193548e-04 9.19438497e-01] [ 7.65876923e-03 5.61876746e-04 9.99970513e-01 6.66796202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:0.92, Z:0.67 [[ 9.99948749e-01 -6.62479210e-03 -7.65583345e-03 1.21336501e+02] [ 6.62038728e-03 9.99977905e-01 -6.00554524e-04 9.19575643e-01] [ 7.65964284e-03 5.49839163e-04 9.99970513e-01 6.68211177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:0.92, Z:0.67 [[ 9.99936370e-01 -8.28527706e-03 -7.65574484e-03 1.21364311e+02] [ 8.28091207e-03 9.99965532e-01 -6.01681910e-04 9.19679390e-01] [ 7.66046606e-03 5.38247075e-04 9.99970513e-01 6.67733162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:121.39, Y:0.92, Z:0.67 [[ 9.99920921e-01 -9.97715282e-03 -7.65563524e-03 1.21392357e+02] [ 9.97282658e-03 9.99950088e-01 -6.03073317e-04 9.20343827e-01] [ 7.66127008e-03 5.26677304e-04 9.99970513e-01 6.65375148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:0.92, Z:0.66 [[ 9.99920499e-01 -1.00193748e-02 -7.65552488e-03 1.21419882e+02] [ 1.00150391e-02 9.99949666e-01 -6.04470992e-04 9.19631663e-01] [ 7.66119596e-03 5.27752555e-04 9.99970513e-01 6.64716997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:0.92, Z:0.66 [[ 9.99923032e-01 -9.76341981e-03 -7.65544830e-03 1.21447962e+02] [ 9.75906931e-03 9.99952196e-01 -6.05439215e-04 9.16504626e-01] [ 7.66099350e-03 5.30682564e-04 9.99970513e-01 6.64918573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.625898227 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:121.48, Y:0.92, Z:0.67 [[ 9.99917306e-01 -1.03335902e-02 -7.65494355e-03 1.21475763e+02] [ 1.03292078e-02 9.99946465e-01 -6.11812521e-04 9.16446135e-01] [ 7.66085596e-03 5.32692425e-04 9.99970513e-01 6.65216881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:0.92, Z:0.67 [[ 9.99918654e-01 -1.02020642e-02 -7.65530768e-03 1.21504600e+02] [ 1.01977129e-02 9.99947818e-01 -6.07221885e-04 9.15401725e-01] [ 7.66110312e-03 5.29105860e-04 9.99970513e-01 6.69082293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.685898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:121.53, Y:0.92, Z:0.67 [[ 9.99916998e-01 -1.03631887e-02 -7.65521010e-03 1.21532858e+02] [ 1.03588327e-02 9.99946161e-01 -6.08449528e-04 9.15572618e-01] [ 7.66110343e-03 5.29099984e-04 9.99970513e-01 6.69701387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:0.91, Z:0.67 [[ 9.99923982e-01 -9.66588079e-03 -7.65517536e-03 1.21559919e+02] [ 9.66150118e-03 9.99953141e-01 -6.08886328e-04 9.14982215e-01] [ 7.66070207e-03 5.34879556e-04 9.99970513e-01 6.71081655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:0.91, Z:0.67 [[ 9.99929258e-01 -9.10381158e-03 -7.65509878e-03 1.21587829e+02] [ 9.09940825e-03 9.99958414e-01 -6.09847601e-04 9.14882345e-01] [ 7.66033237e-03 5.40147590e-04 9.99970513e-01 6.71265394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77589822699998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:121.62, Y:0.92, Z:0.67 [[ 9.99929468e-01 -9.08081381e-03 -7.65498207e-03 1.21615057e+02] [ 9.07639869e-03 9.99958622e-01 -6.11309114e-04 9.15855406e-01] [ 7.66021650e-03 5.41786328e-04 9.99970513e-01 6.67517182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:0.92, Z:0.67 [[ 9.99930305e-01 -8.98815415e-03 -7.65489859e-03 1.21642907e+02] [ 8.98372837e-03 9.99959458e-01 -6.12352663e-04 9.16345968e-01] [ 7.66009216e-03 5.43540455e-04 9.99970513e-01 6.68713384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.67, Y:0.92, Z:0.67 [[ 9.99917744e-01 -1.02912131e-02 -7.65478235e-03 1.21670973e+02] [ 1.02868143e-02 9.99946901e-01 -6.13802244e-04 9.16198614e-01] [ 7.66069266e-03 5.35008431e-04 9.99970513e-01 6.68868743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:0.92, Z:0.67 [[ 9.99909635e-01 -1.10511751e-02 -7.65466478e-03 1.21699036e+02] [ 1.10467873e-02 9.99938793e-01 -6.15265029e-04 9.16028379e-01] [ 7.66099566e-03 5.30649977e-04 9.99970513e-01 6.68060472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:0.92, Z:0.67 [[ 9.99894891e-01 -1.23131427e-02 -7.65462837e-03 1.21726981e+02] [ 1.23087882e-02 9.99924054e-01 -6.15717706e-04 9.15632826e-01] [ 7.66162845e-03 5.21433790e-04 9.99970513e-01 6.69946729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:0.92, Z:0.67 [[ 9.99876244e-01 -1.37442588e-02 -7.65451287e-03 1.21754901e+02] [ 1.37399352e-02 9.99905412e-01 -6.17150161e-04 9.15198946e-01] [ 7.66227112e-03 5.11901274e-04 9.99970513e-01 6.71064266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:0.91, Z:0.67 [[ 9.99852602e-01 -1.53682966e-02 -7.65439481e-03 1.21782477e+02] [ 1.53640092e-02 9.99881775e-01 -6.18611073e-04 9.14931386e-01] [ 7.66299687e-03 5.00917699e-04 9.99970513e-01 6.72816237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.81, Y:0.92, Z:0.68 [[ 9.99819642e-01 -1.73808498e-02 -7.65435802e-03 1.21810560e+02] [ 1.73766177e-02 9.99848824e-01 -6.19065916e-04 9.15303366e-01] [ 7.66396075e-03 4.85947409e-04 9.99970513e-01 6.75090799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:0.92, Z:0.68 [[ 9.99787863e-01 -1.91217594e-02 -7.65423917e-03 1.21838324e+02] [ 1.91175669e-02 9.99817050e-01 -6.20531897e-04 9.15513301e-01] [ 7.66470449e-03 4.74069829e-04 9.99970513e-01 6.78003068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:0.92, Z:0.68 [[ 9.99756757e-01 -2.06843059e-02 -7.65420219e-03 1.21866379e+02] [ 2.06801556e-02 9.99785950e-01 -6.20987716e-04 9.15581046e-01] [ 7.66540851e-03 4.62546573e-04 9.99970513e-01 6.80709018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.89, Y:0.92, Z:0.68 [[ 9.99735948e-01 -2.16667940e-02 -7.65408207e-03 1.21893092e+02] [ 2.16626611e-02 9.99765143e-01 -6.22464721e-04 9.15716754e-01] [ 7.66577128e-03 4.56492571e-04 9.99970513e-01 6.81310736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:0.92, Z:0.68 [[ 9.99734551e-01 -2.17311540e-02 -7.65402969e-03 1.21921235e+02] [ 2.17270181e-02 9.99763746e-01 -6.23108139e-04 9.15807949e-01] [ 7.66576226e-03 4.56643495e-04 9.99970513e-01 6.75585725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.95, Y:0.92, Z:0.67 [[ 9.99760086e-01 -2.05228508e-02 -7.65391094e-03 1.21949562e+02] [ 2.05186685e-02 9.99789275e-01 -6.24563411e-04 9.17372334e-01] [ 7.66511589e-03 4.67365508e-04 9.99970513e-01 6.71139975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:0.92, Z:0.67 [[ 9.99795366e-01 -1.87255129e-02 -7.65380713e-03 1.21977329e+02] [ 1.87212684e-02 9.99824546e-01 -6.25833049e-04 9.18719754e-01] [ 7.66418328e-03 4.82416005e-04 9.99970513e-01 6.66734495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:0.92, Z:0.67 [[ 9.99835217e-01 -1.64608466e-02 -7.65375263e-03 1.22006144e+02] [ 1.64565310e-02 9.99864386e-01 -6.26498786e-04 9.20352871e-01] [ 7.66302738e-03 5.00441332e-04 9.99970513e-01 6.68527941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:0.92, Z:0.67 [[ 9.99875927e-01 -1.37678317e-02 -7.65364763e-03 1.22033492e+02] [ 1.37634278e-02 9.99905082e-01 -6.27779020e-04 9.22799601e-01] [ 7.66156432e-03 5.22360703e-04 9.99970513e-01 6.68364147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25589822699999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:122.06, Y:0.93, Z:0.67 [[ 9.99907822e-01 -1.12147219e-02 -7.65361038e-03 1.22061640e+02] [ 1.12102401e-02 9.99936966e-01 -6.28232710e-04 9.26342604e-01] [ 7.66017340e-03 5.42375991e-04 9.99970513e-01 6.70367430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:0.93, Z:0.67 [[ 9.99935228e-01 -8.42398021e-03 -7.65349380e-03 1.22089055e+02] [ 8.41940628e-03 9.99964358e-01 -6.29649779e-04 9.30692491e-01] [ 7.65852517e-03 5.65171122e-04 9.99970513e-01 6.72613069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.12, Y:0.94, Z:0.67 [[ 9.99962583e-01 -4.03197424e-03 -7.65345774e-03 1.22116260e+02] [ 4.02726908e-03 9.99991692e-01 -6.30087862e-04 9.38062166e-01] [ 7.65593465e-03 5.99241753e-04 9.99970513e-01 6.73160582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:0.94, Z:0.68 [[ 9.99968415e-01 -2.14339552e-03 -7.65342210e-03 1.22143909e+02] [ 2.13863210e-03 9.99997514e-01 -6.30520386e-04 9.43513199e-01] [ 7.65475453e-03 6.14132617e-04 9.99970513e-01 6.76000131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:0.95, Z:0.67 [[ 9.99967941e-01 -2.35938015e-03 -7.65188257e-03 1.22173512e+02] [ 2.35448134e-03 9.99997018e-01 -6.49154592e-04 9.50581590e-01] [ 7.65339135e-03 6.31117566e-04 9.99970513e-01 6.69541810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:0.96, Z:0.67 [[ 9.99966205e-01 -3.00257220e-03 -7.65328388e-03 1.22201410e+02] [ 2.99782108e-03 9.99995307e-01 -6.32190404e-04 9.57358878e-01] [ 7.65514616e-03 6.09225864e-04 9.99970513e-01 6.69061232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:0.96, Z:0.67 [[ 9.99960043e-01 -4.61967446e-03 -7.65317087e-03 1.22228503e+02] [ 4.61496003e-03 9.99989150e-01 -6.33555518e-04 9.64054676e-01] [ 7.65601466e-03 5.98211126e-04 9.99970513e-01 6.67741497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.26, Y:0.97, Z:0.67 [[ 9.99945420e-01 -7.11236074e-03 -7.65313576e-03 1.22256954e+02] [ 7.10771565e-03 9.99974539e-01 -6.33979382e-04 9.70036395e-01] [ 7.65744999e-03 5.79548467e-04 9.99970513e-01 6.68133105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.29, Y:0.98, Z:0.67 [[ 9.99913676e-01 -1.06803958e-02 -7.65310828e-03 1.22285196e+02] [ 1.06758521e-02 9.99942810e-01 -6.34310966e-04 9.75462963e-01] [ 7.65944529e-03 5.52552758e-04 9.99970513e-01 6.69615772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:0.98, Z:0.67 [[ 9.99854127e-01 -1.52694077e-02 -7.65307901e-03 1.22311959e+02] [ 1.52649951e-02 9.99883282e-01 -6.34663890e-04 9.80117992e-01] [ 7.66187670e-03 5.17747097e-04 9.99970513e-01 6.69364416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:0.98, Z:0.67 [[ 9.99765679e-01 -2.02488957e-02 -7.65302798e-03 1.22340764e+02] [ 2.02446237e-02 9.99794855e-01 -6.35278635e-04 9.84058363e-01] [ 7.66432169e-03 4.80197105e-04 9.99970513e-01 6.71498638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:0.99, Z:0.68 [[ 9.99509457e-01 -3.03690181e-02 -7.65292579e-03 1.22368407e+02] [ 3.03650323e-02 9.99538673e-01 -6.36507343e-04 9.87411595e-01] [ 7.66872539e-03 4.03813771e-04 9.99970513e-01 6.75698616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:0.99, Z:0.68 [[ 9.99358376e-01 -3.49895535e-02 -7.65288944e-03 1.22396028e+02] [ 3.49856995e-02 9.99387610e-01 -6.36943984e-04 9.89143041e-01] [ 7.67048928e-03 3.68793616e-04 9.99970513e-01 6.78573251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:0.99, Z:0.68 [[ 9.99245609e-01 -3.80742505e-02 -7.65277544e-03 1.22423831e+02] [ 3.80704762e-02 9.99274853e-01 -6.38310759e-04 9.90965137e-01] [ 7.67152926e-03 3.46484417e-04 9.99970513e-01 6.78753365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:0.99, Z:0.68 [[ 9.99191827e-01 -3.94604659e-02 -7.65273746e-03 1.22450297e+02] [ 3.94567287e-02 9.99221076e-01 -6.38765791e-04 9.92991913e-01] [ 7.67198256e-03 3.36297572e-04 9.99970513e-01 6.79003279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:1.00, Z:0.68 [[ 9.99200214e-01 -3.92475405e-02 -7.65268520e-03 1.22477800e+02] [ 3.92437924e-02 9.99229461e-01 -6.39391265e-04 9.95463698e-01] [ 7.67188305e-03 3.38559500e-04 9.99970513e-01 6.82674834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:1.00, Z:0.68 [[ 9.99245931e-01 -3.80658877e-02 -7.65231411e-03 1.22506692e+02] [ 3.80620710e-02 9.99275169e-01 -6.43827774e-04 9.97720971e-01] [ 7.67127535e-03 3.52079361e-04 9.99970513e-01 6.81638274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:1.00, Z:0.68 [[ 9.99238604e-01 -3.82576865e-02 -7.65256633e-03 1.22535081e+02] [ 3.82538985e-02 9.99267846e-01 -6.40815819e-04 1.00026438e+00] [ 7.67147960e-03 3.47587409e-04 9.99970513e-01 6.81857473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:1.00, Z:0.68 [[ 9.99403160e-01 -3.36862474e-02 -7.65244302e-03 1.22562399e+02] [ 3.36823144e-02 9.99432383e-01 -6.42284883e-04 1.00068298e+00] [ 7.66973554e-03 3.84149549e-04 9.99970513e-01 6.82713093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:1.00, Z:0.69 [[ 9.99499447e-01 -3.06968437e-02 -7.65238939e-03 1.22592225e+02] [ 3.06928184e-02 9.99528658e-01 -6.42923254e-04 1.00175309e+00] [ 7.66851821e-03 4.07728039e-04 9.99970513e-01 6.85182066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:1.00, Z:0.68 [[ 9.99606119e-01 -2.70008169e-02 -7.65264152e-03 1.22621158e+02] [ 2.69967065e-02 9.99635318e-01 -6.39923953e-04 1.00302708e+00] [ 7.66712921e-03 4.33075781e-04 9.99970513e-01 6.84068652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:1.00, Z:0.68 [[ 9.99709707e-01 -2.28460884e-02 -7.65226824e-03 1.22648057e+02] [ 2.28418229e-02 9.99738884e-01 -6.44357001e-04 1.00421729e+00] [ 7.66499115e-03 4.69378192e-04 9.99970513e-01 6.84259019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:1.01, Z:0.68 [[ 9.99791382e-01 -1.89376770e-02 -7.65221325e-03 1.22676398e+02] [ 1.89332925e-02 9.99820541e-01 -6.45009430e-04 1.00573606e+00] [ 7.66305497e-03 4.99993278e-04 9.99970513e-01 6.84392538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:1.01, Z:0.68 [[ 9.99899088e-01 -1.19690636e-02 -7.65209688e-03 1.22705085e+02] [ 1.19644655e-02 9.99928214e-01 -6.46387044e-04 1.00621714e+00] [ 7.65928421e-03 5.54768567e-04 9.99970513e-01 6.84585238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:1.01, Z:0.68 [[ 9.99922288e-01 -9.84179876e-03 -7.65225303e-03 1.22732638e+02] [ 9.83715279e-03 9.99951406e-01 -6.44540090e-04 1.00835672e+00] [ 7.65822461e-03 5.69213619e-04 9.99970513e-01 6.83115199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:1.01, Z:0.68 [[ 9.99930490e-01 -8.97013270e-03 -7.65194589e-03 1.22760864e+02] [ 8.96543376e-03 9.99959600e-01 -6.48166078e-04 1.01054638e+00] [ 7.65745088e-03 5.79518010e-04 9.99970513e-01 6.83258075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:1.01, Z:0.68 [[ 9.99927804e-01 -9.26476660e-03 -7.65182568e-03 1.22787779e+02] [ 9.26006546e-03 9.99956914e-01 -6.49582045e-04 1.01223898e+00] [ 7.65751422e-03 5.78678742e-04 9.99970513e-01 6.82580938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:1.01, Z:0.68 [[ 9.99917688e-01 -1.02989365e-02 -7.65177345e-03 1.22816132e+02] [ 1.02942607e-02 9.99946801e-01 -6.50196689e-04 1.01377755e+00] [ 7.65806272e-03 5.71373819e-04 9.99970513e-01 6.80196445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:1.02, Z:0.68 [[ 9.99885792e-01 -1.30329720e-02 -7.65141288e-03 1.22843577e+02] [ 1.30283437e-02 9.99914913e-01 -6.54432360e-04 1.01580245e+00] [ 7.65929105e-03 5.54672382e-04 9.99970513e-01 6.79238959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:1.02, Z:0.68 [[ 9.99780434e-01 -1.95073651e-02 -7.65161089e-03 1.22872170e+02] [ 1.95029432e-02 9.99809587e-01 -6.52108967e-04 1.01516325e+00] [ 7.66287485e-03 5.02736854e-04 9.99970513e-01 6.78142443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:1.02, Z:0.68 [[ 9.99710262e-01 -2.28220217e-02 -7.65158834e-03 1.22900008e+02] [ 2.28176944e-02 9.99739430e-01 -6.52373497e-04 1.01577259e+00] [ 7.66448305e-03 4.77592876e-04 9.99970513e-01 6.80099449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:1.02, Z:0.68 [[ 9.99654653e-01 -2.51401854e-02 -7.65146247e-03 1.22927678e+02] [ 2.51359146e-02 9.99683829e-01 -6.53846423e-04 1.01553113e+00] [ 7.66548112e-03 4.61294112e-04 9.99970513e-01 6.81659798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:1.01, Z:0.68 [[ 9.99612237e-01 -2.67737072e-02 -7.65142332e-03 1.22955513e+02] [ 2.67694805e-02 9.99641419e-01 -6.54304289e-04 1.01469755e+00] [ 7.66619782e-03 4.49225946e-04 9.99970513e-01 6.83345555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:1.01, Z:0.69 [[ 9.99569168e-01 -2.83361245e-02 -7.65136683e-03 1.22983425e+02] [ 2.83319384e-02 9.99598355e-01 -6.54964240e-04 1.01391942e+00] [ 7.66685285e-03 4.37904006e-04 9.99970513e-01 6.85050916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:1.01, Z:0.69 [[ 9.99548773e-01 -2.90466671e-02 -7.65124129e-03 1.23010924e+02] [ 2.90424906e-02 9.99577962e-01 -6.56427461e-04 1.01335666e+00] [ 7.66707921e-03 4.33920160e-04 9.99970513e-01 6.85663249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:1.01, Z:0.68 [[ 9.99567934e-01 -2.83796479e-02 -7.65118654e-03 1.23040480e+02] [ 2.83754471e-02 9.99597120e-01 -6.57064973e-04 1.00989130e+00] [ 7.66675131e-03 4.39675239e-04 9.99970513e-01 6.81620317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:1.01, Z:0.68 [[ 9.99600752e-01 -2.71992459e-02 -7.65094034e-03 1.23068144e+02] [ 2.71949887e-02 9.99629930e-01 -6.59926985e-04 1.00944558e+00] [ 7.66605847e-03 4.51596275e-04 9.99970513e-01 6.82517421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:1.01, Z:0.68 [[ 9.99658139e-01 -2.50013215e-02 -7.65103807e-03 1.23096308e+02] [ 2.49970088e-02 9.99687309e-01 -6.58791951e-04 1.00890065e+00] [ 7.66511633e-03 4.67313670e-04 9.99970513e-01 6.82708505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:1.01, Z:0.68 [[ 9.99731618e-01 -2.18667531e-02 -7.65091482e-03 1.23123296e+02] [ 2.18623381e-02 9.99760773e-01 -6.60220138e-04 1.00833409e+00] [ 7.66352139e-03 4.92776060e-04 9.99970513e-01 6.83914793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:1.01, Z:0.69 [[ 9.99791941e-01 -1.89086864e-02 -7.65086141e-03 1.23151388e+02] [ 1.89041805e-02 9.99821082e-01 -6.60838504e-04 1.00898572e+00] [ 7.66198812e-03 5.16067745e-04 9.99970513e-01 6.85035402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:1.01, Z:0.69 [[ 9.99876425e-01 -1.37332327e-02 -7.65073785e-03 1.23178736e+02] [ 1.37285651e-02 9.99905539e-01 -6.62265957e-04 1.00665685e+00] [ 7.65911021e-03 5.57150464e-04 9.99970513e-01 6.85451149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:1.01, Z:0.69 [[ 9.99873913e-01 -1.39149327e-02 -7.65065240e-03 1.23207125e+02] [ 1.39102629e-02 9.99903028e-01 -6.63251677e-04 1.00928554e+00] [ 7.65913960e-03 5.56745464e-04 9.99970513e-01 6.85669942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:1.01, Z:0.69 [[ 9.99885589e-01 -1.30490699e-02 -7.65053162e-03 1.23234899e+02] [ 1.30443643e-02 9.99914698e-01 -6.64641936e-04 1.00865602e+00] [ 7.65855197e-03 5.64769572e-04 9.99970513e-01 6.86102507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:1.01, Z:0.69 [[ 9.99879172e-01 -1.35318901e-02 -7.65040803e-03 1.23261752e+02] [ 1.35271878e-02 9.99908282e-01 -6.66061404e-04 1.00848028e+00] [ 7.65871942e-03 5.62492419e-04 9.99970513e-01 6.86630978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.29, Y:1.01, Z:0.69 [[ 9.99810422e-01 -1.79050800e-02 -7.65035450e-03 1.23289633e+02] [ 1.79005004e-02 9.99839551e-01 -6.66675767e-04 1.00564104e+00] [ 7.66106389e-03 5.29604207e-04 9.99970513e-01 6.87940534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.32, Y:1.00, Z:0.69 [[ 9.99735123e-01 -2.17061912e-02 -7.65023350e-03 1.23317808e+02] [ 2.17017118e-02 9.99764267e-01 -6.68061383e-04 1.00493504e+00] [ 7.66293115e-03 5.01861266e-04 9.99970513e-01 6.87110541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:1.00, Z:0.69 [[ 9.99638271e-01 -2.57837603e-02 -7.65011204e-03 1.23346537e+02] [ 2.57793892e-02 9.99667432e-01 -6.69449378e-04 1.00348511e+00] [ 7.66482878e-03 4.71992003e-04 9.99970513e-01 6.86321789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.37, Y:1.00, Z:0.69 [[ 9.99533244e-01 -2.95765446e-02 -7.64998786e-03 1.23373439e+02] [ 2.95722734e-02 9.99562420e-01 -6.70865338e-04 1.00156944e+00] [ 7.66648226e-03 4.44324675e-04 9.99970513e-01 6.86235190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:123.40, Y:1.00, Z:0.68 [[ 9.99401229e-01 -3.37441472e-02 -7.64955145e-03 1.23402775e+02] [ 3.37399598e-02 9.99430417e-01 -6.75833970e-04 1.00088540e+00] [ 7.66799984e-03 4.17333742e-04 9.99970513e-01 6.82957996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:1.00, Z:0.68 [[ 9.99248124e-01 -3.80087613e-02 -7.64983334e-03 1.23431837e+02] [ 3.80047230e-02 9.99277333e-01 -6.72627990e-04 9.95652588e-01] [ 7.66987082e-03 3.81392461e-04 9.99970513e-01 6.81604594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:0.99, Z:0.68 [[ 9.99214069e-01 -3.88937847e-02 -7.64972374e-03 1.23459686e+02] [ 3.88897627e-02 9.99243280e-01 -6.73872174e-04 9.93759406e-01] [ 7.67014448e-03 3.75846615e-04 9.99970513e-01 6.81942652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:0.99, Z:0.68 [[ 9.99221023e-01 -3.87147322e-02 -7.64959886e-03 1.23487055e+02] [ 3.87106942e-02 9.99250232e-01 -6.75286812e-04 9.91872097e-01] [ 7.67000698e-03 3.78639497e-04 9.99970513e-01 6.82988826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:0.99, Z:0.68 [[ 9.99261474e-01 -3.76562268e-02 -7.64954427e-03 1.23514342e+02] [ 3.76521532e-02 9.99290678e-01 -6.75904694e-04 9.90728804e-01] [ 7.66957029e-03 3.87383709e-04 9.99970513e-01 6.84012822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:0.99, Z:0.69 [[ 9.99333645e-01 -3.56896662e-02 -7.64942054e-03 1.23542310e+02] [ 3.56855244e-02 9.99362839e-01 -6.77302026e-04 9.90880562e-01] [ 7.66871932e-03 4.03877119e-04 9.99970513e-01 6.86357205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:0.99, Z:0.69 [[ 9.99445301e-01 -3.24126457e-02 -7.64929062e-03 1.23569612e+02] [ 3.24083971e-02 9.99474479e-01 -6.78766211e-04 9.91510078e-01] [ 7.66727137e-03 4.30488452e-04 9.99970513e-01 6.86626448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:0.99, Z:0.68 [[ 9.99672351e-01 -2.44270422e-02 -7.64923459e-03 1.23597999e+02] [ 2.44225557e-02 9.99701494e-01 -6.79397030e-04 9.91408565e-01] [ 7.66354691e-03 4.92360568e-04 9.99970513e-01 6.84596123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:0.99, Z:0.68 [[ 9.99755997e-01 -2.07228548e-02 -7.64910714e-03 1.23626247e+02] [ 2.07182495e-02 9.99785122e-01 -6.80828943e-04 9.93537299e-01] [ 7.66157223e-03 5.22186709e-04 9.99970513e-01 6.82149681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:1.00, Z:0.68 [[ 9.99798819e-01 -1.85421802e-02 -7.64906770e-03 1.23653984e+02] [ 1.85375080e-02 9.99827934e-01 -6.81271689e-04 9.96660995e-01] [ 7.66038382e-03 5.39339977e-04 9.99970513e-01 6.81379958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:1.00, Z:0.68 [[ 9.99812840e-01 -1.77701410e-02 -7.64894828e-03 1.23681471e+02] [ 1.77654361e-02 9.99841949e-01 -6.82609837e-04 9.99855257e-01] [ 7.65986943e-03 5.46595178e-04 9.99970513e-01 6.81920060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:1.00, Z:0.68 [[ 9.99792632e-01 -1.88729508e-02 -7.64882620e-03 1.23709215e+02] [ 1.88682677e-02 9.99821744e-01 -6.83975125e-04 1.00282303e+00] [ 7.66037138e-03 5.39513191e-04 9.99970513e-01 6.83807455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:1.00, Z:0.69 [[ 9.99662912e-01 -2.48104637e-02 -7.64870174e-03 1.23737686e+02] [ 2.48059430e-02 9.99692050e-01 -6.85364067e-04 1.00481263e+00] [ 7.66335053e-03 4.95399780e-04 9.99970513e-01 6.88550910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:1.01, Z:0.69 [[ 9.99556926e-01 -2.87654362e-02 -7.64859173e-03 1.23764824e+02] [ 2.87610215e-02 9.99586080e-01 -6.86589576e-04 1.00646879e+00] [ 7.66517588e-03 4.66304055e-04 9.99970513e-01 6.90848795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.115898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:123.79, Y:1.01, Z:0.69 [[ 9.99430097e-01 -3.28782865e-02 -7.64850477e-03 1.23793271e+02] [ 3.28739843e-02 9.99459268e-01 -6.87556921e-04 1.00779201e+00] [ 7.66697467e-03 4.35728254e-04 9.99970513e-01 6.91807860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:1.01, Z:0.69 [[ 9.99305528e-01 -3.64686624e-02 -7.64837877e-03 1.23821359e+02] [ 3.64644544e-02 9.99334713e-01 -6.88955729e-04 1.00802528e+00] [ 7.66841570e-03 4.09583310e-04 9.99970513e-01 6.93654904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:1.01, Z:0.69 [[ 9.99205881e-01 -3.91038556e-02 -7.64825104e-03 1.23849764e+02] [ 3.90997138e-02 9.99235075e-01 -6.90370806e-04 1.00809340e+00] [ 7.66939686e-03 3.90778143e-04 9.99970513e-01 6.92732913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.88, Y:1.01, Z:0.69 [[ 9.99143683e-01 -4.06620993e-02 -7.64812325e-03 1.23877780e+02] [ 4.06579922e-02 9.99172882e-01 -6.91783592e-04 1.00774186e+00] [ 7.66992672e-03 3.80233871e-04 9.99970513e-01 6.90832843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.91, Y:1.00, Z:0.69 [[ 9.99126872e-01 -4.10731261e-02 -7.64799483e-03 1.23905964e+02] [ 4.10690202e-02 9.99156071e-01 -6.93200436e-04 1.00475947e+00] [ 7.67001238e-03 3.78499529e-04 9.99970513e-01 6.88004316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:1.00, Z:0.69 [[ 9.99161341e-01 -4.02259153e-02 -7.64786613e-03 1.23933314e+02] [ 4.02217739e-02 9.99190536e-01 -6.94617404e-04 1.00418578e+00] [ 7.66961708e-03 3.86424115e-04 9.99970513e-01 6.87559969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:1.00, Z:0.69 [[ 9.99205023e-01 -3.91258488e-02 -7.64781021e-03 1.23960862e+02] [ 3.91216706e-02 9.99234213e-01 -6.95232602e-04 1.00389476e+00] [ 7.66915517e-03 3.95484797e-04 9.99970513e-01 6.87925914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.325898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.99, Y:1.00, Z:0.69 [[ 9.99245664e-01 -3.80738194e-02 -7.64775457e-03 1.23989157e+02] [ 3.80696057e-02 9.99274848e-01 -6.95844038e-04 1.00397833e+00] [ 7.66870223e-03 4.04172136e-04 9.99970513e-01 6.89558830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.02, Y:1.00, Z:0.69 [[ 9.99332395e-01 -3.57250477e-02 -7.64762522e-03 1.24017569e+02] [ 3.57207546e-02 9.99361567e-01 -6.97262759e-04 1.00296558e+00] [ 7.66765247e-03 4.23618319e-04 9.99970513e-01 6.92583509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.385898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:124.05, Y:1.00, Z:0.69 [[ 9.99405531e-01 -3.36169429e-02 -7.64758513e-03 1.24046103e+02] [ 3.36125849e-02 9.99434694e-01 -6.97702191e-04 1.00388037e+00] [ 7.66671652e-03 4.40232324e-04 9.99970513e-01 6.92433658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:1.00, Z:0.69 [[ 9.99579070e-01 -2.79856860e-02 -7.64745399e-03 1.24073022e+02] [ 2.79811529e-02 9.99608206e-01 -6.99136699e-04 1.00306101e+00] [ 7.66402359e-03 4.84857833e-04 9.99970513e-01 6.92699213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.10, Y:1.01, Z:0.69 [[ 9.99649384e-01 -2.53500962e-02 -7.64736356e-03 1.24100311e+02] [ 2.53454787e-02 9.99678507e-01 -7.00124411e-04 1.00501794e+00] [ 7.66265321e-03 5.06052845e-04 9.99970513e-01 6.92297649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:1.01, Z:0.69 [[ 9.99702827e-01 -2.31468487e-02 -7.64730906e-03 1.24127607e+02] [ 2.31421626e-02 9.99731939e-01 -7.00719241e-04 1.00735821e+00] [ 7.66147855e-03 5.23535736e-04 9.99970513e-01 6.92098150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:1.01, Z:0.69 [[ 9.99737641e-01 -2.15909444e-02 -7.64725529e-03 1.24155956e+02] [ 2.15862085e-02 9.99766745e-01 -7.01305604e-04 1.00997184e+00] [ 7.66061337e-03 5.36046363e-04 9.99970513e-01 6.91272764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.18, Y:1.01, Z:0.69 [[ 9.99758787e-01 -2.05885932e-02 -7.64712703e-03 1.24182865e+02] [ 2.05838174e-02 9.99787884e-01 -7.02701299e-04 1.01259561e+00] [ 7.65997259e-03 5.45124731e-04 9.99970513e-01 6.89267021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:1.01, Z:0.69 [[ 9.99765430e-01 -2.02634545e-02 -7.64707124e-03 1.24210457e+02] [ 2.02586646e-02 9.99794525e-01 -7.03307955e-04 1.01494962e+00] [ 7.65975141e-03 5.48223528e-04 9.99970513e-01 6.87908717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:1.02, Z:0.68 [[ 9.99744017e-01 -2.12937835e-02 -7.64694399e-03 1.24238418e+02] [ 2.12890132e-02 9.99773115e-01 -7.04688855e-04 1.01680958e+00] [ 7.66021450e-03 5.41712575e-04 9.99970513e-01 6.83620539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:1.02, Z:0.68 [[ 9.99733588e-01 -2.17779289e-02 -7.64690466e-03 1.24266650e+02] [ 2.17731695e-02 9.99762688e-01 -7.05115373e-04 1.01891224e+00] [ 7.66044591e-03 5.38430170e-04 9.99970513e-01 6.83118363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:1.02, Z:0.68 [[ 9.99741945e-01 -2.13908822e-02 -7.64677877e-03 1.24293793e+02] [ 2.13861010e-02 9.99771042e-01 -7.06477973e-04 1.02121971e+00] [ 7.66014016e-03 5.42760880e-04 9.99970513e-01 6.82622438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:1.02, Z:0.68 [[ 9.99738265e-01 -2.15622037e-02 -7.64672397e-03 1.24322179e+02] [ 2.15574231e-02 9.99767362e-01 -7.07070552e-04 1.02402208e+00] [ 7.66019105e-03 5.42041824e-04 9.99970513e-01 6.82841341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.35, Y:1.03, Z:0.68 [[ 9.99758479e-01 -2.06037295e-02 -7.64660258e-03 1.24350362e+02] [ 2.05989110e-02 9.99787569e-01 -7.08380925e-04 1.02745818e+00] [ 7.65957349e-03 5.50698150e-04 9.99970513e-01 6.84771575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.38, Y:1.03, Z:0.69 [[ 9.99781096e-01 -1.94753838e-02 -7.64647570e-03 1.24377987e+02] [ 1.94705221e-02 9.99810180e-01 -7.09747910e-04 1.03117112e+00] [ 7.65884685e-03 5.60711670e-04 9.99970513e-01 6.87067594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:1.04, Z:0.69 [[ 9.99825437e-01 -1.70478549e-02 -7.64634253e-03 1.24405324e+02] [ 1.70429117e-02 9.99854506e-01 -7.11179645e-04 1.03525357e+00] [ 7.65735412e-03 5.80739559e-04 9.99970513e-01 6.87337255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:1.04, Z:0.69 [[ 9.99831955e-01 -1.66612066e-02 -7.64630123e-03 1.24433598e+02] [ 1.66562487e-02 9.99861022e-01 -7.11623409e-04 1.03866927e+00] [ 7.65709507e-03 5.84145129e-04 9.99970513e-01 6.88207891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.835898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:124.46, Y:1.04, Z:0.69 [[ 9.99824927e-01 -1.70778227e-02 -7.64617164e-03 1.24461742e+02] [ 1.70728664e-02 9.99853994e-01 -7.13013096e-04 1.04280788e+00] [ 7.65723196e-03 5.82346200e-04 9.99970513e-01 6.87985763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.865898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:124.49, Y:1.05, Z:0.69 [[ 9.99798804e-01 -1.85442350e-02 -7.64604110e-03 1.24489177e+02] [ 1.85393107e-02 9.99827877e-01 -7.14410257e-04 1.04733900e+00] [ 7.65797323e-03 5.72514190e-04 9.99970513e-01 6.88656747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:1.05, Z:0.69 [[ 9.99767316e-01 -2.01706023e-02 -7.64590942e-03 1.24516923e+02] [ 2.01657147e-02 9.99796395e-01 -7.15816762e-04 1.05118405e+00] [ 7.65879113e-03 5.61464975e-04 9.99970513e-01 6.90127859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:1.05, Z:0.69 [[ 9.99710172e-01 -2.28279047e-02 -7.64577804e-03 1.24543861e+02] [ 2.28230837e-02 9.99739262e-01 -7.17217316e-04 1.05487394e+00] [ 7.66015707e-03 5.42509215e-04 9.99970513e-01 6.89788878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.955898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.57, Y:1.06, Z:0.69 [[ 9.99554990e-01 -2.88334128e-02 -7.64572085e-03 1.24571800e+02] [ 2.88287620e-02 9.99584107e-01 -7.17826464e-04 1.05651262e+00] [ 7.66323844e-03 4.97090357e-04 9.99970513e-01 6.91026410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:1.06, Z:0.69 [[ 9.99447818e-01 -3.23357949e-02 -7.64559034e-03 1.24599497e+02] [ 3.23312356e-02 9.99476950e-01 -7.19213858e-04 1.05726295e+00] [ 7.66484767e-03 4.71625339e-04 9.99970513e-01 6.93041732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:1.06, Z:0.69 [[ 9.99296546e-01 -3.67145831e-02 -7.64545992e-03 1.24628014e+02] [ 3.67101409e-02 9.99325696e-01 -7.20597632e-04 1.05839355e+00] [ 7.66676099e-03 4.39424814e-04 9.99970513e-01 6.94429274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:1.06, Z:0.70 [[ 9.99129129e-01 -4.10186742e-02 -7.64532945e-03 1.24656392e+02] [ 4.10143470e-02 9.99158297e-01 -7.21979214e-04 1.05858685e+00] [ 7.66850898e-03 4.07782268e-04 9.99970513e-01 6.96473344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:1.06, Z:0.70 [[ 9.98952934e-01 -4.51063790e-02 -7.64528883e-03 1.24683221e+02] [ 4.51021680e-02 9.98982118e-01 -7.22409078e-04 1.05817581e+00] [ 7.67009209e-03 3.76833567e-04 9.99970513e-01 6.99276639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:1.06, Z:0.70 [[ 9.98801001e-01 -4.83540189e-02 -7.64519955e-03 1.24710946e+02] [ 4.83498955e-02 9.98830198e-01 -7.23352710e-04 1.05763562e+00] [ 7.67123319e-03 3.52840811e-04 9.99970513e-01 7.01801729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:1.06, Z:0.70 [[ 9.98682959e-01 -5.07336146e-02 -7.64507068e-03 1.24738403e+02] [ 5.07295504e-02 9.98712164e-01 -7.24712173e-04 1.05743950e+00] [ 7.67199235e-03 3.35926699e-04 9.99970513e-01 7.02857204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:1.06, Z:0.70 [[ 9.98610519e-01 -5.21400557e-02 -7.64501445e-03 1.24766628e+02] [ 5.21360282e-02 9.98639729e-01 -7.25304811e-04 1.05764044e+00] [ 7.67243259e-03 3.25716325e-04 9.99970513e-01 7.01746022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:1.06, Z:0.70 [[ 9.98564124e-01 -5.30211910e-02 -7.64488573e-03 1.24794377e+02] [ 5.30171789e-02 9.98593336e-01 -7.26659009e-04 1.05605434e+00] [ 7.67266027e-03 3.20305342e-04 9.99970513e-01 6.98062454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:1.06, Z:0.70 [[ 9.98552420e-01 -5.32411669e-02 -7.64482992e-03 1.24821953e+02] [ 5.32371568e-02 9.98581632e-01 -7.27245677e-04 1.05640655e+00] [ 7.67270615e-03 3.19203921e-04 9.99970513e-01 6.98369792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:1.06, Z:0.70 [[ 9.98488376e-01 -5.44290312e-02 -7.64477457e-03 1.24849674e+02] [ 5.44250514e-02 9.98517593e-01 -7.27827134e-04 1.05652531e+00] [ 7.67305683e-03 3.10659685e-04 9.99970513e-01 7.00270662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.285898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:124.88, Y:1.06, Z:0.70 [[ 9.98387418e-01 -5.62505410e-02 -7.64464725e-03 1.24876793e+02] [ 5.62466042e-02 9.98416640e-01 -7.29161890e-04 1.05642075e+00] [ 7.67355878e-03 2.98000608e-04 9.99970513e-01 7.02056722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:1.06, Z:0.71 [[ 9.98283038e-01 -5.80735458e-02 -7.64459190e-03 1.24905235e+02] [ 5.80696580e-02 9.98312267e-01 -7.29741741e-04 1.05598199e+00] [ 7.67406856e-03 2.84569965e-04 9.99970513e-01 7.05431347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.93, Y:1.06, Z:0.71 [[ 9.98201956e-01 -5.94509644e-02 -7.64446035e-03 1.24932556e+02] [ 5.94471064e-02 9.98231189e-01 -7.31117231e-04 1.05625547e+00] [ 7.67440437e-03 2.75361603e-04 9.99970513e-01 7.07105708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:1.06, Z:0.71 [[ 9.98164006e-01 -6.00847697e-02 -7.64440329e-03 1.24959834e+02] [ 6.00809257e-02 9.98193241e-01 -7.31713353e-04 1.05664401e+00] [ 7.67455653e-03 2.71087106e-04 9.99970513e-01 7.05421139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.99, Y:1.06, Z:0.70 [[ 9.98194665e-01 -5.95732787e-02 -7.64434896e-03 1.24987972e+02] [ 5.95694154e-02 9.98223897e-01 -7.32280509e-04 1.05948650e+00] [ 7.67439616e-03 2.75589098e-04 9.99970513e-01 7.03802918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:1.06, Z:0.70 [[ 9.98261683e-01 -5.84395242e-02 -7.64422487e-03 1.25015507e+02] [ 5.84356178e-02 9.98290910e-01 -7.33573545e-04 1.06268884e+00] [ 7.67402989e-03 2.85603359e-04 9.99970513e-01 7.01103532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:1.07, Z:0.70 [[ 9.98330531e-01 -5.72513595e-02 -7.64410055e-03 1.25042898e+02] [ 5.72474084e-02 9.98359752e-01 -7.34866752e-04 1.06638980e+00] [ 7.67363445e-03 2.96034969e-04 9.99970513e-01 6.97633143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:1.07, Z:0.69 [[ 9.98382079e-01 -5.63453103e-02 -7.64397675e-03 1.25071171e+02] [ 5.63413229e-02 9.98411295e-01 -7.36152288e-04 1.06990245e+00] [ 7.67331145e-03 3.04289489e-04 9.99970513e-01 6.94890879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:1.07, Z:0.69 [[ 9.98417475e-01 -5.57146084e-02 -7.64385289e-03 1.25098933e+02] [ 5.57105928e-02 9.98446687e-01 -7.37436119e-04 1.07356699e+00] [ 7.67306556e-03 3.10425533e-04 9.99970513e-01 6.94855732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:1.08, Z:0.69 [[ 9.98443743e-01 -5.52418880e-02 -7.64372096e-03 1.25125394e+02] [ 5.52378480e-02 9.98472951e-01 -7.38801137e-04 1.07796930e+00] [ 7.67286139e-03 3.15428676e-04 9.99970513e-01 6.94410454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:1.08, Z:0.70 [[ 9.98416716e-01 -5.57282313e-02 -7.64366356e-03 1.25153355e+02] [ 5.57242011e-02 9.98445926e-01 -7.39394483e-04 1.08167635e+00] [ 7.67298989e-03 3.12286766e-04 9.99970513e-01 6.95342045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:1.09, Z:0.69 [[ 9.98376628e-01 -5.64418679e-02 -7.64352672e-03 1.25180516e+02] [ 5.64378478e-02 9.98405840e-01 -7.40806420e-04 1.08539552e+00] [ 7.67315421e-03 3.08219618e-04 9.99970513e-01 6.92628939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:1.09, Z:0.69 [[ 9.98300754e-01 -5.77683441e-02 -7.64346702e-03 1.25208263e+02] [ 5.77643581e-02 9.98329970e-01 -7.41421809e-04 1.08939180e+00] [ 7.67353292e-03 2.98641985e-04 9.99970513e-01 6.91017550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:1.09, Z:0.69 [[ 9.98213630e-01 -5.92547724e-02 -7.64334550e-03 1.25235626e+02] [ 5.92508203e-02 9.98242851e-01 -7.42672457e-04 1.09257204e+00] [ 7.67392189e-03 2.88471278e-04 9.99970513e-01 6.91852857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:1.09, Z:0.69 [[ 9.98120628e-01 -6.08012597e-02 -7.64320479e-03 1.25262906e+02] [ 6.07973418e-02 9.98149853e-01 -7.44117819e-04 1.09480101e+00] [ 7.67430704e-03 2.78032811e-04 9.99970513e-01 6.88012081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.29, Y:1.10, Z:0.69 [[ 9.98057157e-01 -6.18344016e-02 -7.64314340e-03 1.25290696e+02] [ 6.18305092e-02 9.98086386e-01 -7.44747786e-04 1.09647080e+00] [ 7.67456841e-03 2.70721410e-04 9.99970513e-01 6.91149460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.32, Y:1.10, Z:0.69 [[ 9.98028094e-01 -6.23017469e-02 -7.64300505e-03 1.25317369e+02] [ 6.22978573e-02 9.98057323e-01 -7.46164959e-04 1.09837093e+00] [ 7.67464454e-03 2.68550754e-04 9.99970513e-01 6.88894507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:1.10, Z:0.69 [[ 9.98111632e-01 -6.09488006e-02 -7.64294478e-03 1.25345583e+02] [ 6.09448667e-02 9.98140855e-01 -7.46781764e-04 1.10131851e+00] [ 7.67425089e-03 2.79573314e-04 9.99970513e-01 6.94555236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:1.10, Z:0.70 [[ 9.98205784e-01 -5.93868685e-02 -7.64280506e-03 1.25374706e+02] [ 5.93828779e-02 9.98234999e-01 -7.48209009e-04 1.10458785e+00] [ 7.67374929e-03 2.93014801e-04 9.99970513e-01 6.96391819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:1.11, Z:0.70 [[ 9.98303891e-01 -5.77142067e-02 -7.64268315e-03 1.25401996e+02] [ 5.77101577e-02 9.98333099e-01 -7.49452231e-04 1.10766209e+00] [ 7.67319759e-03 3.07120629e-04 9.99970513e-01 6.97150944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:1.11, Z:0.70 [[ 9.98407656e-01 -5.58904481e-02 -7.64263989e-03 1.25429768e+02] [ 5.58863424e-02 9.98436855e-01 -7.49893046e-04 1.11059296e+00] [ 7.67260520e-03 3.21579768e-04 9.99970513e-01 7.00761817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:1.11, Z:0.70 [[ 9.98506928e-01 -5.40879603e-02 -7.64250485e-03 1.25457932e+02] [ 5.40837914e-02 9.98536118e-01 -7.51266787e-04 1.11390252e+00] [ 7.67195162e-03 3.36809454e-04 9.99970513e-01 7.02482092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:1.12, Z:0.70 [[ 9.98590096e-01 -5.25301314e-02 -7.64236551e-03 1.25485412e+02] [ 5.25259061e-02 9.98619278e-01 -7.52681566e-04 1.11739568e+00] [ 7.67135199e-03 3.50198184e-04 9.99970513e-01 7.03369119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:1.12, Z:0.70 [[ 9.98706400e-01 -5.02704895e-02 -7.64222342e-03 1.25512516e+02] [ 5.02661872e-02 9.98735571e-01 -7.54121542e-04 1.12063924e+00] [ 7.67047043e-03 3.69000578e-04 9.99970513e-01 7.02287687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:1.12, Z:0.70 [[ 9.98747037e-01 -4.94565842e-02 -7.64216155e-03 1.25540690e+02] [ 4.94522534e-02 9.98776204e-01 -7.54748047e-04 1.12291522e+00] [ 7.67013636e-03 3.75880266e-04 9.99970513e-01 7.03524490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.035898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:125.57, Y:1.13, Z:0.70 [[ 9.98792192e-01 -4.85361388e-02 -7.64202176e-03 1.25568281e+02] [ 4.85317703e-02 9.98821353e-01 -7.56160723e-04 1.12621141e+00] [ 7.66971564e-03 3.84366582e-04 9.99970513e-01 7.03405471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:1.13, Z:0.71 [[ 9.98859918e-01 -4.71218109e-02 -7.64188022e-03 1.25595693e+02] [ 4.71173902e-02 9.98889072e-01 -7.57588496e-04 1.12820660e+00] [ 7.66908958e-03 3.96659331e-04 9.99970513e-01 7.06598495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.62, Y:1.13, Z:0.71 [[ 9.98923546e-01 -4.57531619e-02 -7.64181874e-03 1.25623887e+02] [ 4.57486965e-02 9.98952693e-01 -7.58208148e-04 1.13148136e+00] [ 7.66850583e-03 4.07788726e-04 9.99970513e-01 7.07942555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.65, Y:1.13, Z:0.71 [[ 9.98991666e-01 -4.42408793e-02 -7.64167755e-03 1.25651516e+02] [ 4.42363590e-02 9.99020804e-01 -7.59628513e-04 1.13472056e+00] [ 7.66780148e-03 4.20822563e-04 9.99970513e-01 7.08699052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:1.14, Z:0.71 [[ 9.99069462e-01 -4.24478178e-02 -7.64153631e-03 1.25678176e+02] [ 4.24432343e-02 9.99098590e-01 -7.61046669e-04 1.13730868e+00] [ 7.66695292e-03 4.36006970e-04 9.99970513e-01 7.09081304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.71, Y:1.14, Z:0.71 [[ 9.99204002e-01 -3.91531640e-02 -7.64144008e-03 1.25706368e+02] [ 3.91484773e-02 9.99233114e-01 -7.62011667e-04 1.13985748e+00] [ 7.66541513e-03 4.62254364e-04 9.99970513e-01 7.07903658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.73, Y:1.14, Z:0.71 [[ 9.99262750e-01 -3.76240279e-02 -7.64130005e-03 1.25734497e+02] [ 3.76192859e-02 9.99291853e-01 -7.63413302e-04 1.14277226e+00] [ 7.66461156e-03 4.75390225e-04 9.99970513e-01 7.07368050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:1.15, Z:0.71 [[ 9.99329582e-01 -3.58050101e-02 -7.64115760e-03 1.25761155e+02] [ 3.58002043e-02 9.99358675e-01 -7.64836432e-04 1.14601701e+00] [ 7.66364211e-03 4.90768670e-04 9.99970513e-01 7.06175425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:1.15, Z:0.70 [[ 9.99393412e-01 -3.39767764e-02 -7.64109553e-03 1.25787669e+02] [ 3.39719126e-02 9.99422495e-01 -7.65455985e-04 1.14919613e+00] [ 7.66269049e-03 5.05409039e-04 9.99970513e-01 7.04602937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:1.15, Z:0.70 [[ 9.99433652e-01 -3.27717927e-02 -7.64099836e-03 1.25815968e+02] [ 3.27668865e-02 9.99462728e-01 -7.66424758e-04 1.15295492e+00] [ 7.66201018e-03 5.15618969e-04 9.99970513e-01 7.03591984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.84, Y:1.16, Z:0.70 [[ 9.99456416e-01 -3.20700734e-02 -7.64091008e-03 1.25843976e+02] [ 3.20651401e-02 9.99485487e-01 -7.67303894e-04 1.15730390e+00] [ 7.66158622e-03 5.21879947e-04 9.99970513e-01 7.02428229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:1.16, Z:0.70 [[ 9.99462461e-01 -3.18811413e-02 -7.64076845e-03 1.25871667e+02] [ 3.18761918e-02 9.99491529e-01 -7.68711597e-04 1.16463072e+00] [ 7.66139075e-03 5.24739783e-04 9.99970513e-01 6.97488513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:1.17, Z:0.70 [[ 9.99449022e-01 -3.22997240e-02 -7.64070201e-03 1.25899029e+02] [ 3.22947817e-02 9.99478091e-01 -7.69371496e-04 1.16923697e+00] [ 7.66156475e-03 5.22192786e-04 9.99970513e-01 6.97175948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.93, Y:1.17, Z:0.69 [[ 9.99434358e-01 -3.27503533e-02 -7.64056214e-03 1.25926492e+02] [ 3.27454135e-02 9.99463428e-01 -7.70757978e-04 1.17363425e+00] [ 7.66170503e-03 5.20128638e-04 9.99970513e-01 6.94682433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:1.18, Z:0.70 [[ 9.99420341e-01 -3.31753684e-02 -7.64051882e-03 1.25954382e+02] [ 3.31704377e-02 9.99449412e-01 -7.71187206e-04 1.17834072e+00] [ 7.66189646e-03 5.17300827e-04 9.99970513e-01 6.96203256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:1.18, Z:0.69 [[ 9.99407396e-01 -3.35630951e-02 -7.64037853e-03 1.25980831e+02] [ 3.35581651e-02 9.99436468e-01 -7.72574636e-04 1.18462701e+00] [ 7.66200292e-03 5.15719721e-04 9.99970513e-01 6.93942382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.01, Y:1.19, Z:0.70 [[ 9.99407823e-01 -3.35504027e-02 -7.64028192e-03 1.26008270e+02] [ 3.35454651e-02 9.99436893e-01 -7.73528825e-04 1.19198442e+00] [ 7.66193183e-03 5.16773948e-04 9.99970513e-01 6.95314545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:1.20, Z:0.69 [[ 9.99407554e-01 -3.35584525e-02 -7.64014325e-03 1.26035623e+02] [ 3.35535047e-02 9.99436622e-01 -7.74896059e-04 1.19975737e+00] [ 7.66184327e-03 5.18083392e-04 9.99970513e-01 6.94935910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:1.21, Z:0.69 [[ 9.99410430e-01 -3.34727264e-02 -7.64000132e-03 1.26062060e+02] [ 3.34677656e-02 9.99439496e-01 -7.76292888e-04 1.20684065e+00] [ 7.66170371e-03 5.20141436e-04 9.99970513e-01 6.90919940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.09, Y:1.21, Z:0.69 [[ 9.99404834e-01 -3.36394069e-02 -7.63990386e-03 1.26090417e+02] [ 3.36344436e-02 9.99433900e-01 -7.77250809e-04 1.20990972e+00] [ 7.66172517e-03 5.19824300e-04 9.99970513e-01 6.91138739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.635898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:126.12, Y:1.22, Z:0.69 [[ 9.99343573e-01 -3.54126729e-02 -7.63977402e-03 1.26117068e+02] [ 3.54077515e-02 9.99372646e-01 -7.78524947e-04 1.22099327e+00] [ 7.66255083e-03 5.07506682e-04 9.99970513e-01 6.93650129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.665898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:126.14, Y:1.23, Z:0.70 [[ 9.99273265e-01 -3.73440481e-02 -7.63962785e-03 1.26144608e+02] [ 3.73391719e-02 9.99302346e-01 -7.79956705e-04 1.22731942e+00] [ 7.66342477e-03 4.94132505e-04 9.99970513e-01 6.95536949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.17, Y:1.23, Z:0.70 [[ 9.99161758e-01 -4.02171280e-02 -7.63958237e-03 1.26173479e+02] [ 4.02123321e-02 9.99190852e-01 -7.80401902e-04 1.23274918e+00] [ 7.66478635e-03 4.72542313e-04 9.99970513e-01 7.00991487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:1.24, Z:0.70 [[ 9.99003331e-01 -4.39770781e-02 -7.63945699e-03 1.26200482e+02] [ 4.39723824e-02 9.99032441e-01 -7.81627374e-04 1.23724818e+00] [ 7.66643905e-03 4.44923226e-04 9.99970513e-01 7.04390292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:1.24, Z:0.71 [[ 9.98815816e-01 -4.80479561e-02 -7.63940345e-03 1.26228204e+02] [ 4.80433750e-02 9.98844944e-01 -7.82150296e-04 1.24021698e+00] [ 7.66816024e-03 4.14201360e-04 9.99970513e-01 7.07370458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.26, Y:1.24, Z:0.71 [[ 9.98602910e-01 -5.22864265e-02 -7.63925877e-03 1.26256522e+02] [ 5.22819583e-02 9.98632056e-01 -7.83560810e-04 1.24224392e+00] [ 7.66977829e-03 3.83070696e-04 9.99970513e-01 7.09391148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.815898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:126.28, Y:1.24, Z:0.71 [[ 9.98265074e-01 -5.83822328e-02 -7.63911081e-03 1.26283935e+02] [ 5.83779318e-02 9.98294246e-01 -7.85000675e-04 1.24305984e+00] [ 7.67191046e-03 3.37683268e-04 9.99970513e-01 7.11077241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:1.24, Z:0.71 [[ 9.98212015e-01 -5.92825198e-02 -7.63906475e-03 1.26311161e+02] [ 5.92782416e-02 9.98241190e-01 -7.85448634e-04 1.24418562e+00] [ 7.67219246e-03 3.31213938e-04 9.99970513e-01 7.13210256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.34, Y:1.25, Z:0.71 [[ 9.98207713e-01 -5.93549210e-02 -7.63900111e-03 1.26339399e+02] [ 5.93506402e-02 9.98236888e-01 -7.86067132e-04 1.24592025e+00] [ 7.67218964e-03 3.31278668e-04 9.99970513e-01 7.13549067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:1.25, Z:0.71 [[ 9.98235791e-01 -5.88808426e-02 -7.63885379e-03 1.26367077e+02] [ 5.88765370e-02 9.98264961e-01 -7.87496187e-04 1.24726835e+00] [ 7.67196852e-03 3.36357622e-04 9.99970513e-01 7.14174646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.39, Y:1.25, Z:0.71 [[ 9.98272660e-01 -5.82524401e-02 -7.63870476e-03 1.26394892e+02] [ 5.82481052e-02 9.98301826e-01 -7.88939049e-04 1.24865213e+00] [ 7.67169054e-03 3.42636205e-04 9.99970513e-01 7.14854432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:1.25, Z:0.71 [[ 9.98326821e-01 -5.73167575e-02 -7.63855249e-03 1.26422899e+02] [ 5.73123839e-02 9.98355982e-01 -7.90410594e-04 1.24984145e+00] [ 7.67129835e-03 3.51304442e-04 9.99970513e-01 7.14920723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:1.25, Z:0.71 [[ 9.98513635e-01 -5.39645721e-02 -7.63840055e-03 1.26449896e+02] [ 5.39600895e-02 9.98542779e-01 -7.91876222e-04 1.24903597e+00] [ 7.67000298e-03 3.78530427e-04 9.99970513e-01 7.11564369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.48, Y:1.25, Z:0.71 [[ 9.98598229e-01 -5.23758829e-02 -7.63833458e-03 1.26477655e+02] [ 5.23713490e-02 9.98627365e-01 -7.92512084e-04 1.25038236e+00] [ 7.66935845e-03 3.91371278e-04 9.99970513e-01 7.09861070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.51, Y:1.25, Z:0.71 [[ 9.98588488e-01 -5.25613029e-02 -7.63818716e-03 1.26506013e+02] [ 5.25567637e-02 9.98617623e-01 -7.93930311e-04 1.25348926e+00] [ 7.66935832e-03 3.91371271e-04 9.99970513e-01 7.10079802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.53, Y:1.25, Z:0.71 [[ 9.98650323e-01 -5.13730741e-02 -7.63803949e-03 1.26533435e+02] [ 5.13684894e-02 9.98679451e-01 -7.95348510e-04 1.25432041e+00] [ 7.66881258e-03 4.01920496e-04 9.99970513e-01 7.09164377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.56, Y:1.26, Z:0.71 [[ 9.98643187e-01 -5.15116092e-02 -7.63797525e-03 1.26560745e+02] [ 5.15070239e-02 9.98672315e-01 -7.95964914e-04 1.25611761e+00] [ 7.66883586e-03 4.01475565e-04 9.99970513e-01 7.10500293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:1.26, Z:0.71 [[ 9.98616516e-01 -5.20261146e-02 -7.63791123e-03 1.26588247e+02] [ 5.20215395e-02 9.98645645e-01 -7.96578777e-04 1.25692417e+00] [ 7.66900969e-03 3.98140822e-04 9.99970513e-01 7.10939102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.62, Y:1.26, Z:0.71 [[ 9.98533961e-01 -5.35872353e-02 -7.63781131e-03 1.26616366e+02] [ 5.35826985e-02 9.98563097e-01 -7.97535686e-04 1.25731081e+00] [ 7.66957425e-03 3.87111927e-04 9.99970513e-01 7.11294924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:1.26, Z:0.71 [[ 9.98411853e-01 -5.58161004e-02 -7.63766581e-03 1.26644608e+02] [ 5.58116180e-02 9.98440997e-01 -7.98926685e-04 1.25786415e+00] [ 7.67035164e-03 3.71387385e-04 9.99970513e-01 7.09983521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:1.26, Z:0.71 [[ 9.98258997e-01 -5.84862588e-02 -7.63751967e-03 1.26672466e+02] [ 5.84818438e-02 9.98288152e-01 -8.00321295e-04 1.25846541e+00] [ 7.67125319e-03 3.52271702e-04 9.99970513e-01 7.08091872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.265898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:126.70, Y:1.26, Z:0.70 [[ 9.97943814e-01 -6.36381608e-02 -7.63737261e-03 1.26701840e+02] [ 6.36338856e-02 9.97972989e-01 -8.01722210e-04 1.25753305e+00] [ 7.67291169e-03 3.14078025e-04 9.99970513e-01 7.03501218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:1.26, Z:0.71 [[ 9.97868338e-01 -6.48108993e-02 -7.63724164e-03 1.26730151e+02] [ 6.48066489e-02 9.97897517e-01 -8.02967864e-04 1.25769020e+00] [ 7.67322554e-03 3.06312170e-04 9.99970513e-01 7.05937162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:1.26, Z:0.71 [[ 9.97850371e-01 -6.50869525e-02 -7.63709070e-03 1.26758326e+02] [ 6.50826992e-02 9.97879549e-01 -8.04400899e-04 1.25854651e+00] [ 7.67325263e-03 3.05629259e-04 9.99970513e-01 7.07499931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.79, Y:1.26, Z:0.71 [[ 9.97905315e-01 -6.42390633e-02 -7.63704381e-03 1.26785915e+02] [ 6.42347818e-02 9.97934489e-01 -8.04845826e-04 1.25969305e+00] [ 7.67297196e-03 3.12596084e-04 9.99970513e-01 7.08602792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.81, Y:1.26, Z:0.71 [[ 9.98000089e-01 -6.27494930e-02 -7.63699756e-03 1.26813806e+02] [ 6.27451646e-02 9.98029256e-01 -8.05284502e-04 1.26224074e+00] [ 7.67247819e-03 3.24489335e-04 9.99970513e-01 7.10273162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.84, Y:1.26, Z:0.71 [[ 9.98326469e-01 -5.73231190e-02 -7.63684909e-03 1.26840716e+02] [ 5.73186214e-02 9.98355610e-01 -8.06690019e-04 1.26394428e+00] [ 7.67053312e-03 3.67606336e-04 9.99970513e-01 7.08028259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.87, Y:1.27, Z:0.71 [[ 9.98316372e-01 -5.74987067e-02 -7.63674798e-03 1.26869068e+02] [ 5.74942069e-02 9.98345513e-01 -8.07646039e-04 1.26711875e+00] [ 7.67055169e-03 3.67217494e-04 9.99970513e-01 7.08247093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:1.27, Z:0.71 [[ 9.98629241e-01 -5.17814792e-02 -7.63660570e-03 1.26897246e+02] [ 5.17768024e-02 9.98658354e-01 -8.08989171e-04 1.26874519e+00] [ 7.66825073e-03 4.12481217e-04 9.99970513e-01 7.09262572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:1.27, Z:0.71 [[ 9.98719840e-01 -5.00036607e-02 -7.63645476e-03 1.26923925e+02] [ 4.99989212e-02 9.98748943e-01 -8.10411425e-04 1.27116402e+00] [ 7.66742466e-03 4.27559468e-04 9.99970513e-01 7.09857188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:1.27, Z:0.71 [[ 9.98764170e-01 -4.91104203e-02 -7.63545067e-03 1.26952078e+02] [ 4.91055829e-02 9.98793257e-01 -8.19850458e-04 1.27378175e+00] [ 7.66649984e-03 4.43894006e-04 9.99970513e-01 7.13617293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:1.28, Z:0.72 [[ 9.98787868e-01 -4.86259410e-02 -7.63622673e-03 1.26979916e+02] [ 4.86211450e-02 9.98816962e-01 -8.12557241e-04 1.27637082e+00] [ 7.66670415e-03 4.40290227e-04 9.99970513e-01 7.16015697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:1.28, Z:0.72 [[ 9.98799494e-01 -4.83865850e-02 -7.63607756e-03 1.27008206e+02] [ 4.83817714e-02 9.98828585e-01 -8.13956692e-04 1.27871659e+00] [ 7.66651712e-03 4.43532574e-04 9.99970513e-01 7.16955183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:1.28, Z:0.72 [[ 9.98812469e-01 -4.81180216e-02 -7.63592828e-03 1.27035030e+02] [ 4.81131895e-02 9.98841557e-01 -8.15354669e-04 1.28062859e+00] [ 7.66631575e-03 4.46997545e-04 9.99970513e-01 7.17311891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:1.28, Z:0.72 [[ 9.98851703e-01 -4.72966169e-02 -7.63586349e-03 1.27062787e+02] [ 4.72917563e-02 9.98880786e-01 -8.15960961e-04 1.28129246e+00] [ 7.66590952e-03 4.53910599e-04 9.99970513e-01 7.15833808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:1.28, Z:0.72 [[ 9.98894250e-01 -4.63893701e-02 -7.63571406e-03 1.27090307e+02] [ 4.63844724e-02 9.98923327e-01 -8.17357006e-04 1.28400328e+00] [ 7.66540956e-03 4.62274645e-04 9.99970513e-01 7.15749085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:1.29, Z:0.72 [[ 9.98952491e-01 -4.51178379e-02 -7.63556397e-03 1.27117646e+02] [ 4.51128926e-02 9.98981560e-01 -8.18756689e-04 1.28736921e+00] [ 7.66472813e-03 4.73436657e-04 9.99970513e-01 7.16270537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:1.29, Z:0.72 [[ 9.99032023e-01 -4.33211092e-02 -7.63541203e-03 1.27145690e+02] [ 4.33161009e-02 9.99061081e-01 -8.20171202e-04 1.29104086e+00] [ 7.66377372e-03 4.88641017e-04 9.99970513e-01 7.16819811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:1.30, Z:0.72 [[ 9.99115604e-01 -4.13486745e-02 -7.63526036e-03 1.27173481e+02] [ 4.13435981e-02 9.99144650e-01 -8.21580699e-04 1.29546498e+00] [ 7.66270081e-03 5.05184961e-04 9.99970513e-01 7.16663722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:1.30, Z:0.72 [[ 9.99285354e-01 -3.70200929e-02 -7.63510923e-03 1.27201010e+02] [ 3.70148800e-02 9.99314376e-01 -8.22982754e-04 1.30159981e+00] [ 7.66034132e-03 5.39781960e-04 9.99970513e-01 7.15171604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:1.31, Z:0.71 [[ 9.99333015e-01 -3.57103642e-02 -7.63506227e-03 1.27228837e+02] [ 3.57051099e-02 9.99362030e-01 -8.23418261e-04 1.30634953e+00] [ 7.65959589e-03 5.50258316e-04 9.99970513e-01 7.14332223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:1.31, Z:0.71 [[ 9.99337202e-01 -3.55930432e-02 -7.63491017e-03 1.27256136e+02] [ 3.55877749e-02 9.99366214e-01 -8.24826122e-04 1.31065803e+00] [ 7.65942934e-03 5.52569965e-04 9.99970513e-01 7.13583698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:1.31, Z:0.71 [[ 9.99281139e-01 -3.71337483e-02 -7.63475612e-03 1.27283331e+02] [ 3.71285139e-02 9.99310157e-01 -8.26249559e-04 1.31362638e+00] [ 7.66017109e-03 5.42188452e-04 9.99970513e-01 7.11025451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:1.32, Z:0.71 [[ 9.99184751e-01 -3.96427253e-02 -7.63468913e-03 1.27311439e+02] [ 3.96375590e-02 9.99213781e-01 -8.26868085e-04 1.31566619e+00] [ 7.66146590e-03 5.23573540e-04 9.99970513e-01 7.11105032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:1.32, Z:0.71 [[ 9.99073026e-01 -4.23651008e-02 -7.63453881e-03 1.27338868e+02] [ 4.23600031e-02 9.99102069e-01 -8.28253695e-04 1.31729824e+00] [ 7.66277257e-03 5.04086838e-04 9.99970513e-01 7.11678427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:1.32, Z:0.71 [[ 9.98962108e-01 -4.49045787e-02 -7.63449191e-03 1.27367135e+02] [ 4.48995516e-02 9.98991163e-01 -8.28685780e-04 1.31868288e+00] [ 7.66400174e-03 4.85040430e-04 9.99970513e-01 7.14397720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:1.32, Z:0.72 [[ 9.98854723e-01 -4.72330229e-02 -7.63434458e-03 1.27395163e+02] [ 4.72280532e-02 9.98883788e-01 -8.30040823e-04 1.31979680e+00] [ 7.66502838e-03 4.68534964e-04 9.99970513e-01 7.16036275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:1.32, Z:0.72 [[ 9.98845666e-01 -4.74241909e-02 -7.63418542e-03 1.27423514e+02] [ 4.74192156e-02 9.98874730e-01 -8.31502117e-04 1.32302885e+00] [ 7.66502822e-03 4.68535201e-04 9.99970513e-01 7.16255006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:1.33, Z:0.71 [[ 9.98954797e-01 -4.50669984e-02 -7.63402601e-03 1.27451430e+02] [ 4.50619434e-02 9.98983847e-01 -8.32963136e-04 1.32669405e+00] [ 7.66380782e-03 4.88088472e-04 9.99970513e-01 7.12693838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.48, Y:1.33, Z:0.71 [[ 9.99070143e-01 -4.24331540e-02 -7.63397651e-03 1.27479277e+02] [ 4.24280190e-02 9.99099179e-01 -8.33416513e-04 1.33045022e+00] [ 7.66246415e-03 5.08747054e-04 9.99970513e-01 7.12739896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:1.33, Z:0.71 [[ 9.99185237e-01 -3.96306435e-02 -7.63381910e-03 1.27505741e+02] [ 3.96254162e-02 9.99214256e-01 -8.34855856e-04 1.33423634e+00] [ 7.66090675e-03 5.31682387e-04 9.99970513e-01 7.12683086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:1.34, Z:0.71 [[ 9.99301246e-01 -3.65888687e-02 -7.63375059e-03 1.27533075e+02] [ 3.65835483e-02 9.99330249e-01 -8.35481844e-04 1.33812518e+00] [ 7.65920721e-03 5.55628364e-04 9.99970513e-01 7.13902798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:1.34, Z:0.72 [[ 9.99401366e-01 -3.37437169e-02 -7.63359778e-03 1.27561093e+02] [ 3.37383033e-02 9.99430351e-01 -8.36875738e-04 1.34256280e+00] [ 7.65748860e-03 5.78830119e-04 9.99970513e-01 7.15395550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:1.35, Z:0.72 [[ 9.99489151e-01 -3.10349046e-02 -7.63355021e-03 1.27589068e+02] [ 3.10294092e-02 9.99518121e-01 -8.37309414e-04 1.34729407e+00] [ 7.65585758e-03 6.00017122e-04 9.99970513e-01 7.16711277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:1.35, Z:0.72 [[ 9.99614525e-01 -2.66932656e-02 -7.63350248e-03 1.27615942e+02] [ 2.66876411e-02 9.99643470e-01 -8.37744336e-04 1.35371802e+00] [ 7.65314304e-03 6.33701232e-04 9.99970513e-01 7.21335843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:1.36, Z:0.72 [[ 9.99637795e-01 -2.58071358e-02 -7.63345506e-03 1.27642659e+02] [ 2.58014825e-02 9.99666735e-01 -8.38176132e-04 1.35851886e+00] [ 7.65254203e-03 6.40918084e-04 9.99970513e-01 7.22081160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:1.36, Z:0.72 [[ 9.99628812e-01 -2.61527994e-02 -7.63339005e-03 1.27670254e+02] [ 2.61471515e-02 9.99657753e-01 -8.38767832e-04 1.36331624e+00] [ 7.65271367e-03 6.38865086e-04 9.99970513e-01 7.21738901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:1.37, Z:0.72 [[ 9.99610832e-01 -2.68313061e-02 -7.63323823e-03 1.27697356e+02] [ 2.68256674e-02 9.99639774e-01 -8.40147229e-04 1.36764036e+00] [ 7.65303078e-03 6.35053561e-04 9.99970513e-01 7.20354647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:1.37, Z:0.72 [[ 9.99582835e-01 -2.78548157e-02 -7.63317193e-03 1.27724154e+02] [ 2.78492021e-02 9.99611782e-01 -8.40749096e-04 1.37216990e+00] [ 7.65362751e-03 6.27820617e-04 9.99970513e-01 7.18887899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:1.38, Z:0.72 [[ 9.99567597e-01 -2.83963803e-02 -7.63307089e-03 1.27752020e+02] [ 2.83907754e-02 9.99596546e-01 -8.41665464e-04 1.37699347e+00] [ 7.65389155e-03 6.24592724e-04 9.99970513e-01 7.17763572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:1.38, Z:0.72 [[ 9.99594997e-01 -2.74149671e-02 -7.63292073e-03 1.27779737e+02] [ 2.74093235e-02 9.99623938e-01 -8.43025075e-04 1.38383228e+00] [ 7.65316178e-03 6.33470453e-04 9.99970513e-01 7.17014976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:1.39, Z:0.72 [[ 9.99611059e-01 -2.68229497e-02 -7.63276575e-03 1.27806522e+02] [ 2.68172783e-02 9.99639995e-01 -8.44425921e-04 1.38891892e+00] [ 7.65266791e-03 6.39407486e-04 9.99970513e-01 7.16537854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:1.39, Z:0.72 [[ 9.99606422e-01 -2.69952384e-02 -7.63265848e-03 1.27834856e+02] [ 2.69895647e-02 9.99635358e-01 -8.45394361e-04 1.39221974e+00] [ 7.65269692e-03 6.39059503e-04 9.99970513e-01 7.16756672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.525898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:127.86, Y:1.40, Z:0.72 [[ 9.99602896e-01 -2.71255259e-02 -7.63251255e-03 1.27862522e+02] [ 2.71198460e-02 9.99631831e-01 -8.46709853e-04 1.39769973e+00] [ 7.65266994e-03 6.39381057e-04 9.99970513e-01 7.16689745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:1.40, Z:0.72 [[ 9.99597323e-01 -2.73301756e-02 -7.63235807e-03 1.27890477e+02] [ 2.73244910e-02 9.99626257e-01 -8.48100107e-04 1.40117910e+00] [ 7.65268425e-03 6.39208297e-04 9.99970513e-01 7.18034954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:1.40, Z:0.72 [[ 9.99567715e-01 -2.83924462e-02 -7.63231005e-03 1.27917832e+02] [ 2.83867891e-02 9.99596654e-01 -8.48531954e-04 1.40451883e+00] [ 7.65332349e-03 6.31508370e-04 9.99970513e-01 7.19579868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.615898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:127.95, Y:1.41, Z:0.72 [[ 9.99488968e-01 -3.10411373e-02 -7.63215238e-03 1.27945017e+02] [ 3.10355462e-02 9.99517920e-01 -8.49947804e-04 1.40692209e+00] [ 7.65485642e-03 6.12645437e-04 9.99970513e-01 7.18455022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:1.41, Z:0.72 [[ 9.99431294e-01 -3.28456934e-02 -7.63204398e-03 1.27972974e+02] [ 3.28401472e-02 9.99460255e-01 -8.50920051e-04 1.40856830e+00] [ 7.65587368e-03 5.99798680e-04 9.99970513e-01 7.19228377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.675898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:128.00, Y:1.41, Z:0.72 [[ 9.99365883e-01 -3.47791136e-02 -7.63188851e-03 1.28000963e+02] [ 3.47736128e-02 9.99394852e-01 -8.52312196e-04 1.41192001e+00] [ 7.65691275e-03 5.86383394e-04 9.99970513e-01 7.16755959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.03, Y:1.41, Z:0.72 [[ 9.99305684e-01 -3.64678860e-02 -7.63173303e-03 1.28027639e+02] [ 3.64624236e-02 9.99334660e-01 -8.53702115e-04 1.41384200e+00] [ 7.65778804e-03 5.74837893e-04 9.99970513e-01 7.16687654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.06, Y:1.42, Z:0.72 [[ 9.99244607e-01 -3.81047701e-02 -7.63162604e-03 1.28055503e+02] [ 3.80993480e-02 9.99273591e-01 -8.54657490e-04 1.41662300e+00] [ 7.65864888e-03 5.63251911e-04 9.99970513e-01 7.15617655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.08, Y:1.42, Z:0.71 [[ 9.99208893e-01 -3.90301135e-02 -7.63147072e-03 1.28083313e+02] [ 3.90247077e-02 9.99237879e-01 -8.56042102e-04 1.41934101e+00] [ 7.65906604e-03 5.57548966e-04 9.99970513e-01 7.13861070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.11, Y:1.42, Z:0.71 [[ 9.99196101e-01 -3.93562444e-02 -7.63142228e-03 1.28112429e+02] [ 3.93508448e-02 9.99225088e-01 -8.56473783e-04 1.42285846e+00] [ 7.65921619e-03 5.55482351e-04 9.99970513e-01 7.13603677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.14, Y:1.43, Z:0.71 [[ 9.99221676e-01 -3.87014995e-02 -7.63128571e-03 1.28141505e+02] [ 3.86960717e-02 9.99250658e-01 -8.57688906e-04 1.42644773e+00] [ 7.65876111e-03 5.61720567e-04 9.99970513e-01 7.13082699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:1.43, Z:0.71 [[ 9.99267922e-01 -3.74884816e-02 -7.63115796e-03 1.28169178e+02] [ 3.74830100e-02 9.99296896e-01 -8.58824040e-04 1.43040777e+00] [ 7.65798847e-03 5.72156544e-04 9.99970513e-01 7.11722637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.20, Y:1.44, Z:0.72 [[ 9.99433398e-01 -3.27818349e-02 -7.63110883e-03 1.28197367e+02] [ 3.27762235e-02 9.99462346e-01 -8.59260345e-04 1.43563479e+00] [ 7.65517406e-03 6.08654558e-04 9.99970513e-01 7.15599492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:1.44, Z:0.72 [[ 9.99524831e-01 -2.98643816e-02 -7.63097211e-03 1.28225574e+02] [ 2.98586766e-02 9.99553760e-01 -8.60472781e-04 1.44038452e+00] [ 7.65326436e-03 6.32213182e-04 9.99970513e-01 7.17725801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.25, Y:1.45, Z:0.72 [[ 9.99597396e-01 -2.73279553e-02 -7.63083540e-03 1.28253331e+02] [ 2.73221677e-02 9.99626309e-01 -8.61683450e-04 1.44588753e+00] [ 7.65153187e-03 6.52845567e-04 9.99970513e-01 7.19142457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.28, Y:1.45, Z:0.72 [[ 9.99647000e-01 -2.54489311e-02 -7.63068035e-03 1.28280788e+02] [ 2.54430789e-02 9.99675900e-01 -8.63054321e-04 1.45271633e+00] [ 7.65017106e-03 6.68601661e-04 9.99970513e-01 7.19095188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.31, Y:1.46, Z:0.72 [[ 9.99669762e-01 -2.45385433e-02 -7.63063201e-03 1.28308203e+02] [ 2.45326615e-02 9.99698656e-01 -8.63481500e-04 1.45946891e+00] [ 7.64952115e-03 6.75996633e-04 9.99970513e-01 7.19940446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.33, Y:1.47, Z:0.72 [[ 9.99674830e-01 -2.43312753e-02 -7.63047767e-03 1.28334448e+02] [ 2.43253772e-02 9.99703720e-01 -8.64843300e-04 1.46531276e+00] [ 7.64925965e-03 6.78947831e-04 9.99970513e-01 7.20552283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.36, Y:1.47, Z:0.73 [[ 9.99624832e-01 -2.63053586e-02 -7.63037058e-03 1.28362350e+02] [ 2.62995104e-02 9.99653733e-01 -8.65787119e-04 1.47190131e+00] [ 7.65050327e-03 6.64787294e-04 9.99970513e-01 7.26260207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.39, Y:1.48, Z:0.73 [[ 9.99577719e-01 -2.80385870e-02 -7.63023692e-03 1.28390108e+02] [ 2.80327800e-02 9.99606628e-01 -8.66963405e-04 1.47592019e+00] [ 7.65154383e-03 6.52700550e-04 9.99970513e-01 7.29076310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.125898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:128.42, Y:1.48, Z:0.73 [[ 9.99506220e-01 -3.04810849e-02 -7.63018942e-03 1.28417746e+02] [ 3.04753454e-02 9.99535142e-01 -8.67381291e-04 1.48017027e+00] [ 7.65308119e-03 6.34420338e-04 9.99970513e-01 7.30125481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:1.48, Z:0.73 [[ 9.99419873e-01 -3.31918642e-02 -7.63003803e-03 1.28445332e+02] [ 3.31861930e-02 9.99448809e-01 -8.68710985e-04 1.48378334e+00] [ 7.65466656e-03 6.14995107e-04 9.99970513e-01 7.32238147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.47, Y:1.49, Z:0.73 [[ 9.99332399e-01 -3.57287127e-02 -7.62988647e-03 1.28472940e+02] [ 3.57231049e-02 9.99361347e-01 -8.70040043e-04 1.48729408e+00] [ 7.65609904e-03 5.96895968e-04 9.99970513e-01 7.32008331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.50, Y:1.49, Z:0.73 [[ 9.99283622e-01 -3.70678987e-02 -7.62973492e-03 1.28500980e+02] [ 3.70623196e-02 9.99312576e-01 -8.71367070e-04 1.49089284e+00] [ 7.65678981e-03 5.87967167e-04 9.99970513e-01 7.31212992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.53, Y:1.49, Z:0.73 [[ 9.99375469e-01 -3.45030646e-02 -7.62958311e-03 1.28527600e+02] [ 3.44974012e-02 9.99404406e-01 -8.72694272e-04 1.49422067e+00] [ 7.65514961e-03 6.08948458e-04 9.99970513e-01 7.31943674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.56, Y:1.50, Z:0.73 [[ 9.99475800e-01 -3.14629232e-02 -7.62947964e-03 1.28555697e+02] [ 3.14571649e-02 9.99504719e-01 -8.73597952e-04 1.49824696e+00] [ 7.65318685e-03 6.33138213e-04 9.99970513e-01 7.32768938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:1.50, Z:0.73 [[ 9.99586900e-01 -2.77096129e-02 -7.62933017e-03 1.28582654e+02] [ 2.77037362e-02 9.99615795e-01 -8.74901295e-04 1.50298356e+00] [ 7.65064212e-03 6.63178922e-04 9.99970513e-01 7.32267022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.61, Y:1.51, Z:0.73 [[ 9.99690200e-01 -2.36917592e-02 -7.62922699e-03 1.28609875e+02] [ 2.36857597e-02 9.99719069e-01 -8.75800165e-04 1.50888474e+00] [ 7.64783295e-03 6.94824805e-04 9.99970513e-01 7.29598475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.64, Y:1.52, Z:0.73 [[ 9.99777916e-01 -1.96447202e-02 -7.62907867e-03 1.28637063e+02] [ 1.96385941e-02 9.99806760e-01 -8.77090257e-04 1.51522028e+00] [ 7.64483462e-03 7.27071090e-04 9.99970514e-01 7.25843940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.66, Y:1.52, Z:0.72 [[ 9.99890184e-01 -1.27049956e-02 -7.62903263e-03 1.28663998e+02] [ 1.26986664e-02 9.99918984e-01 -8.77490534e-04 1.52448836e+00] [ 7.63956307e-03 7.80515631e-04 9.99970514e-01 7.21295859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.425898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:128.69, Y:1.53, Z:0.72 [[ 9.99907596e-01 -1.12516233e-02 -7.62898680e-03 1.28691667e+02] [ 1.12452492e-02 9.99936385e-01 -8.77888794e-04 1.53152450e+00] [ 7.63837916e-03 7.92017816e-04 9.99970514e-01 7.21345099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.72, Y:1.54, Z:0.72 [[ 9.99907656e-01 -1.12463522e-02 -7.62884138e-03 1.28718942e+02] [ 1.12399684e-02 9.99936443e-01 -8.79150691e-04 1.53807179e+00] [ 7.63824375e-03 7.93321570e-04 9.99970514e-01 7.23334246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:1.54, Z:0.73 [[ 9.99885275e-01 -1.30858862e-02 -7.62869640e-03 1.28746330e+02] [ 1.30795459e-02 9.99914071e-01 -8.80406974e-04 1.54420249e+00] [ 7.63956178e-03 7.80526084e-04 9.99970514e-01 7.26961687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:1.55, Z:0.73 [[ 9.99839611e-01 -1.62036328e-02 -7.62853024e-03 1.28772710e+02] [ 1.61973715e-02 9.99868425e-01 -8.81844370e-04 1.54895144e+00] [ 7.64181559e-03 7.58140794e-04 9.99970514e-01 7.25817350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:1.55, Z:0.73 [[ 9.99764771e-01 -2.03029344e-02 -7.62845766e-03 1.28800884e+02] [ 2.02967865e-02 9.99793610e-01 -8.82471782e-04 1.55334364e+00] [ 7.64479998e-03 7.27431022e-04 9.99970514e-01 7.25802890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:1.56, Z:0.72 [[ 9.99567418e-01 -2.84039670e-02 -7.62829147e-03 1.28828920e+02] [ 2.83980422e-02 9.99596303e-01 -8.83905972e-04 1.55740880e+00] [ 7.65031839e-03 6.66895067e-04 9.99970514e-01 7.22750427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.86, Y:1.56, Z:0.72 [[ 9.99466814e-01 -3.17473898e-02 -7.62823972e-03 1.28856994e+02] [ 3.17415583e-02 9.99495719e-01 -8.84352373e-04 1.56041315e+00] [ 7.65246882e-03 6.41748633e-04 9.99970514e-01 7.22930533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:1.56, Z:0.73 [[ 9.99374778e-01 -3.45233758e-02 -7.62818976e-03 1.28885729e+02] [ 3.45176213e-02 9.99403698e-01 -8.84783126e-04 1.56396897e+00] [ 7.65418675e-03 6.20922975e-04 9.99970514e-01 7.27440718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.91, Y:1.57, Z:0.73 [[ 9.99326380e-01 -3.58970769e-02 -7.62804525e-03 1.28912936e+02] [ 3.58913527e-02 9.99355305e-01 -8.86027280e-04 1.56813476e+00] [ 7.65493327e-03 6.11649571e-04 9.99970514e-01 7.30709523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:1.57, Z:0.73 [[ 9.99348728e-01 -3.52694349e-02 -7.62799378e-03 1.28939877e+02] [ 3.52636892e-02 9.99377650e-01 -8.86470102e-04 1.57316942e+00] [ 7.65451180e-03 6.16901567e-04 9.99970514e-01 7.32859573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:1.58, Z:0.73 [[ 9.99413482e-01 -3.33842227e-02 -7.62794383e-03 1.28967289e+02] [ 3.33784192e-02 9.99442392e-01 -8.86899702e-04 1.57923187e+00] [ 7.65329889e-03 6.31770813e-04 9.99970514e-01 7.33060277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.99, Y:1.59, Z:0.73 [[ 9.99629182e-01 -2.61402903e-02 -7.62778137e-03 1.28993856e+02] [ 2.61342669e-02 9.99658047e-01 -8.88294744e-04 1.58827928e+00] [ 7.64839331e-03 6.88618875e-04 9.99970514e-01 7.30957086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:1.59, Z:0.73 [[ 9.99708022e-01 -2.29279111e-02 -7.62771082e-03 1.29020928e+02] [ 2.29217903e-02 9.99736866e-01 -8.88900188e-04 1.59397768e+00] [ 7.64608433e-03 7.13799861e-04 9.99970514e-01 7.31569461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.05, Y:1.60, Z:0.73 [[ 9.99759519e-01 -2.05602683e-02 -7.62754943e-03 1.29048304e+02] [ 2.05540689e-02 9.99788346e-01 -8.90282891e-04 1.59980353e+00] [ 7.64423949e-03 7.33291619e-04 9.99970514e-01 7.32871733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:1.61, Z:0.73 [[ 9.99792137e-01 -1.89078496e-02 -7.62738595e-03 1.29074936e+02] [ 1.89015920e-02 9.99820951e-01 -8.91681300e-04 1.60576017e+00] [ 7.64288005e-03 7.47326215e-04 9.99970514e-01 7.33288520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.10, Y:1.61, Z:0.73 [[ 9.99803295e-01 -1.83083334e-02 -7.62727305e-03 1.29101241e+02] [ 1.83020511e-02 9.99832105e-01 -8.92645959e-04 1.61179642e+00] [ 7.64233533e-03 7.52875630e-04 9.99970514e-01 7.33673417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.13, Y:1.62, Z:0.73 [[ 9.99791784e-01 -1.89265633e-02 -7.62720340e-03 1.29128648e+02] [ 1.89202944e-02 9.99820596e-01 -8.93240740e-04 1.61782089e+00] [ 7.64274102e-03 7.48745819e-04 9.99970514e-01 7.32349354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.16, Y:1.62, Z:0.73 [[ 9.99712789e-01 -2.27193285e-02 -7.62704396e-03 1.29156112e+02] [ 2.27131587e-02 9.99741623e-01 -8.94600036e-04 1.62361046e+00] [ 7.64539802e-03 7.21108837e-04 9.99970514e-01 7.30097732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.18, Y:1.63, Z:0.73 [[ 9.99655960e-01 -2.50956804e-02 -7.62688387e-03 1.29184161e+02] [ 2.50895688e-02 9.99684806e-01 -8.95962782e-04 1.62783223e+00] [ 7.64696472e-03 7.04299307e-04 9.99970514e-01 7.31189013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.21, Y:1.63, Z:0.73 [[ 9.99604150e-01 -2.70809065e-02 -7.62672197e-03 1.29211365e+02] [ 2.70748417e-02 9.99633007e-01 -8.97338844e-04 1.63242600e+00] [ 7.64822376e-03 6.90491343e-04 9.99970514e-01 7.32327903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.24, Y:1.64, Z:0.73 [[ 9.99554475e-01 -2.88563124e-02 -7.62655618e-03 1.29238254e+02] [ 2.88502883e-02 9.99583340e-01 -8.98745722e-04 1.63741680e+00] [ 7.64931298e-03 6.78316965e-04 9.99970514e-01 7.32514975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.27, Y:1.64, Z:0.73 [[ 9.99506850e-01 -3.04613468e-02 -7.62648410e-03 1.29265576e+02] [ 3.04553645e-02 9.99535723e-01 -8.99356893e-04 1.64205616e+00] [ 7.65033893e-03 6.66646022e-04 9.99970514e-01 7.32081737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.29, Y:1.65, Z:0.73 [[ 9.99446257e-01 -3.23885513e-02 -7.62631767e-03 1.29291776e+02] [ 3.23826139e-02 9.99475140e-01 -9.00765981e-04 1.64661308e+00] [ 7.65148943e-03 6.53307088e-04 9.99970514e-01 7.31227615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.115898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:129.32, Y:1.65, Z:0.73 [[ 9.99303159e-01 -3.65381682e-02 -7.62620271e-03 1.29319678e+02] [ 3.65323434e-02 9.99332064e-01 -9.01738267e-04 1.65341084e+00] [ 7.65405676e-03 6.22506843e-04 9.99970514e-01 7.27692842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.35, Y:1.66, Z:0.73 [[ 9.99214765e-01 -3.88805578e-02 -7.62603477e-03 1.29345915e+02] [ 3.88747900e-02 9.99243682e-01 -9.03156290e-04 1.65839945e+00] [ 7.65538228e-03 6.05986600e-04 9.99970514e-01 7.29092348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.37, Y:1.66, Z:0.73 [[ 9.99123584e-01 -4.11571266e-02 -7.62596144e-03 1.29373399e+02] [ 4.11514201e-02 9.99152513e-01 -9.03774995e-04 1.66328347e+00] [ 7.65669532e-03 5.89163769e-04 9.99970514e-01 7.30258288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.40, Y:1.67, Z:0.73 [[ 9.99033027e-01 -4.32996404e-02 -7.62579573e-03 1.29401016e+02] [ 4.32939853e-02 9.99061966e-01 -9.05171116e-04 1.66760526e+00] [ 7.65783605e-03 5.74144752e-04 9.99970514e-01 7.30912550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.43, Y:1.67, Z:0.73 [[ 9.98923246e-01 -4.57624153e-02 -7.62562864e-03 1.29429512e+02] [ 4.57568209e-02 9.98952197e-01 -9.06576585e-04 1.67203979e+00] [ 7.65912561e-03 5.56675901e-04 9.99970514e-01 7.33637556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:1.68, Z:0.73 [[ 9.98830743e-01 -4.77385738e-02 -7.62722343e-03 1.29456223e+02] [ 4.77331387e-02 9.98859725e-01 -8.93162009e-04 1.67632415e+00] [ 7.66116458e-03 5.28046360e-04 9.99970513e-01 7.32136987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.48, Y:1.68, Z:0.73 [[ 9.98697507e-01 -5.04493852e-02 -7.62549186e-03 1.29484264e+02] [ 5.04439181e-02 9.98726483e-01 -9.07708593e-04 1.68145424e+00] [ 7.66157401e-03 5.21866622e-04 9.99970514e-01 7.34082971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.51, Y:1.69, Z:0.74 [[ 9.98527954e-01 -5.37008309e-02 -7.62532780e-03 1.29512040e+02] [ 5.36954477e-02 9.98556945e-01 -9.09084719e-04 1.68676619e+00] [ 7.66314264e-03 4.98301114e-04 9.99970514e-01 7.35248078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.54, Y:1.69, Z:0.74 [[ 9.98141198e-01 -6.04649068e-02 -7.62516206e-03 1.29539336e+02] [ 6.04597096e-02 9.98170223e-01 -9.10472776e-04 1.69338994e+00] [ 7.66626137e-03 4.47765304e-04 9.99970514e-01 7.36434341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:1.70, Z:0.74 [[ 9.97902477e-01 -6.42844370e-02 -7.62617185e-03 1.29569160e+02] [ 6.42794154e-02 9.97931532e-01 -9.02018794e-04 1.69773968e+00] [ 7.66838313e-03 4.09920921e-04 9.99970513e-01 7.38544497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.60, Y:1.70, Z:0.74 [[ 9.97889916e-01 -6.44790227e-02 -7.62693838e-03 1.29597447e+02] [ 6.44740556e-02 9.97918982e-01 -8.95607104e-04 1.70132744e+00] [ 7.66881445e-03 4.01977649e-04 9.99970513e-01 7.38764468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44589822700001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:129.63, Y:1.70, Z:0.74 [[ 9.97676464e-01 -6.77016012e-02 -7.62663824e-03 1.29625298e+02] [ 6.76967089e-02 9.97705542e-01 -8.98112076e-04 1.70498939e+00] [ 7.66994286e-03 3.79726971e-04 9.99970513e-01 7.37290227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:1.71, Z:0.74 [[ 9.97419760e-01 -7.13840854e-02 -7.62466147e-03 1.29651691e+02] [ 7.13791747e-02 9.97448834e-01 -9.14591750e-04 1.70805840e+00] [ 7.67049699e-03 3.67989841e-04 9.99970514e-01 7.39929157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:1.71, Z:0.74 [[ 9.97110823e-01 -7.55769249e-02 -7.62458666e-03 1.29679651e+02] [ 7.55721318e-02 9.97139918e-01 -9.15214969e-04 1.71140196e+00] [ 7.67194885e-03 3.36364484e-04 9.99970514e-01 7.41886660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:1.71, Z:0.74 [[ 9.96777554e-01 -7.98522159e-02 -7.62441737e-03 1.29706733e+02] [ 7.98475369e-02 9.96806667e-01 -9.16623148e-04 1.71382431e+00] [ 7.67326445e-03 3.04878432e-04 9.99970514e-01 7.43188337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.73, Y:1.72, Z:0.75 [[ 9.96169315e-01 -8.71123761e-02 -7.62430204e-03 1.29733440e+02] [ 8.71079019e-02 9.96198460e-01 -9.17581399e-04 1.71559380e+00] [ 7.67525065e-03 2.49929479e-04 9.99970514e-01 7.46204745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.76, Y:1.72, Z:0.75 [[ 9.95937145e-01 -8.97277785e-02 -7.62418981e-03 1.29761652e+02] [ 8.97233738e-02 9.95966301e-01 -9.18513022e-04 1.71829837e+00] [ 7.67585225e-03 2.30713205e-04 9.99970514e-01 7.46707965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:1.72, Z:0.75 [[ 9.95803839e-01 -9.11953342e-02 -7.62401903e-03 1.29788300e+02] [ 9.11909616e-02 9.95832999e-01 -9.19928387e-04 1.72072027e+00] [ 7.67614291e-03 2.20826593e-04 9.99970514e-01 7.47117169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:1.72, Z:0.75 [[ 9.95736117e-01 -9.19318272e-02 -7.62394461e-03 1.29816576e+02] [ 9.19274714e-02 9.95765280e-01 -9.20544745e-04 1.72357769e+00] [ 7.67628670e-03 2.15769700e-04 9.99970514e-01 7.45723272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:1.73, Z:0.75 [[ 9.95773685e-01 -9.15240005e-02 -7.62401057e-03 1.29843469e+02] [ 9.15196370e-02 9.95802847e-01 -9.19998670e-04 1.72647674e+00] [ 7.67621339e-03 2.18363787e-04 9.99970514e-01 7.46913436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.87, Y:1.73, Z:0.75 [[ 9.95866300e-01 -9.05107263e-02 -7.62372602e-03 1.29871666e+02] [ 9.05063152e-02 9.95895454e-01 -9.22350613e-04 1.72963553e+00] [ 7.67591671e-03 2.28542542e-04 9.99970514e-01 7.45319328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.90, Y:1.73, Z:0.74 [[ 9.95995494e-01 -8.90778152e-02 -7.62355224e-03 1.29899560e+02] [ 8.90733512e-02 9.96024641e-01 -9.23784727e-04 1.73344005e+00] [ 7.67553461e-03 2.41030080e-04 9.99970514e-01 7.42498432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:1.74, Z:0.74 [[ 9.96153127e-01 -8.72973714e-02 -7.62337234e-03 1.29926705e+02] [ 8.72928439e-02 9.96182264e-01 -9.25266982e-04 1.73763861e+00] [ 7.67504169e-03 2.56241747e-04 9.99970514e-01 7.39483381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:1.74, Z:0.74 [[ 9.96480602e-01 -8.34763182e-02 -7.62331629e-03 1.29954444e+02] [ 8.34716754e-02 9.96509720e-01 -9.25728490e-04 1.74431414e+00] [ 7.67398519e-03 2.86139500e-04 9.99970514e-01 7.36083494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:1.75, Z:0.73 [[ 9.96640771e-01 -8.15416438e-02 -7.62454678e-03 1.29980764e+02] [ 8.15370219e-02 9.96669893e-01 -9.15599823e-04 1.74988368e+00] [ 7.67381574e-03 2.90841276e-04 9.99970514e-01 7.34557872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:1.76, Z:0.74 [[ 9.96705790e-01 -8.07431462e-02 -7.62314399e-03 1.30006688e+02] [ 8.07384129e-02 9.96734894e-01 -9.27133954e-04 1.75626308e+00] [ 7.67311333e-03 3.08599233e-04 9.99970514e-01 7.35701828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.895898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:130.04, Y:1.76, Z:0.74 [[ 9.96651564e-01 -8.14097672e-02 -7.62301164e-03 1.30036185e+02] [ 8.14050450e-02 9.96680670e-01 -9.28220915e-04 1.76426095e+00] [ 7.67327459e-03 3.04561221e-04 9.99970514e-01 7.38485686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.06, Y:1.77, Z:0.74 [[ 9.96552112e-01 -8.26181802e-02 -7.62398358e-03 1.30063111e+02] [ 8.26135542e-02 9.96581233e-01 -9.20241538e-04 1.77186839e+00] [ 7.67394764e-03 2.87224267e-04 9.99970514e-01 7.37461349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:1.78, Z:0.74 [[ 9.96355455e-01 -8.49570486e-02 -7.62277330e-03 1.30090396e+02] [ 8.49524153e-02 9.96384575e-01 -9.30159965e-04 1.77927724e+00] [ 7.67423738e-03 2.79196953e-04 9.99970514e-01 7.38117428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:1.79, Z:0.74 [[ 9.96088457e-01 -8.80322702e-02 -7.62271909e-03 1.30117246e+02] [ 8.80277234e-02 9.96117590e-01 -9.30603935e-04 1.78592062e+00] [ 7.67504775e-03 2.55953230e-04 9.99970514e-01 7.39162464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:1.79, Z:0.74 [[ 9.95695246e-01 -9.23735487e-02 -7.62260429e-03 1.30146321e+02] [ 9.23691218e-02 9.95724398e-01 -9.31543334e-04 1.79281132e+00] [ 7.67606304e-03 2.23440005e-04 9.99970514e-01 7.42917833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:1.80, Z:0.74 [[ 9.94797309e-01 -1.01588308e-01 -7.62425722e-03 1.30172902e+02] [ 1.01584254e-01 9.94826516e-01 -9.18032942e-04 1.80211262e+00] [ 7.67807466e-03 1.38752215e-04 9.99970514e-01 7.39238164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:1.81, Z:0.74 [[ 9.94255236e-01 -1.06763411e-01 -7.62234685e-03 1.30201049e+02] [ 1.06759390e-01 9.94284447e-01 -9.33629623e-04 1.80896256e+00] [ 7.67845840e-03 1.14509043e-04 9.99970514e-01 7.40270975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:1.82, Z:0.74 [[ 9.93699036e-01 -1.11821841e-01 -7.62246386e-03 1.30227531e+02] [ 1.11817976e-01 9.93728268e-01 -9.32674720e-04 1.81514062e+00] [ 7.67895121e-03 7.44694866e-05 9.99970514e-01 7.42254615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:1.82, Z:0.75 [[ 9.93160528e-01 -1.16507833e-01 -7.62175815e-03 1.30255424e+02] [ 1.16504062e-01 9.93189772e-01 -9.38428395e-04 1.82087437e+00] [ 7.67918650e-03 4.40442593e-05 9.99970514e-01 7.46231132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.28, Y:1.83, Z:0.75 [[ 9.92655508e-01 -1.20735057e-01 -7.62158865e-03 1.30282716e+02] [ 1.20731400e-01 9.92684767e-01 -9.39808427e-04 1.82616348e+00] [ 7.67930277e-03 1.27409446e-05 9.99970514e-01 7.47061883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.31, Y:1.83, Z:0.75 [[ 9.92237698e-01 -1.24121947e-01 -7.62193653e-03 1.30309678e+02] [ 1.24118411e-01 9.92266971e-01 -9.36978506e-04 1.83105621e+00] [ 7.67929547e-03 -1.63172565e-05 9.99970514e-01 7.48984901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:1.84, Z:0.75 [[ 9.91865181e-01 -1.27064430e-01 -7.62185764e-03 1.30337220e+02] [ 1.27060977e-01 9.91894465e-01 -9.37619809e-04 1.83580318e+00] [ 7.67921653e-03 -3.84482356e-05 9.99970514e-01 7.49799898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:1.84, Z:0.75 [[ 9.91347396e-01 -1.31042935e-01 -7.62168109e-03 1.30365345e+02] [ 1.31039588e-01 9.91376692e-01 -9.39052756e-04 1.83961644e+00] [ 7.67901321e-03 -6.78144462e-05 9.99970514e-01 7.52002604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:1.84, Z:0.75 [[ 9.91108436e-01 -1.32838177e-01 -7.62150224e-03 1.30392628e+02] [ 1.32834872e-01 9.91137736e-01 -9.40502107e-04 1.84258748e+00] [ 7.67889306e-03 -8.02617014e-05 9.99970514e-01 7.53410983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:1.85, Z:0.75 [[ 9.90913114e-01 -1.34287434e-01 -7.62138033e-03 1.30420861e+02] [ 1.34284164e-01 9.90942418e-01 -9.41488964e-04 1.84595238e+00] [ 7.67877920e-03 -9.04969285e-05 9.99970514e-01 7.53964031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.45, Y:1.85, Z:0.75 [[ 9.90783994e-01 -1.35236811e-01 -7.62119627e-03 1.30447848e+02] [ 1.35233558e-01 9.90813300e-01 -9.42976574e-04 1.84943100e+00] [ 7.67870777e-03 -9.63553889e-05 9.99970514e-01 7.54900009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.48, Y:1.85, Z:0.75 [[ 9.90699897e-01 -1.35851507e-01 -7.62111619e-03 1.30475631e+02] [ 1.35848266e-01 9.90729205e-01 -9.43623343e-04 1.85284166e+00] [ 7.67865504e-03 -1.00467873e-04 9.99970514e-01 7.54128863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:1.86, Z:0.75 [[ 9.90704531e-01 -1.35817721e-01 -7.62093032e-03 1.30502666e+02] [ 1.35814468e-01 9.90733838e-01 -9.45122076e-04 1.85563469e+00] [ 7.67867787e-03 -9.86958759e-05 9.99970514e-01 7.53479416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:1.86, Z:0.75 [[ 9.90892140e-01 -1.34442146e-01 -7.62080345e-03 1.30530071e+02] [ 1.34438845e-01 9.90921441e-01 -9.46143947e-04 1.85748463e+00] [ 7.67881916e-03 -8.70054133e-05 9.99970514e-01 7.49043229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:1.86, Z:0.75 [[ 9.91074886e-01 -1.33088294e-01 -7.62072634e-03 1.30558075e+02] [ 1.33084948e-01 9.91104182e-01 -9.46764595e-04 1.86095768e+00] [ 7.67893704e-03 -7.58893594e-05 9.99970514e-01 7.47725353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:1.86, Z:0.75 [[ 9.91290151e-01 -1.31475336e-01 -7.62054935e-03 1.30585760e+02] [ 1.31471932e-01 9.91319440e-01 -9.48187113e-04 1.86489688e+00] [ 7.67906193e-03 -6.19597967e-05 9.99970514e-01 7.47560555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:1.87, Z:0.75 [[ 9.91562816e-01 -1.29402905e-01 -7.62036654e-03 1.30612971e+02] [ 1.29399428e-01 9.91592097e-01 -9.49654053e-04 1.86885513e+00] [ 7.67918323e-03 -4.44294247e-05 9.99970514e-01 7.47569530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:1.87, Z:0.75 [[ 9.91800127e-01 -1.27571308e-01 -7.62028726e-03 1.30640745e+02] [ 1.27567772e-01 9.91829401e-01 -9.50289746e-04 1.87289318e+00] [ 7.67925466e-03 -2.96055732e-05 9.99970514e-01 7.48151121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.67, Y:1.88, Z:0.75 [[ 9.92005490e-01 -1.25964445e-01 -7.62010528e-03 1.30667666e+02] [ 1.25960851e-01 9.92034757e-01 -9.51746769e-04 1.87661677e+00] [ 7.67929554e-03 -1.56969224e-05 9.99970514e-01 7.49126664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:1.88, Z:0.75 [[ 9.92142518e-01 -1.24880597e-01 -7.61975315e-03 1.30696396e+02] [ 1.24876949e-01 9.92171778e-01 -9.54562287e-04 1.88104706e+00] [ 7.67931033e-03 -4.46969153e-06 9.99970514e-01 7.46542112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.72, Y:1.88, Z:0.74 [[ 9.92236046e-01 -1.24135278e-01 -7.61988221e-03 1.30724108e+02] [ 1.24131616e-01 9.92265304e-01 -9.53530932e-04 1.88496438e+00] [ 7.67931156e-03 2.59468498e-07 9.99970514e-01 7.43695939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.75, Y:1.89, Z:0.74 [[ 9.92242629e-01 -1.24082651e-01 -7.61982519e-03 1.30752804e+02] [ 1.24078984e-01 9.92271886e-01 -9.53986332e-04 1.88864203e+00] [ 7.67931147e-03 1.12573992e-06 9.99970514e-01 7.40929479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:1.89, Z:0.74 [[ 9.92126521e-01 -1.25007625e-01 -7.61966820e-03 1.30781219e+02] [ 1.25003975e-01 9.92155781e-01 -9.55238596e-04 1.88989541e+00] [ 7.67930996e-03 -4.77126991e-06 9.99970514e-01 7.38123121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.81, Y:1.89, Z:0.74 [[ 9.92020591e-01 -1.25845499e-01 -7.61951180e-03 1.30809621e+02] [ 1.25841864e-01 9.92049853e-01 -9.56484500e-04 1.89163525e+00] [ 7.67930483e-03 -1.00012514e-05 9.99970514e-01 7.40302770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:1.89, Z:0.74 [[ 9.91910201e-01 -1.26712670e-01 -7.61928643e-03 1.30837769e+02] [ 1.26709047e-01 9.91939463e-01 -9.58277611e-04 1.89438426e+00] [ 7.67929681e-03 -1.49071839e-05 9.99970514e-01 7.41940126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:1.90, Z:0.74 [[ 9.91891431e-01 -1.26859508e-01 -7.61929851e-03 1.30865984e+02] [ 1.26855891e-01 9.91920695e-01 -9.58181512e-04 1.89701948e+00] [ 7.67929431e-03 -1.61408670e-05 9.99970514e-01 7.44130408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:1.90, Z:0.75 [[ 9.91966210e-01 -1.26273459e-01 -7.61924391e-03 1.30893332e+02] [ 1.26269820e-01 9.91995471e-01 -9.58615477e-04 1.90006218e+00] [ 7.67930314e-03 -1.11663987e-05 9.99970514e-01 7.45821747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:1.90, Z:0.75 [[ 9.92166521e-01 -1.24689794e-01 -7.61905741e-03 1.30921261e+02] [ 1.24686098e-01 9.92195775e-01 -9.60095519e-04 1.90324045e+00] [ 7.67931068e-03 2.58409237e-06 9.99970514e-01 7.46479245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:1.91, Z:0.75 [[ 9.92870195e-01 -1.18956831e-01 -7.61897353e-03 1.30949489e+02] [ 1.18952961e-01 9.92899426e-01 -9.60760661e-04 1.90675064e+00] [ 7.67916349e-03 4.76111619e-05 9.99970514e-01 7.49997383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:1.91, Z:0.75 [[ 9.93408286e-01 -1.14376268e-01 -7.61881486e-03 1.30976833e+02] [ 1.14372253e-01 9.93437498e-01 -9.62017293e-04 1.91098125e+00] [ 7.67884832e-03 8.42949307e-05 9.99970514e-01 7.51693275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.00, Y:1.92, Z:0.75 [[ 9.93999353e-01 -1.09120315e-01 -7.61862942e-03 1.31003261e+02] [ 1.09116135e-01 9.94028541e-01 -9.63483651e-04 1.91542751e+00] [ 7.67827073e-03 1.26386729e-04 9.99970514e-01 7.53246091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:1.92, Z:0.75 [[ 9.94561785e-01 -1.03869214e-01 -7.61854916e-03 1.31030303e+02] [ 1.03864874e-01 9.94590950e-01 -9.64117866e-04 1.91942453e+00] [ 7.67748221e-03 1.67575135e-04 9.99970514e-01 7.54778407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:1.92, Z:0.76 [[ 9.94988697e-01 -9.96968024e-02 -7.61847045e-03 1.31057790e+02] [ 9.96923360e-02 9.95017843e-01 -9.64739476e-04 1.92351632e+00] [ 7.67669547e-03 2.00401759e-04 9.99970514e-01 7.55633171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:1.93, Z:0.76 [[ 9.95532836e-01 -9.41080940e-02 -7.61829047e-03 1.31085439e+02] [ 9.41034531e-02 9.95561955e-01 -9.66158579e-04 1.92981380e+00] [ 7.67540350e-03 2.44935150e-04 9.99970514e-01 7.55848135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:1.94, Z:0.76 [[ 9.95700943e-01 -9.23124911e-02 -7.61809988e-03 1.31111484e+02] [ 9.23077862e-02 9.95730052e-01 -9.67659056e-04 1.93537427e+00] [ 7.67489801e-03 2.60289099e-04 9.99970514e-01 7.55546046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.14, Y:1.94, Z:0.76 [[ 9.95793128e-01 -9.13127147e-02 -7.61801758e-03 1.31138040e+02] [ 9.13079756e-02 9.95822231e-01 -9.68306576e-04 1.94097851e+00] [ 7.67460996e-03 2.68647271e-04 9.99970514e-01 7.55589139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:1.95, Z:0.76 [[ 9.95813915e-01 -9.10857524e-02 -7.61793764e-03 1.31165875e+02] [ 9.10810019e-02 9.95843016e-01 -9.68935031e-04 1.94619330e+00] [ 7.67452617e-03 2.71029593e-04 9.99970514e-01 7.56779543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:1.95, Z:0.76 [[ 9.95783225e-01 -9.14206666e-02 -7.61775302e-03 1.31193841e+02] [ 9.14159148e-02 9.95812326e-01 -9.70384393e-04 1.95068020e+00] [ 7.67456554e-03 2.69908640e-04 9.99970514e-01 7.58414165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:1.95, Z:0.76 [[ 9.95702289e-01 -9.22980228e-02 -7.61756756e-03 1.31221097e+02] [ 9.22932856e-02 9.95731392e-01 -9.71838033e-04 1.95452799e+00] [ 7.67474988e-03 2.64611015e-04 9.99970514e-01 7.60363858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.215898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:131.25, Y:1.96, Z:0.76 [[ 9.95593343e-01 -9.34658855e-02 -7.61738081e-03 1.31248804e+02] [ 9.34611713e-02 9.95622450e-01 -9.73299628e-04 1.95832983e+00] [ 7.67500565e-03 2.57081297e-04 9.99970514e-01 7.57961722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.28, Y:1.96, Z:0.76 [[ 9.95496414e-01 -9.44926868e-02 -7.61719227e-03 1.31276603e+02] [ 9.44879913e-02 9.95525524e-01 -9.74772976e-04 1.96152336e+00] [ 7.67521824e-03 2.50649806e-04 9.99970514e-01 7.58979225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:1.96, Z:0.75 [[ 9.95294479e-01 -9.65964721e-02 -7.61713360e-03 1.31304473e+02] [ 9.65918347e-02 9.95323599e-01 -9.75231174e-04 1.96410846e+00] [ 7.67571672e-03 2.34889294e-04 9.99970514e-01 7.52423948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:1.97, Z:0.75 [[ 9.95276434e-01 -9.67822359e-02 -7.61695129e-03 1.31332723e+02] [ 9.67775930e-02 9.95305553e-01 -9.76653021e-04 1.96791058e+00] [ 7.67571658e-03 2.34889524e-04 9.99970514e-01 7.52642679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:1.97, Z:0.75 [[ 9.95134256e-01 -9.82333868e-02 -7.61676875e-03 1.31359686e+02] [ 9.82287754e-02 9.95163379e-01 -9.78074601e-04 1.97078036e+00] [ 7.67600890e-03 2.25129674e-04 9.99970514e-01 7.50398427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:1.97, Z:0.75 [[ 9.94984122e-01 -9.97425798e-02 -7.61668936e-03 1.31387890e+02] [ 9.97380080e-02 9.95013252e-01 -9.78692385e-04 1.97321197e+00] [ 7.67632416e-03 2.14109959e-04 9.99970514e-01 7.49587137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:1.98, Z:0.75 [[ 9.94843850e-01 -1.01132108e-01 -7.61650614e-03 1.31416013e+02] [ 1.01127566e-01 9.94872984e-01 -9.80116221e-04 1.97526658e+00] [ 7.67657741e-03 2.04823869e-04 9.99970514e-01 7.47773257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.44, Y:1.98, Z:0.75 [[ 9.94780372e-01 -1.01754627e-01 -7.61632292e-03 1.31444140e+02] [ 1.01750092e-01 9.94809507e-01 -9.81537950e-04 1.97634857e+00] [ 7.67666648e-03 2.01453128e-04 9.99970514e-01 7.46873518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.47, Y:1.98, Z:0.75 [[ 9.94849253e-01 -1.01078969e-01 -7.61613071e-03 1.31472346e+02] [ 1.01074404e-01 9.94878384e-01 -9.83027092e-04 1.97713625e+00] [ 7.67648718e-03 2.08167900e-04 9.99970514e-01 7.45951439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.50, Y:1.98, Z:0.75 [[ 9.95223047e-01 -9.73297646e-02 -7.61607086e-03 1.31500329e+02] [ 9.73250854e-02 9.95252159e-01 -9.83490602e-04 1.97719874e+00] [ 7.67563387e-03 2.37557767e-04 9.99970514e-01 7.47409713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:1.98, Z:0.75 [[ 9.95204956e-01 -9.75145872e-02 -7.61588697e-03 1.31528576e+02] [ 9.75099026e-02 9.95234067e-01 -9.84912483e-04 1.98103502e+00] [ 7.67563350e-03 2.37565386e-04 9.99970514e-01 7.47628439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:1.98, Z:0.75 [[ 9.95477390e-01 -9.46930144e-02 -7.61570381e-03 1.31556663e+02] [ 9.46882365e-02 9.95506487e-01 -9.86326765e-04 1.98312847e+00] [ 7.67488080e-03 2.60748430e-04 9.99970514e-01 7.49932763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:1.98, Z:0.75 [[ 9.96057393e-01 -8.83836748e-02 -7.61551305e-03 1.31584919e+02] [ 8.83787013e-02 9.96086457e-01 -9.87797433e-04 1.98241401e+00] [ 7.67301458e-03 3.10853782e-04 9.99970514e-01 7.52273914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:1.98, Z:0.75 [[ 9.96277123e-01 -8.58714156e-02 -7.61542461e-03 1.31613444e+02] [ 8.58663637e-02 9.96306173e-01 -9.88478751e-04 1.98362275e+00] [ 7.67217662e-03 3.30889946e-04 9.99970514e-01 7.53910175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.64, Y:1.98, Z:0.75 [[ 9.96445059e-01 -8.39002589e-02 -7.61523145e-03 1.31641772e+02] [ 8.38951382e-02 9.96474097e-01 -9.89964688e-04 1.98426349e+00] [ 7.67143917e-03 3.47564527e-04 9.99970514e-01 7.54441798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.67, Y:1.98, Z:0.76 [[ 9.96538538e-01 -8.27825611e-02 -7.61517170e-03 1.31669517e+02] [ 8.27774044e-02 9.96567569e-01 -9.90424035e-04 1.98468402e+00] [ 7.67102299e-03 3.56631572e-04 9.99970514e-01 7.55114888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:1.99, Z:0.76 [[ 9.96578387e-01 -8.23014660e-02 -7.61498849e-03 1.31697936e+02] [ 8.22962845e-02 9.96607414e-01 -9.91830700e-04 1.98532272e+00] [ 7.67078311e-03 3.61751779e-04 9.99970514e-01 7.56222865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:1.98, Z:0.76 [[ 9.96741812e-01 -8.02980383e-02 -7.61479667e-03 1.31726399e+02] [ 8.02927873e-02 9.96770827e-01 -9.93301230e-04 1.98190610e+00] [ 7.66996731e-03 3.78651619e-04 9.99970514e-01 7.60128414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:1.98, Z:0.76 [[ 9.96921521e-01 -7.80350697e-02 -7.61629232e-03 1.31754052e+02] [ 7.80298402e-02 9.96950540e-01 -9.81837760e-04 1.98172700e+00] [ 7.66968452e-03 3.84517121e-04 9.99970514e-01 7.58760568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:1.98, Z:0.76 [[ 9.97120090e-01 -7.54555706e-02 -7.61459899e-03 1.31780982e+02] [ 7.54501673e-02 9.97149077e-01 -9.94799179e-04 1.98219031e+00] [ 7.66795350e-03 4.17411479e-04 9.99970514e-01 7.57842057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:1.98, Z:0.76 [[ 9.97335624e-01 -7.25511679e-02 -7.61451835e-03 1.31807903e+02] [ 7.25456755e-02 9.97364594e-01 -9.95416031e-04 1.98302807e+00] [ 7.66666960e-03 4.40363491e-04 9.99970514e-01 7.56980569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:1.98, Z:0.76 [[ 9.97569706e-01 -6.92582340e-02 -7.61443929e-03 1.31836219e+02] [ 6.92526414e-02 9.97598657e-01 -9.96020422e-04 1.98365439e+00] [ 7.66513702e-03 4.66279765e-04 9.99970514e-01 7.58519869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:1.98, Z:0.76 [[ 9.97764754e-01 -6.63891530e-02 -7.61425390e-03 1.31864178e+02] [ 6.63834663e-02 9.97793686e-01 -9.97435689e-04 1.98472529e+00] [ 7.66367338e-03 4.89745607e-04 9.99970514e-01 7.60739354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.89, Y:1.98, Z:0.76 [[ 9.98044300e-01 -6.20451577e-02 -7.61406923e-03 1.31891859e+02] [ 6.20393345e-02 9.98073205e-01 -9.98843426e-04 1.98459196e+00] [ 7.66137188e-03 5.24518200e-04 9.99970514e-01 7.62539462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:1.99, Z:0.76 [[ 9.98123772e-01 -6.07532938e-02 -7.61394357e-03 1.31919499e+02] [ 6.07474259e-02 9.98152669e-01 -9.99800375e-04 1.98745666e+00] [ 7.66061926e-03 5.35397049e-04 9.99970514e-01 7.61020953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:1.99, Z:0.76 [[ 9.98173500e-01 -5.99307411e-02 -7.61375188e-03 1.31946798e+02] [ 5.99248383e-02 9.98202390e-01 -1.00125800e-03 1.99046752e+00] [ 7.66007146e-03 5.43176355e-04 9.99970514e-01 7.59111071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:1.99, Z:0.76 [[ 9.98198333e-01 -5.95157170e-02 -7.61366895e-03 1.31974319e+02] [ 5.95097974e-02 9.98227219e-01 -1.00188820e-03 1.99320222e+00] [ 7.65979968e-03 5.46995233e-04 9.99970514e-01 7.57448158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:2.00, Z:0.76 [[ 9.98223357e-01 -5.90945315e-02 -7.61348890e-03 1.32002669e+02] [ 5.90885894e-02 9.98252239e-01 -1.00325459e-03 1.99595708e+00] [ 7.65946920e-03 5.51601851e-04 9.99970514e-01 7.56111628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.03, Y:2.00, Z:0.76 [[ 9.98265322e-01 -5.83813790e-02 -7.61330340e-03 1.32030249e+02] [ 5.83754056e-02 9.98294196e-01 -1.00466027e-03 1.99857041e+00] [ 7.65897005e-03 5.58487830e-04 9.99970514e-01 7.55453664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:2.00, Z:0.76 [[ 9.98358790e-01 -5.67606127e-02 -7.61311795e-03 1.32058362e+02] [ 5.67545818e-02 9.98387653e-01 -1.00606366e-03 2.00176048e+00] [ 7.65794775e-03 5.72333169e-04 9.99970514e-01 7.55331169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.09, Y:2.01, Z:0.75 [[ 9.98428891e-01 -5.55139000e-02 -7.61293311e-03 1.32085310e+02] [ 5.55078225e-02 9.98457744e-01 -1.00746041e-03 2.00553738e+00] [ 7.65712007e-03 5.83300244e-04 9.99970514e-01 7.54882039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:2.01, Z:0.75 [[ 9.98486284e-01 -5.44718663e-02 -7.61285260e-03 1.32113494e+02] [ 5.44657541e-02 9.98515130e-01 -1.00806836e-03 2.00988976e+00] [ 7.65645987e-03 5.91902678e-04 9.99970514e-01 7.54122122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:2.01, Z:0.75 [[ 9.98541586e-01 -5.34485578e-02 -7.61266980e-03 1.32140320e+02] [ 5.34424055e-02 9.98570423e-01 -1.00944696e-03 2.01330724e+00] [ 7.65574039e-03 6.01135380e-04 9.99970514e-01 7.53601537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:2.02, Z:0.76 [[ 9.98547079e-01 -5.33458630e-02 -7.61254489e-03 1.32168382e+02] [ 5.33397007e-02 9.98575914e-01 -1.01038805e-03 2.01752599e+00] [ 7.65560399e-03 6.02869167e-04 9.99970514e-01 7.55023006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:2.02, Z:0.76 [[ 9.98540617e-01 -5.34667047e-02 -7.61235816e-03 1.32195593e+02] [ 5.34605352e-02 9.98569450e-01 -1.01179299e-03 2.02068944e+00] [ 7.65556554e-03 6.03355653e-04 9.99970514e-01 7.56512272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:2.02, Z:0.76 [[ 9.98479500e-01 -5.45961645e-02 -7.61230035e-03 1.32223695e+02] [ 5.45900243e-02 9.98508340e-01 -1.01222772e-03 2.02370039e+00] [ 7.65620913e-03 5.95132967e-04 9.99970514e-01 7.59376167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:2.03, Z:0.76 [[ 9.98399581e-01 -5.60386725e-02 -7.61211214e-03 1.32250127e+02] [ 5.60325633e-02 9.98428427e-01 -1.01364111e-03 2.02608864e+00] [ 7.65695225e-03 5.85492700e-04 9.99970514e-01 7.61372989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.28, Y:2.03, Z:0.76 [[ 9.98269391e-01 -5.83119114e-02 -7.61203029e-03 1.32278474e+02] [ 5.83058633e-02 9.98298251e-01 -1.01425542e-03 2.02854179e+00] [ 7.65821969e-03 5.68674140e-04 9.99970514e-01 7.62080055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:2.03, Z:0.76 [[ 9.97918125e-01 -6.40427650e-02 -7.61183878e-03 1.32305707e+02] [ 6.40368718e-02 9.97947016e-01 -1.01569061e-03 2.02986295e+00] [ 7.66125943e-03 5.26137730e-04 9.99970514e-01 7.61075216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:2.03, Z:0.76 [[ 9.97738127e-01 -6.67884074e-02 -7.61170799e-03 1.32333610e+02] [ 6.67825863e-02 9.97767033e-01 -1.01666982e-03 2.03265503e+00] [ 7.66261306e-03 5.06040694e-04 9.99970514e-01 7.60036391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:2.03, Z:0.76 [[ 9.97596397e-01 -6.88730146e-02 -7.61158807e-03 1.32361753e+02] [ 6.88672470e-02 9.97625314e-01 -1.01756687e-03 2.03499591e+00] [ 7.66359583e-03 4.90931927e-04 9.99970514e-01 7.60185633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.39, Y:2.04, Z:0.76 [[ 9.97521632e-01 -6.99474966e-02 -7.61191215e-03 1.32389858e+02] [ 6.99417786e-02 9.97550559e-01 -1.01514382e-03 2.03739672e+00] [ 7.66427399e-03 4.80237245e-04 9.99970514e-01 7.60659341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.42, Y:2.04, Z:0.76 [[ 9.97494236e-01 -7.03371607e-02 -7.61137237e-03 1.32418169e+02] [ 7.03314233e-02 9.97523159e-01 -1.01917500e-03 2.04001435e+00] [ 7.66420609e-03 4.81302531e-04 9.99970514e-01 7.62875715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.45, Y:2.04, Z:0.77 [[ 9.97575330e-01 -6.91775301e-02 -7.61118861e-03 1.32446327e+02] [ 6.91717487e-02 9.97604244e-01 -1.02054546e-03 2.04336846e+00] [ 7.66355288e-03 4.91591749e-04 9.99970514e-01 7.66480177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.47, Y:2.05, Z:0.77 [[ 9.97664174e-01 -6.78842228e-02 -7.61099494e-03 1.32472899e+02] [ 6.78783930e-02 9.97693079e-01 -1.02198781e-03 2.04776865e+00] [ 7.66281382e-03 5.02978525e-04 9.99970514e-01 7.67545641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.50, Y:2.05, Z:0.77 [[ 9.97732771e-01 -6.68684664e-02 -7.61091105e-03 1.32500809e+02] [ 6.68626024e-02 9.97761668e-01 -1.02261214e-03 2.05237398e+00] [ 7.66225581e-03 5.11408328e-04 9.99970514e-01 7.65934729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.595898227 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:132.53, Y:2.06, Z:0.76 [[ 9.97753879e-01 -6.65527914e-02 -7.61072361e-03 1.32528527e+02] [ 6.65469077e-02 9.97782772e-01 -1.02400528e-03 2.05715223e+00] [ 7.66199931e-03 5.15235121e-04 9.99970514e-01 7.61983087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.56, Y:2.06, Z:0.76 [[ 9.97766263e-01 -6.63668920e-02 -7.61052818e-03 1.32555211e+02] [ 6.63609919e-02 9.97795153e-01 -1.02545566e-03 2.06169687e+00] [ 7.66180444e-03 5.18122866e-04 9.99970514e-01 7.62183532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.58, Y:2.07, Z:0.76 [[ 9.97755476e-01 -6.65288804e-02 -7.61044297e-03 1.32581804e+02] [ 6.65229802e-02 9.97784366e-01 -1.02608766e-03 2.06576437e+00] [ 7.66184548e-03 5.17515233e-04 9.99970514e-01 7.61291748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.61, Y:2.07, Z:0.76 [[ 9.97670245e-01 -6.77950129e-02 -7.61036264e-03 1.32609633e+02] [ 6.77891448e-02 9.97699142e-01 -1.02668315e-03 2.07013842e+00] [ 7.66245627e-03 5.08391258e-04 9.99970514e-01 7.60792189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:2.07, Z:0.76 [[ 9.97650271e-01 -6.80883416e-02 -7.61017573e-03 1.32635995e+02] [ 6.80824716e-02 9.97679167e-01 -1.02806674e-03 2.07455383e+00] [ 7.66251314e-03 5.07531488e-04 9.99970514e-01 7.60249610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.66, Y:2.08, Z:0.76 [[ 9.97668732e-01 -6.78173093e-02 -7.61009400e-03 1.32662152e+02] [ 6.78114268e-02 9.97697626e-01 -1.02867131e-03 2.07944063e+00] [ 7.66233444e-03 5.10221868e-04 9.99970514e-01 7.59441573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.69, Y:2.08, Z:0.76 [[ 9.97701940e-01 -6.73270123e-02 -7.61001326e-03 1.32689347e+02] [ 6.73211110e-02 9.97730830e-01 -1.02926830e-03 2.08483723e+00] [ 7.66204240e-03 5.14588437e-04 9.99970514e-01 7.59481559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.72, Y:2.09, Z:0.76 [[ 9.97758100e-01 -6.64895849e-02 -7.60982058e-03 1.32716910e+02] [ 6.64836486e-02 9.97786982e-01 -1.03069089e-03 2.09048579e+00] [ 7.66151012e-03 5.22451548e-04 9.99970514e-01 7.60528840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.74, Y:2.10, Z:0.76 [[ 9.97811167e-01 -6.56884282e-02 -7.60950138e-03 1.32744218e+02] [ 6.56824509e-02 9.97840042e-01 -1.03304498e-03 2.09578788e+00] [ 7.66092427e-03 5.30973118e-04 9.99970514e-01 7.57590068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.77, Y:2.10, Z:0.76 [[ 9.97843090e-01 -6.52016950e-02 -7.60959027e-03 1.32771694e+02] [ 6.51957086e-02 9.97871963e-01 -1.03238980e-03 2.10168963e+00] [ 7.66071034e-03 5.34050398e-04 9.99970514e-01 7.55478721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.80, Y:2.11, Z:0.75 [[ 9.97779958e-01 -6.61608112e-02 -7.60940120e-03 1.32798685e+02] [ 6.61548419e-02 9.97808833e-01 -1.03378148e-03 2.10567380e+00] [ 7.66112356e-03 5.28087707e-04 9.99970514e-01 7.54617578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.83, Y:2.11, Z:0.75 [[ 9.97679057e-01 -6.76653405e-02 -7.60931888e-03 1.32826938e+02] [ 6.76594102e-02 9.97707940e-01 -1.03438704e-03 2.10946171e+00] [ 7.66187002e-03 5.17144255e-04 9.99970514e-01 7.54878861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.85, Y:2.11, Z:0.76 [[ 9.97578511e-01 -6.91318715e-02 -7.60912815e-03 1.32853485e+02] [ 6.91259730e-02 9.97607401e-01 -1.03578823e-03 2.11241513e+00] [ 7.66252853e-03 5.07291695e-04 9.99970514e-01 7.55325053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.985898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:132.88, Y:2.12, Z:0.75 [[ 9.97484654e-01 -7.04731803e-02 -7.60899753e-03 1.32881309e+02] [ 7.04673134e-02 9.97513550e-01 -1.03674684e-03 2.11590494e+00] [ 7.66314099e-03 4.97953448e-04 9.99970514e-01 7.54469839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.91, Y:2.12, Z:0.76 [[ 9.97569411e-01 -6.92630949e-02 -7.60880974e-03 1.32910282e+02] [ 6.92571825e-02 9.97598298e-01 -1.03812323e-03 2.11912379e+00] [ 7.66243928e-03 5.08635252e-04 9.99970514e-01 7.59547827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.94, Y:2.12, Z:0.76 [[ 9.97689612e-01 -6.75096032e-02 -7.60864391e-03 1.32938022e+02] [ 6.75036308e-02 9.97718487e-01 -1.03933720e-03 2.12302713e+00] [ 7.66144994e-03 5.23324842e-04 9.99970514e-01 7.62421874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.075898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:132.96, Y:2.13, Z:0.76 [[ 9.97885809e-01 -6.45447478e-02 -7.60844494e-03 1.32964452e+02] [ 6.45386786e-02 9.97914664e-01 -1.04079175e-03 2.12683468e+00] [ 7.65975641e-03 5.47552338e-04 9.99970514e-01 7.62353800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:2.13, Z:0.76 [[ 9.98122333e-01 -6.07776430e-02 -7.60835861e-03 1.32991589e+02] [ 6.07714601e-02 9.98151163e-01 -1.04142243e-03 2.13095174e+00] [ 7.65758720e-03 5.77095926e-04 9.99970514e-01 7.64906425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.135898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:133.02, Y:2.13, Z:0.76 [[ 9.98325290e-01 -5.73474428e-02 -7.60827580e-03 1.33019291e+02] [ 5.73411563e-02 9.98354098e-01 -1.04202706e-03 2.13447330e+00] [ 7.65551092e-03 6.04014633e-04 9.99970514e-01 7.62496346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.05, Y:2.14, Z:0.76 [[ 9.98519644e-01 -5.38575629e-02 -7.60809176e-03 1.33047504e+02] [ 5.38511657e-02 9.98548428e-01 -1.04336906e-03 2.13751532e+00] [ 7.65324139e-03 6.32119896e-04 9.99970514e-01 7.62431529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:2.14, Z:0.76 [[ 9.98677973e-01 -5.08372587e-02 -7.60790464e-03 1.33074785e+02] [ 5.08307641e-02 9.98706735e-01 -1.04473169e-03 2.14007291e+00] [ 7.65117690e-03 6.56634923e-04 9.99970514e-01 7.60425042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:2.14, Z:0.76 [[ 9.98668952e-01 -5.10141607e-02 -7.60782350e-03 1.33103013e+02] [ 5.10076667e-02 9.98697715e-01 -1.04532226e-03 2.14411235e+00] [ 7.65124218e-03 6.55873557e-04 9.99970514e-01 7.60643911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:2.15, Z:0.76 [[ 9.98794242e-01 -4.84993384e-02 -7.60763809e-03 1.33129920e+02] [ 4.84927619e-02 9.98822986e-01 -1.04666986e-03 2.14639210e+00] [ 7.64944659e-03 6.76492443e-04 9.99970514e-01 7.60325975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.16, Y:2.15, Z:0.76 [[ 9.99008805e-01 -4.38580855e-02 -7.60755746e-03 1.33157161e+02] [ 4.38513710e-02 9.99037517e-01 -1.04725563e-03 2.14990403e+00] [ 7.64616594e-03 7.12615767e-04 9.99970514e-01 7.62454600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.19, Y:2.16, Z:0.76 [[ 9.99091404e-01 -4.19343877e-02 -7.60747835e-03 1.33185098e+02] [ 4.19276136e-02 9.99120102e-01 -1.04782996e-03 2.15502489e+00] [ 7.64472465e-03 7.27914489e-04 9.99970514e-01 7.61903532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.21, Y:2.16, Z:0.76 [[ 9.99179822e-01 -3.97719937e-02 -7.60729898e-03 1.33213006e+02] [ 3.97651477e-02 9.99208503e-01 -1.04913060e-03 2.16025797e+00] [ 7.64300384e-03 7.45764754e-04 9.99970514e-01 7.60111737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.24, Y:2.17, Z:0.76 [[ 9.99269418e-01 -3.74534671e-02 -7.60711718e-03 1.33240473e+02] [ 3.74465447e-02 9.99298080e-01 -1.05044713e-03 2.16574429e+00] [ 7.64112048e-03 7.64819437e-04 9.99970514e-01 7.58281384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.27, Y:2.17, Z:0.76 [[ 9.99362971e-01 -3.48681419e-02 -7.60692263e-03 1.33266533e+02] [ 3.48611348e-02 9.99391612e-01 -1.05185410e-03 2.17102865e+00] [ 7.63897087e-03 7.85998085e-04 9.99970514e-01 7.56660109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.29, Y:2.18, Z:0.76 [[ 9.99446366e-01 -3.23897715e-02 -7.60683812e-03 1.33293285e+02] [ 3.23826887e-02 9.99474989e-01 -1.05246493e-03 2.17727053e+00] [ 7.63693354e-03 8.05552381e-04 9.99970514e-01 7.55145650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.465898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.32, Y:2.19, Z:0.76 [[ 9.99594496e-01 -2.74405171e-02 -7.60670881e-03 1.33319049e+02] [ 2.74332857e-02 9.99623082e-01 -1.05339865e-03 2.18821623e+00] [ 7.63274751e-03 8.44294479e-04 9.99970514e-01 7.55401463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.35, Y:2.20, Z:0.76 [[ 9.99632232e-01 -2.60303917e-02 -7.60390658e-03 1.33346760e+02] [ 2.60229682e-02 9.99660769e-01 -1.07359987e-03 2.19707913e+00] [ 7.62927332e-03 8.75328815e-04 9.99970514e-01 7.55893721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:2.21, Z:0.76 [[ 9.99659076e-01 -2.49774616e-02 -7.60645330e-03 1.33374194e+02] [ 2.49701459e-02 9.99687640e-01 -1.05524243e-03 2.20621407e+00] [ 7.63043463e-03 8.64948425e-04 9.99970514e-01 7.57647473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.555898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:133.40, Y:2.22, Z:0.76 [[ 9.99661496e-01 -2.48804846e-02 -7.60626545e-03 1.33401393e+02] [ 2.48731560e-02 9.99690057e-01 -1.05659478e-03 2.21548388e+00] [ 7.63019653e-03 8.67045294e-04 9.99970514e-01 7.57030704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.43, Y:2.22, Z:0.76 [[ 9.99648619e-01 -2.53926241e-02 -7.60607603e-03 1.33428763e+02] [ 2.53852999e-02 9.99677182e-01 -1.05795656e-03 2.22458815e+00] [ 7.63048494e-03 8.64502294e-04 9.99970514e-01 7.59551073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.46, Y:2.23, Z:0.76 [[ 9.99604381e-01 -2.70782587e-02 -7.60588380e-03 1.33456277e+02] [ 2.70709723e-02 9.99632953e-01 -1.05933675e-03 2.23321821e+00] [ 7.63177708e-03 8.53018987e-04 9.99970514e-01 7.60953448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:2.24, Z:0.76 [[ 9.99434797e-01 -3.27450715e-02 -7.60568547e-03 1.33481945e+02] [ 3.27379365e-02 9.99463407e-01 -1.06075880e-03 2.24354163e+00] [ 7.63633894e-03 8.11164804e-04 9.99970514e-01 7.62983887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.51, Y:2.25, Z:0.76 [[ 9.99286015e-01 -3.70083191e-02 -7.60559918e-03 1.33509758e+02] [ 3.70013015e-02 9.99314654e-01 -1.06137715e-03 2.25008477e+00] [ 7.63966649e-03 7.79202277e-04 9.99970514e-01 7.64013121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.54, Y:2.26, Z:0.76 [[ 9.99108492e-01 -4.15256412e-02 -7.60540222e-03 1.33536616e+02] [ 4.15187426e-02 9.99137160e-01 -1.06278656e-03 2.25637537e+00] [ 7.64297287e-03 7.46072345e-04 9.99970514e-01 7.64094600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:2.26, Z:0.76 [[ 9.98918650e-01 -4.58660194e-02 -7.60520536e-03 1.33563924e+02] [ 4.58592348e-02 9.98947345e-01 -1.06419345e-03 2.26218820e+00] [ 7.64601002e-03 7.14273785e-04 9.99970514e-01 7.64428457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:2.27, Z:0.76 [[ 9.98721475e-01 -4.99757859e-02 -7.60501306e-03 1.33591020e+02] [ 4.99691090e-02 9.98750195e-01 -1.06556591e-03 2.26787786e+00] [ 7.64876077e-03 6.84187829e-04 9.99970514e-01 7.64949576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.62, Y:2.27, Z:0.77 [[ 9.98529380e-01 -5.36772295e-02 -7.60481557e-03 1.33618651e+02] [ 5.36706485e-02 9.98558122e-01 -1.06697351e-03 2.27353502e+00] [ 7.65112254e-03 6.57249011e-04 9.99970514e-01 7.65846675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.825898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:133.65, Y:2.28, Z:0.77 [[ 9.98193162e-01 -5.96035270e-02 -7.60461796e-03 1.33645556e+02] [ 5.95971061e-02 9.98221941e-01 -1.06838006e-03 2.28114169e+00] [ 7.65477572e-03 6.13236443e-04 9.99970514e-01 7.65641516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:2.29, Z:0.77 [[ 9.98107388e-01 -6.10230761e-02 -7.60441880e-03 1.33672363e+02] [ 6.10166854e-02 9.98136173e-01 -1.06979578e-03 2.28626085e+00] [ 7.65552770e-03 6.03774639e-04 9.99970514e-01 7.67565841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:2.29, Z:0.77 [[ 9.98016523e-01 -6.24915528e-02 -7.60433188e-03 1.33699590e+02] [ 6.24851998e-02 9.98045317e-01 -1.07041327e-03 2.29184426e+00] [ 7.65635960e-03 5.93131937e-04 9.99970514e-01 7.65964973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.73, Y:2.30, Z:0.77 [[ 9.97928626e-01 -6.38798449e-02 -7.60414516e-03 1.33727341e+02] [ 6.38735219e-02 9.97957426e-01 -1.07173805e-03 2.29696314e+00] [ 7.65707559e-03 5.83814547e-04 9.99970514e-01 7.65350771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.75, Y:2.30, Z:0.77 [[ 9.97805347e-01 -6.57774270e-02 -7.60394004e-03 1.33754241e+02] [ 6.57711478e-02 9.97834157e-01 -1.07319139e-03 2.30200611e+00] [ 7.65806287e-03 5.70716238e-04 9.99970514e-01 7.65027462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:2.31, Z:0.77 [[ 9.97638975e-01 -6.82543538e-02 -7.60385043e-03 1.33780505e+02] [ 6.82481413e-02 9.97667799e-01 -1.07382593e-03 2.30699914e+00] [ 7.65941002e-03 5.52341941e-04 9.99970514e-01 7.66260963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.81, Y:2.31, Z:0.77 [[ 9.97377874e-01 -7.19691617e-02 -7.60371694e-03 1.33807473e+02] [ 7.19630494e-02 9.97406720e-01 -1.07477035e-03 2.31269513e+00] [ 7.66134869e-03 5.24765505e-04 9.99970514e-01 7.68736800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.83, Y:2.32, Z:0.77 [[ 9.97302593e-01 -7.30049532e-02 -7.60365659e-03 1.33834798e+02] [ 7.29988677e-02 9.97331444e-01 -1.07519714e-03 2.31701932e+00] [ 7.66186052e-03 5.17238570e-04 9.99970514e-01 7.69404528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:2.32, Z:0.77 [[ 9.97297536e-01 -7.30740198e-02 -7.60345554e-03 1.33862902e+02] [ 7.30679254e-02 9.97326385e-01 -1.07661703e-03 2.32120680e+00] [ 7.66179956e-03 5.18138792e-04 9.99970514e-01 7.69314610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.89, Y:2.33, Z:0.77 [[ 9.97388804e-01 -7.18175720e-02 -7.60324892e-03 1.33890088e+02] [ 7.18114303e-02 9.97417644e-01 -1.07807423e-03 2.32629610e+00] [ 7.66103930e-03 5.29258983e-04 9.99970514e-01 7.71205046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.92, Y:2.33, Z:0.77 [[ 9.97530669e-01 -6.98195182e-02 -7.60254784e-03 1.33917142e+02] [ 6.98132813e-02 9.97559488e-01 -1.08301358e-03 2.33221905e+00] [ 7.65960922e-03 5.49580452e-04 9.99970514e-01 7.66514585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.94, Y:2.34, Z:0.77 [[ 9.97716944e-01 -6.71051019e-02 -7.60297966e-03 1.33944131e+02] [ 6.70988097e-02 9.97745751e-01 -1.07997357e-03 2.33836021e+00] [ 7.65831239e-03 5.67357044e-04 9.99970514e-01 7.66779312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:2.34, Z:0.77 [[ 9.98094905e-01 -6.12271001e-02 -7.60277801e-03 1.33970187e+02] [ 6.12206275e-02 9.98123672e-01 -1.08139127e-03 2.34494796e+00] [ 7.65472316e-03 6.13884281e-04 9.99970514e-01 7.66860064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:2.35, Z:0.77 [[ 9.98253108e-01 -5.85912251e-02 -7.60269012e-03 1.33997549e+02] [ 5.85846719e-02 9.98281857e-01 -1.08200881e-03 2.34904419e+00] [ 7.65302383e-03 6.34717547e-04 9.99970514e-01 7.67908394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.03, Y:2.35, Z:0.77 [[ 9.98378745e-01 -5.64099676e-02 -7.60249167e-03 1.34025462e+02] [ 5.64033411e-02 9.98407477e-01 -1.08340143e-03 2.35351234e+00] [ 7.65149916e-03 6.52839031e-04 9.99970514e-01 7.69520919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.05, Y:2.36, Z:0.77 [[ 9.98498120e-01 -5.42559577e-02 -7.60229382e-03 1.34051874e+02] [ 5.42492588e-02 9.98526835e-01 -1.08478796e-03 2.35809604e+00] [ 7.64995060e-03 6.70739932e-04 9.99970514e-01 7.69165318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.08, Y:2.36, Z:0.77 [[ 9.98589200e-01 -5.25529819e-02 -7.60220814e-03 1.34079120e+02] [ 5.25462294e-02 9.98617903e-01 -1.08538810e-03 2.36295939e+00] [ 7.64874153e-03 6.84389460e-04 9.99970514e-01 7.68629533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.11, Y:2.37, Z:0.77 [[ 9.98706325e-01 -5.02780916e-02 -7.60201279e-03 1.34106511e+02] [ 5.02712634e-02 9.98735009e-01 -1.08675456e-03 2.36792653e+00] [ 7.64703626e-03 7.03185866e-04 9.99970514e-01 7.66768290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:2.37, Z:0.77 [[ 9.98749531e-01 -4.94124195e-02 -7.60181462e-03 1.34132948e+02] [ 4.94055560e-02 9.98778207e-01 -1.08813903e-03 2.37233338e+00] [ 7.64629436e-03 7.11206468e-04 9.99970514e-01 7.66812882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.16, Y:2.38, Z:0.77 [[ 9.98784918e-01 -4.86919190e-02 -7.60167754e-03 1.34160916e+02] [ 4.86850277e-02 9.98813587e-01 -1.08909582e-03 2.37719674e+00] [ 7.64568897e-03 7.17684601e-04 9.99970514e-01 7.66486236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.19, Y:2.38, Z:0.77 [[ 9.98810838e-01 -4.81573258e-02 -7.60148289e-03 1.34187728e+02] [ 4.81504089e-02 9.98839501e-01 -1.09045266e-03 2.38206355e+00] [ 7.64517467e-03 7.23141427e-04 9.99970514e-01 7.65436367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.22, Y:2.39, Z:0.77 [[ 9.98796857e-01 -4.84464428e-02 -7.60139820e-03 1.34215669e+02] [ 4.84395297e-02 9.98825521e-01 -1.09104273e-03 2.38715530e+00] [ 7.64532766e-03 7.21521892e-04 9.99970514e-01 7.65315630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.485898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:134.24, Y:2.39, Z:0.76 [[ 9.98756047e-01 -4.92806388e-02 -7.60119506e-03 1.34242346e+02] [ 4.92737390e-02 9.98784714e-01 -1.09245613e-03 2.39206770e+00] [ 7.64579438e-03 7.16557864e-04 9.99970514e-01 7.62838801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.27, Y:2.40, Z:0.77 [[ 9.98652177e-01 -5.13425042e-02 -7.60110690e-03 1.34270811e+02] [ 5.13356590e-02 9.98680858e-01 -1.09306919e-03 2.39647445e+00] [ 7.64720087e-03 7.01388090e-04 9.99970514e-01 7.67789011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.30, Y:2.40, Z:0.77 [[ 9.98556837e-01 -5.31645394e-02 -7.60093429e-03 1.34298011e+02] [ 5.31577375e-02 9.98585528e-01 -1.09426819e-03 2.40073789e+00] [ 7.64835925e-03 6.88640512e-04 9.99970514e-01 7.69878556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.575898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.33, Y:2.41, Z:0.77 [[ 9.98404208e-01 -5.59577056e-02 -7.60087287e-03 1.34325708e+02] [ 5.59509807e-02 9.98432917e-01 -1.09469468e-03 2.40611235e+00] [ 7.65021827e-03 6.67671486e-04 9.99970514e-01 7.70130977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.35, Y:2.41, Z:0.77 [[ 9.98266864e-01 -5.83566523e-02 -7.60067356e-03 1.34353318e+02] [ 5.83499859e-02 9.98295586e-01 -1.09607676e-03 2.41080203e+00] [ 7.65168224e-03 6.50677915e-04 9.99970514e-01 7.72075843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.38, Y:2.42, Z:0.77 [[ 9.98085414e-01 -6.13819200e-02 -7.60046777e-03 1.34380076e+02] [ 6.13753300e-02 9.98114154e-01 -1.09750188e-03 2.41601008e+00] [ 7.65350123e-03 6.28919402e-04 9.99970514e-01 7.71700718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.41, Y:2.42, Z:0.77 [[ 9.97887616e-01 -6.45177598e-02 -7.60032508e-03 1.34407423e+02] [ 6.45112526e-02 9.97916375e-01 -1.09848915e-03 2.42137684e+00] [ 7.65536091e-03 6.05862224e-04 9.99970514e-01 7.72747222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:2.43, Z:0.77 [[ 9.97496409e-01 -7.03075514e-02 -7.60012515e-03 1.34434542e+02] [ 7.03012008e-02 9.97525203e-01 -1.09987069e-03 2.42736855e+00] [ 7.65864560e-03 5.62819135e-04 9.99970514e-01 7.73823993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.46, Y:2.43, Z:0.77 [[ 9.97265228e-01 -7.35139869e-02 -7.59992458e-03 1.34462245e+02] [ 7.35077184e-02 9.97294040e-01 -1.10125481e-03 2.43266009e+00] [ 7.66031713e-03 5.39590014e-04 9.99970514e-01 7.74168759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.49, Y:2.44, Z:0.77 [[ 9.97012809e-01 -7.68615811e-02 -7.59972334e-03 1.34489103e+02] [ 7.68553989e-02 9.97041640e-01 -1.10264185e-03 2.43806629e+00] [ 7.66199142e-03 5.15268284e-04 9.99970514e-01 7.74009424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.52, Y:2.44, Z:0.77 [[ 9.96707155e-01 -8.07285136e-02 -7.59963575e-03 1.34516342e+02] [ 8.07224386e-02 9.96736009e-01 -1.10324523e-03 2.44376629e+00] [ 7.66389395e-03 4.86151285e-04 9.99970514e-01 7.74816489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.54, Y:2.45, Z:0.78 [[ 9.96392224e-01 -8.45268320e-02 -7.59943298e-03 1.34543964e+02] [ 8.45208564e-02 9.96421098e-01 -1.10464018e-03 2.44969423e+00] [ 7.66560709e-03 4.58344306e-04 9.99970514e-01 7.76229250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.57, Y:2.46, Z:0.78 [[ 9.95814020e-01 -9.10861684e-02 -7.59922995e-03 1.34570566e+02] [ 9.10803726e-02 9.95842931e-01 -1.10603510e-03 2.45686289e+00] [ 7.66838393e-03 4.09264563e-04 9.99970514e-01 7.79990616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.60, Y:2.46, Z:0.78 [[ 9.95496275e-01 -9.44956078e-02 -7.59914150e-03 1.34597756e+02] [ 9.44899064e-02 9.95525205e-01 -1.10664249e-03 2.46190601e+00] [ 7.66970975e-03 3.83616303e-04 9.99970514e-01 7.81025540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.63, Y:2.47, Z:0.78 [[ 9.95184285e-01 -9.77266298e-02 -7.59893868e-03 1.34625548e+02] [ 9.77210116e-02 9.95213232e-01 -1.10803347e-03 2.46649432e+00] [ 7.67084869e-03 3.60121519e-04 9.99970514e-01 7.80848317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.935898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:134.65, Y:2.47, Z:0.78 [[ 9.94807194e-01 -1.01493381e-01 -7.59873589e-03 1.34653194e+02] [ 1.01487862e-01 9.94836159e-01 -1.10942243e-03 2.47234966e+00] [ 7.67209626e-03 3.32481954e-04 9.99970514e-01 7.76710811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.68, Y:2.48, Z:0.78 [[ 9.94545872e-01 -1.04022935e-01 -7.59853276e-03 1.34679783e+02] [ 1.04017479e-01 9.94574849e-01 -1.11081190e-03 2.47666242e+00] [ 7.67285949e-03 3.14373167e-04 9.99970514e-01 7.76131172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.71, Y:2.48, Z:0.77 [[ 9.94218182e-01 -1.07109619e-01 -7.59844409e-03 1.34707438e+02] [ 1.07104249e-01 9.94247175e-01 -1.11141817e-03 2.48153980e+00] [ 7.67377514e-03 2.91166508e-04 9.99970514e-01 7.74245796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.73, Y:2.49, Z:0.78 [[ 9.93567024e-01 -1.12990418e-01 -7.59824174e-03 1.34734428e+02] [ 1.12985209e-01 9.93596047e-01 -1.11279981e-03 2.48536878e+00] [ 7.67531867e-03 2.47152263e-04 9.99970514e-01 7.76333813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.76, Y:2.49, Z:0.78 [[ 9.93262502e-01 -1.15636808e-01 -7.59803991e-03 1.34761818e+02] [ 1.15631665e-01 9.93291537e-01 -1.11417619e-03 2.48899577e+00] [ 7.67590851e-03 2.28095423e-04 9.99970514e-01 7.78339217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.79, Y:2.49, Z:0.78 [[ 9.93036002e-01 -1.17566035e-01 -7.59783273e-03 1.34788983e+02] [ 1.17560938e-01 9.93065044e-01 -1.11558715e-03 2.49226300e+00] [ 7.67629726e-03 2.14609864e-04 9.99970514e-01 7.79335489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.82, Y:2.50, Z:0.78 [[ 9.93014941e-01 -1.17743796e-01 -7.59774265e-03 1.34817150e+02] [ 1.17738699e-01 9.93043983e-01 -1.11620031e-03 2.49659661e+00] [ 7.67631829e-03 2.13855247e-04 9.99970514e-01 7.79554283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:2.50, Z:0.78 [[ 9.92834886e-01 -1.19252534e-01 -7.59754260e-03 1.34844970e+02] [ 1.19247471e-01 9.92863934e-01 -1.11756035e-03 2.49982935e+00] [ 7.67659794e-03 2.03565155e-04 9.99970514e-01 7.78465156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.87, Y:2.50, Z:0.78 [[ 9.92705335e-01 -1.20326219e-01 -7.59734227e-03 1.34873473e+02] [ 1.20321177e-01 9.92734387e-01 -1.11892056e-03 2.50211638e+00] [ 7.67677840e-03 1.96637242e-04 9.99970514e-01 7.75114347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.90, Y:2.51, Z:0.77 [[ 9.92790885e-01 -1.19618313e-01 -7.59721112e-03 1.34900994e+02] [ 1.19613243e-01 9.92819932e-01 -1.11981031e-03 2.50583820e+00] [ 7.67661245e-03 2.03010407e-04 9.99970514e-01 7.74800840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.235898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:134.93, Y:2.51, Z:0.77 [[ 9.93036058e-01 -1.17565612e-01 -7.59699358e-03 1.34927929e+02] [ 1.17560471e-01 9.93065093e-01 -1.12128420e-03 2.50965744e+00] [ 7.67613360e-03 2.20369496e-04 9.99970514e-01 7.73768291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.265898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:134.96, Y:2.51, Z:0.77 [[ 9.93412402e-01 -1.14341975e-01 -7.59689896e-03 1.34955440e+02] [ 1.14336735e-01 9.93441419e-01 -1.12192494e-03 2.51451971e+00] [ 7.67535719e-03 2.45929527e-04 9.99970514e-01 7.72590323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.295898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:134.98, Y:2.52, Z:0.78 [[ 9.93959758e-01 -1.09481913e-01 -7.59669001e-03 1.34983181e+02] [ 1.09476521e-01 9.93988747e-01 -1.12333797e-03 2.51921542e+00] [ 7.67400958e-03 2.84893545e-04 9.99970514e-01 7.75195563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.325898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.01, Y:2.52, Z:0.77 [[ 9.94488118e-01 -1.04573783e-01 -7.59647464e-03 1.35009260e+02] [ 1.04568236e-01 9.94517078e-01 -1.12479253e-03 2.52479888e+00] [ 7.67244757e-03 3.24242856e-04 9.99970514e-01 7.74228567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.355898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:135.04, Y:2.53, Z:0.78 [[ 9.95320283e-01 -9.63318689e-02 -7.59638090e-03 1.35037202e+02] [ 9.63260778e-02 9.95349195e-01 -1.12542526e-03 2.53322620e+00] [ 7.66946593e-03 3.88429008e-04 9.99970514e-01 7.76278111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.385898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:135.06, Y:2.54, Z:0.78 [[ 9.95584044e-01 -9.35666057e-02 -7.59619584e-03 1.35063402e+02] [ 9.35607248e-02 9.95612938e-01 -1.12667291e-03 2.53903340e+00] [ 7.66828982e-03 4.10991987e-04 9.99970514e-01 7.77209414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.415898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:135.09, Y:2.54, Z:0.78 [[ 9.95697794e-01 -9.23482609e-02 -7.59610425e-03 1.35090983e+02] [ 9.23423399e-02 9.95726680e-01 -1.12729012e-03 2.54462156e+00] [ 7.66774695e-03 4.20998247e-04 9.99970514e-01 7.78066017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44589822700001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:135.12, Y:2.55, Z:0.78 [[ 9.95709591e-01 -9.22209971e-02 -7.59589249e-03 1.35118501e+02] [ 9.22150616e-02 9.95738474e-01 -1.12871519e-03 2.54973932e+00] [ 7.66761363e-03 4.23416848e-04 9.99970514e-01 7.78913345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47589822700002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:135.15, Y:2.55, Z:0.78 [[ 9.95598805e-01 -9.34094527e-02 -7.59568178e-03 1.35145515e+02] [ 9.34035409e-02 9.95627692e-01 -1.13013134e-03 2.55467296e+00] [ 7.66803608e-03 4.15693840e-04 9.99970514e-01 7.79491436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.505898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:135.17, Y:2.56, Z:0.78 [[ 9.95445370e-01 -9.50306406e-02 -7.59559034e-03 1.35172667e+02] [ 9.50247712e-02 9.95474266e-01 -1.13074558e-03 2.55883566e+00] [ 7.66867020e-03 4.03826213e-04 9.99970514e-01 7.80007018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.535898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:135.20, Y:2.56, Z:0.78 [[ 9.95191962e-01 -9.76486918e-02 -7.59549997e-03 1.35200452e+02] [ 9.76428938e-02 9.95220873e-01 -1.13135234e-03 2.56409919e+00] [ 7.66967518e-03 3.84266162e-04 9.99970514e-01 7.81438609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.565898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:135.23, Y:2.57, Z:0.78 [[ 9.95227885e-01 -9.72819024e-02 -7.59528435e-03 1.35228170e+02] [ 9.72760827e-02 9.95256791e-01 -1.13279802e-03 2.57011655e+00] [ 7.66945908e-03 3.88552670e-04 9.99970514e-01 7.81299752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.595898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:135.25, Y:2.58, Z:0.78 [[ 9.95404167e-01 -9.54612975e-02 -7.59506368e-03 1.35254507e+02] [ 9.54554138e-02 9.95433060e-01 -1.13427564e-03 2.57637351e+00] [ 7.66865690e-03 4.04072753e-04 9.99970514e-01 7.80753625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.625898227 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:135.28, Y:2.58, Z:0.78 [[ 9.95683332e-01 -9.25041548e-02 -7.59496775e-03 1.35281143e+02] [ 9.24981804e-02 9.95712207e-01 -1.13491758e-03 2.58333539e+00] [ 7.66738669e-03 4.27497825e-04 9.99970514e-01 7.81604210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.655898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:135.31, Y:2.59, Z:0.78 [[ 9.95968351e-01 -8.93832243e-02 -7.59487733e-03 1.35308370e+02] [ 8.93771548e-02 9.95997206e-01 -1.13552236e-03 2.59069099e+00] [ 7.66597325e-03 4.52135802e-04 9.99970514e-01 7.82592752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.685898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:135.33, Y:2.60, Z:0.78 [[ 9.96239577e-01 -8.63077362e-02 -7.59467027e-03 1.35334374e+02] [ 8.63015671e-02 9.96268411e-01 -1.13690552e-03 2.59759908e+00] [ 7.66445383e-03 4.77198333e-04 9.99970514e-01 7.83278383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.715898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:135.36, Y:2.61, Z:0.78 [[ 9.96557423e-01 -8.25567970e-02 -7.59458042e-03 1.35361361e+02] [ 8.25505149e-02 9.96586232e-01 -1.13750542e-03 2.60626098e+00] [ 7.66256309e-03 5.06652945e-04 9.99970514e-01 7.81992127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.745898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:135.39, Y:2.61, Z:0.78 [[ 9.96582592e-01 -8.22524293e-02 -7.59437322e-03 1.35388634e+02] [ 8.22461279e-02 9.96611397e-01 -1.13888711e-03 2.61209734e+00] [ 7.66231514e-03 5.10387279e-04 9.99970514e-01 7.81904848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.775898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:135.42, Y:2.62, Z:0.78 [[ 9.96543260e-01 -8.27276250e-02 -7.59416290e-03 1.35415938e+02] [ 8.27213267e-02 9.96572066e-01 -1.14028779e-03 2.61743768e+00] [ 7.66246391e-03 5.08146878e-04 9.99970514e-01 7.81213763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.805898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:135.44, Y:2.62, Z:0.78 [[ 9.96425852e-01 -8.41299754e-02 -7.59394890e-03 1.35442810e+02] [ 8.41237069e-02 9.96454665e-01 -1.14171122e-03 2.62251632e+00] [ 7.66307794e-03 4.98799443e-04 9.99970514e-01 7.80040099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.835898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:135.47, Y:2.63, Z:0.78 [[ 9.96235355e-01 -8.63565332e-02 -7.59380178e-03 1.35470455e+02] [ 8.63503217e-02 9.96264180e-01 -1.14268888e-03 2.62727725e+00] [ 7.66411135e-03 4.82659840e-04 9.99970514e-01 7.79110747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.865898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:135.50, Y:2.63, Z:0.78 [[ 9.95825567e-01 -9.09603118e-02 -7.59358567e-03 1.35497462e+02] [ 9.09542226e-02 9.95854417e-01 -1.14412322e-03 2.63193907e+00] [ 7.66617564e-03 4.48678476e-04 9.99970514e-01 7.76799335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.895898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:135.53, Y:2.64, Z:0.78 [[ 9.95689536e-01 -9.24374738e-02 -7.59351843e-03 1.35525517e+02] [ 9.24314240e-02 9.95718395e-01 -1.14456931e-03 2.63695367e+00] [ 7.66680708e-03 4.37755964e-04 9.99970514e-01 7.77030415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.925898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:135.55, Y:2.64, Z:0.78 [[ 9.95629957e-01 -9.30770162e-02 -7.59331283e-03 1.35552947e+02] [ 9.30709746e-02 9.95658817e-01 -1.14593166e-03 2.64213906e+00] [ 7.66700878e-03 4.34206865e-04 9.99970514e-01 7.77131991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.955898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:135.58, Y:2.65, Z:0.78 [[ 9.95670216e-01 -9.26453749e-02 -7.59309288e-03 1.35579901e+02] [ 9.26393098e-02 9.95699072e-01 -1.14738726e-03 2.64760237e+00] [ 7.66673566e-03 4.39000440e-04 9.99970514e-01 7.77555464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.985898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:135.61, Y:2.65, Z:0.78 [[ 9.95713267e-01 -9.21815420e-02 -7.59302469e-03 1.35607652e+02] [ 9.21754600e-02 9.95742119e-01 -1.14783833e-03 2.65320698e+00] [ 7.66650400e-03 4.43027314e-04 9.99970514e-01 7.79285178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.015898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:135.63, Y:2.66, Z:0.78 [[ 9.95771355e-01 -9.15519394e-02 -7.59280457e-03 1.35634420e+02] [ 9.15458281e-02 9.95800201e-01 -1.14929255e-03 2.65857708e+00] [ 7.66613628e-03 4.49343017e-04 9.99970514e-01 7.79264417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.045898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:135.66, Y:2.67, Z:0.78 [[ 9.95844264e-01 -9.07554589e-02 -7.59270888e-03 1.35660259e+02] [ 9.07493198e-02 9.95873104e-01 -1.14992439e-03 2.66572342e+00] [ 7.66573647e-03 4.56112445e-04 9.99970514e-01 7.79783694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.075898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:135.69, Y:2.67, Z:0.78 [[ 9.95840835e-01 -9.07930788e-02 -7.59261816e-03 1.35687416e+02] [ 9.07869361e-02 9.95869674e-01 -1.15052306e-03 2.67175464e+00] [ 7.66571771e-03 4.56427308e-04 9.99970514e-01 7.80891052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.71, Y:2.68, Z:0.78 [[ 9.95833120e-01 -9.08776756e-02 -7.59240278e-03 1.35714591e+02] [ 9.08715246e-02 9.95861958e-01 -1.15194263e-03 2.67737691e+00] [ 7.66567097e-03 4.57209404e-04 9.99970514e-01 7.82185907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.135898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.74, Y:2.68, Z:0.78 [[ 9.95802017e-01 -9.12178802e-02 -7.59218364e-03 1.35742289e+02] [ 9.12117281e-02 9.95830854e-01 -1.15338509e-03 2.68276712e+00] [ 7.66574007e-03 4.56047011e-04 9.99970514e-01 7.83399615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.165898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:135.77, Y:2.69, Z:0.78 [[ 9.95724049e-01 -9.20650910e-02 -7.59196185e-03 1.35768520e+02] [ 9.20589524e-02 9.95752889e-01 -1.15484315e-03 2.68730642e+00] [ 7.66603869e-03 4.50997037e-04 9.99970514e-01 7.84137791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19589822700001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:135.80, Y:2.69, Z:0.78 [[ 9.95695258e-01 -9.23759667e-02 -7.59174233e-03 1.35795854e+02] [ 9.23698261e-02 9.95724097e-01 -1.15628446e-03 2.69104464e+00] [ 7.66609367e-03 4.50059033e-04 9.99970514e-01 7.84787937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22589822700002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:135.82, Y:2.69, Z:0.79 [[ 9.95663424e-01 -9.27184745e-02 -7.59152444e-03 1.35823145e+02] [ 9.27123330e-02 9.95692263e-01 -1.15771325e-03 2.69402461e+00] [ 7.66616356e-03 4.48864801e-04 9.99970514e-01 7.87190196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.85, Y:2.70, Z:0.79 [[ 9.95588477e-01 -9.35198850e-02 -7.59044428e-03 1.35851515e+02] [ 9.35137130e-02 9.95617310e-01 -1.16479172e-03 2.69712547e+00] [ 7.66610890e-03 4.49842586e-04 9.99970514e-01 7.86425381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.285898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:135.88, Y:2.70, Z:0.78 [[ 9.95548737e-01 -9.39419185e-02 -7.59127097e-03 1.35878252e+02] [ 9.39357998e-02 9.95577582e-01 -1.15937875e-03 2.70092843e+00] [ 7.66661346e-03 4.41125945e-04 9.99970514e-01 7.84936933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:2.70, Z:0.79 [[ 9.95659342e-01 -9.27623299e-02 -7.59112502e-03 1.35906138e+02] [ 9.27561698e-02 9.95688177e-01 -1.16033359e-03 2.70319631e+00] [ 7.66602868e-03 4.51173301e-04 9.99970514e-01 7.87996694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.345898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.93, Y:2.71, Z:0.79 [[ 9.96035634e-01 -8.86306627e-02 -7.59091329e-03 1.35933813e+02] [ 8.86243725e-02 9.96064441e-01 -1.16171706e-03 2.70590550e+00] [ 7.66400256e-03 4.84371660e-04 9.99970514e-01 7.89780442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.375898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:135.96, Y:2.71, Z:0.79 [[ 9.96291028e-01 -8.57121257e-02 -7.59069979e-03 1.35961645e+02] [ 8.57057405e-02 9.96319815e-01 -1.16311041e-03 2.71003169e+00] [ 7.66245728e-03 5.08229919e-04 9.99970514e-01 7.89774005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.405898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:135.99, Y:2.72, Z:0.79 [[ 9.96543187e-01 -8.27288428e-02 -7.59048528e-03 1.35987747e+02] [ 8.27223609e-02 9.96571952e-01 -1.16450862e-03 2.71527658e+00] [ 7.66080319e-03 5.32580270e-04 9.99970514e-01 7.88779647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.435898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:136.02, Y:2.72, Z:0.79 [[ 9.96819163e-01 -7.93343700e-02 -7.59039205e-03 1.36015273e+02] [ 7.93277856e-02 9.96847905e-01 -1.16511600e-03 2.72128460e+00] [ 7.65890016e-03 5.59280965e-04 9.99970514e-01 7.87702751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.465898227 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:136.04, Y:2.73, Z:0.78 [[ 9.97062326e-01 -7.62175035e-02 -7.59017094e-03 1.36041598e+02] [ 7.62108183e-02 9.97091044e-01 -1.16655465e-03 2.72863842e+00] [ 7.65700335e-03 5.84674553e-04 9.99970514e-01 7.84842092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.495898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.07, Y:2.73, Z:0.79 [[ 9.97268334e-01 -7.34728535e-02 -7.59007489e-03 1.36069309e+02] [ 7.34660846e-02 9.97297033e-01 -1.16717929e-03 2.73435730e+00] [ 7.65531516e-03 6.06377864e-04 9.99970514e-01 7.85698101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.525898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:136.10, Y:2.74, Z:0.78 [[ 9.97409681e-01 -7.15284791e-02 -7.58985486e-03 1.36095687e+02] [ 7.15216435e-02 9.97438363e-01 -1.16860835e-03 2.74263257e+00] [ 7.65400118e-03 6.22742388e-04 9.99970514e-01 7.84798192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.555898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:136.12, Y:2.75, Z:0.78 [[ 9.97307289e-01 -7.29422180e-02 -7.58975903e-03 1.36121719e+02] [ 7.29354183e-02 9.97335980e-01 -1.16923039e-03 2.74862863e+00] [ 7.65482602e-03 6.12519737e-04 9.99970514e-01 7.84419887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.15, Y:2.75, Z:0.78 [[ 9.97061809e-01 -7.62243147e-02 -7.58966566e-03 1.36148897e+02] [ 7.62176050e-02 9.97090522e-01 -1.16983616e-03 2.75481122e+00] [ 7.65675365e-03 5.87932820e-04 9.99970514e-01 7.84012315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.615898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:136.18, Y:2.76, Z:0.78 [[ 9.96686299e-01 -8.09865556e-02 -7.58944922e-03 1.36175094e+02] [ 8.09799725e-02 9.96715041e-01 -1.17123866e-03 2.76086019e+00] [ 7.65937277e-03 5.52764140e-04 9.99970514e-01 7.80969881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.20, Y:2.76, Z:0.78 [[ 9.96278534e-01 -8.58573467e-02 -7.58935479e-03 1.36203209e+02] [ 8.58508995e-02 9.96307307e-01 -1.17185023e-03 2.76494136e+00] [ 7.66194158e-03 5.15936298e-04 9.99970514e-01 7.82488696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.23, Y:2.77, Z:0.78 [[ 9.95804849e-01 -9.11872092e-02 -7.58922287e-03 1.36230789e+02] [ 9.11809095e-02 9.95833654e-01 -1.17270391e-03 2.76906219e+00] [ 7.66453914e-03 4.75791998e-04 9.99970514e-01 7.83042840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.705898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.26, Y:2.77, Z:0.79 [[ 9.94833368e-01 -1.01237232e-01 -7.58900689e-03 1.36259274e+02] [ 1.01231213e-01 9.94862233e-01 -1.17409995e-03 2.77174050e+00] [ 7.66887897e-03 3.99789436e-04 9.99970514e-01 7.87665391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.29, Y:2.77, Z:0.79 [[ 9.94398589e-01 -1.05422273e-01 -7.58881775e-03 1.36286910e+02] [ 1.05416366e-01 9.94427478e-01 -1.17532122e-03 2.77489850e+00] [ 7.67043393e-03 3.68752172e-04 9.99970514e-01 7.89785982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.31, Y:2.78, Z:0.79 [[ 9.93981878e-01 -1.09281462e-01 -7.58875023e-03 1.36314755e+02] [ 1.09275664e-01 9.94010788e-01 -1.17575701e-03 2.77835230e+00] [ 7.67178804e-03 3.39415435e-04 9.99970514e-01 7.91334503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.34, Y:2.78, Z:0.79 [[ 9.93648672e-01 -1.12270788e-01 -7.58853346e-03 1.36341419e+02] [ 1.12265067e-01 9.93677598e-01 -1.17715441e-03 2.78131294e+00] [ 7.67271576e-03 3.17750700e-04 9.99970514e-01 7.90840015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.37, Y:2.79, Z:0.79 [[ 9.93413078e-01 -1.14336665e-01 -7.58843897e-03 1.36368369e+02] [ 1.14330999e-01 9.93442014e-01 -1.17776323e-03 2.78525119e+00] [ 7.67333561e-03 3.02411583e-04 9.99970514e-01 7.90592359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.40, Y:2.79, Z:0.79 [[ 9.93295968e-01 -1.15349633e-01 -7.58834524e-03 1.36395869e+02] [ 1.15343991e-01 9.93324909e-01 -1.17836679e-03 2.78971900e+00] [ 7.67361653e-03 2.95196955e-04 9.99970514e-01 7.92178330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.885898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:136.42, Y:2.79, Z:0.80 [[ 9.93269449e-01 -1.15577777e-01 -7.58812410e-03 1.36422023e+02] [ 1.15572131e-01 9.93298389e-01 -1.17978913e-03 2.79455995e+00] [ 7.67362885e-03 2.94872824e-04 9.99970514e-01 7.98235487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.915898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.45, Y:2.80, Z:0.80 [[ 9.93246117e-01 -1.15778115e-01 -7.58802767e-03 1.36449112e+02] [ 1.15772471e-01 9.93275058e-01 -1.18040898e-03 2.79969979e+00] [ 7.67366416e-03 2.93951922e-04 9.99970514e-01 8.00066208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:2.80, Z:0.80 [[ 9.93195690e-01 -1.16209924e-01 -7.58780882e-03 1.36475754e+02] [ 1.16204281e-01 9.93224631e-01 -1.18181411e-03 2.80485610e+00] [ 7.67373715e-03 2.92036813e-04 9.99970514e-01 7.99131911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.50, Y:2.81, Z:0.80 [[ 9.93070266e-01 -1.17276911e-01 -7.58771362e-03 1.36502003e+02] [ 1.17271295e-01 9.93099212e-01 -1.18242505e-03 2.81038593e+00] [ 7.67402357e-03 2.84410164e-04 9.99970514e-01 7.97739217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.53, Y:2.81, Z:0.80 [[ 9.93049388e-01 -1.17453566e-01 -7.58761895e-03 1.36530122e+02] [ 1.17447950e-01 9.93078335e-01 -1.18303221e-03 2.81496630e+00] [ 7.67405135e-03 2.83659123e-04 9.99970514e-01 7.97957974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:2.82, Z:0.80 [[ 9.92860474e-01 -1.19039952e-01 -7.58740826e-03 1.36557121e+02] [ 1.19034372e-01 9.92889428e-01 -1.18438194e-03 2.82103044e+00] [ 7.67444622e-03 2.72763630e-04 9.99970514e-01 7.97226683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.065898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.58, Y:2.83, Z:0.80 [[ 9.92515548e-01 -1.21882407e-01 -7.58718730e-03 1.36584000e+02] [ 1.21876900e-01 9.92544515e-01 -1.18579571e-03 2.82907560e+00] [ 7.67514878e-03 2.52217810e-04 9.99970514e-01 7.98263488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.095898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:136.61, Y:2.84, Z:0.80 [[ 9.92335782e-01 -1.23337477e-01 -7.58696346e-03 1.36609998e+02] [ 1.23332001e-01 9.92364756e-01 -1.18722621e-03 2.83559454e+00] [ 7.67546462e-03 2.42411669e-04 9.99970514e-01 7.98530121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:2.84, Z:0.80 [[ 9.92147341e-01 -1.24844276e-01 -7.58681048e-03 1.36637244e+02] [ 1.24838837e-01 9.92176322e-01 -1.18820301e-03 2.84210871e+00] [ 7.67579405e-03 2.31743862e-04 9.99970514e-01 7.98215825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.66, Y:2.85, Z:0.80 [[ 9.91891202e-01 -1.26863265e-01 -7.58657924e-03 1.36663754e+02] [ 1.26857874e-01 9.91920191e-01 -1.18967761e-03 2.84794716e+00] [ 7.67620751e-03 2.17613439e-04 9.99970514e-01 7.97567144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.69, Y:2.85, Z:0.80 [[ 9.91592833e-01 -1.29174681e-01 -7.58647872e-03 1.36691196e+02] [ 1.29169352e-01 9.91621834e-01 -1.19031829e-03 2.85296989e+00] [ 7.67667692e-03 2.00370543e-04 9.99970514e-01 7.96572515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:2.86, Z:0.80 [[ 9.91263184e-01 -1.31680481e-01 -7.58624814e-03 1.36718972e+02] [ 1.31675214e-01 9.91292196e-01 -1.19178601e-03 2.85795396e+00] [ 7.67712353e-03 1.82452749e-04 9.99970514e-01 7.96562746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.75, Y:2.86, Z:0.79 [[ 9.90936410e-01 -1.34117424e-01 -7.58601642e-03 1.36746206e+02] [ 1.34112217e-01 9.90965433e-01 -1.19325913e-03 2.86272177e+00] [ 7.67751689e-03 1.65066439e-04 9.99970514e-01 7.94971986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.77, Y:2.87, Z:0.79 [[ 9.90921267e-01 -1.34229276e-01 -7.58578176e-03 1.36772690e+02] [ 1.34224061e-01 9.90950288e-01 -1.19474904e-03 2.86753750e+00] [ 7.67750292e-03 1.65707795e-04 9.99970514e-01 7.94046425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.80, Y:2.87, Z:0.79 [[ 9.90984654e-01 -1.33760509e-01 -7.58567949e-03 1.36800483e+02] [ 1.33755275e-01 9.91013672e-01 -1.19539803e-03 2.87293145e+00] [ 7.67740913e-03 1.69996452e-04 9.99970514e-01 7.94455888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.335898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:136.83, Y:2.88, Z:0.80 [[ 9.91121504e-01 -1.32742705e-01 -7.58545354e-03 1.36827922e+02] [ 1.32737431e-01 9.91150514e-01 -1.19683012e-03 2.87873219e+00] [ 7.67719664e-03 1.79330453e-04 9.99970514e-01 7.95108293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:2.88, Z:0.80 [[ 9.91357490e-01 -1.30968655e-01 -7.58538347e-03 1.36854971e+02] [ 1.30963325e-01 9.91386491e-01 -1.19727401e-03 2.88377509e+00] [ 7.67685207e-03 1.93519516e-04 9.99970514e-01 7.98470173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.88, Y:2.89, Z:0.80 [[ 9.91622520e-01 -1.28946669e-01 -7.58515895e-03 1.36882306e+02] [ 1.28941269e-01 9.91651507e-01 -1.19869476e-03 2.89002394e+00] [ 7.67640200e-03 2.10612693e-04 9.99970514e-01 8.00776576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:2.90, Z:0.80 [[ 9.92310969e-01 -1.23537077e-01 -7.58492345e-03 1.36908105e+02] [ 1.23531508e-01 9.92339925e-01 -1.20018310e-03 2.89748097e+00] [ 7.67508947e-03 2.53977822e-04 9.99970514e-01 8.01016859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.94, Y:2.90, Z:0.80 [[ 9.92532684e-01 -1.21742932e-01 -7.58482135e-03 1.36935858e+02] [ 1.21737305e-01 9.92561629e-01 -1.20082798e-03 2.90381678e+00] [ 7.67459495e-03 2.68505308e-04 9.99970514e-01 8.00335478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.96, Y:2.91, Z:0.80 [[ 9.92691062e-01 -1.20444717e-01 -7.58458787e-03 1.36963652e+02] [ 1.20439042e-01 9.92719997e-01 -1.20230083e-03 2.90999750e+00] [ 7.67418283e-03 2.80032789e-04 9.99970514e-01 7.99859357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:2.92, Z:0.80 [[ 9.92767599e-01 -1.19812235e-01 -7.58435429e-03 1.36990180e+02] [ 1.19806530e-01 9.92796528e-01 -1.20377251e-03 2.91694963e+00] [ 7.67394728e-03 2.86411180e-04 9.99970514e-01 7.99617742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:2.92, Z:0.80 [[ 9.92824223e-01 -1.19342122e-01 -7.58425258e-03 1.37017448e+02] [ 1.19336398e-01 9.92853148e-01 -1.20441300e-03 2.92428488e+00] [ 7.67378625e-03 2.90693017e-04 9.99970514e-01 8.00311917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.04, Y:2.93, Z:0.80 [[ 9.92877146e-01 -1.18901034e-01 -7.58402624e-03 1.37044080e+02] [ 1.18895287e-01 9.92906066e-01 -1.20583655e-03 2.93193132e+00] [ 7.67360087e-03 2.95542580e-04 9.99970514e-01 8.01488850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.605898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:137.07, Y:2.94, Z:0.80 [[ 9.93006734e-01 -1.17813890e-01 -7.58379280e-03 1.37070492e+02] [ 1.17808099e-01 9.93035646e-01 -1.20730294e-03 2.93967498e+00] [ 7.67321363e-03 3.05427735e-04 9.99970514e-01 8.02590251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.635898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.10, Y:2.95, Z:0.80 [[ 9.93474173e-01 -1.13804901e-01 -7.58369138e-03 1.37096741e+02] [ 1.13798989e-01 9.93503060e-01 -1.20793964e-03 2.95143523e+00] [ 7.67189005e-03 3.37040424e-04 9.99970514e-01 8.03939254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:2.96, Z:0.80 [[ 9.93759735e-01 -1.11283779e-01 -7.58346675e-03 1.37123657e+02] [ 1.11277783e-01 9.93788606e-01 -1.20934827e-03 2.96035280e+00] [ 7.67094369e-03 3.57930246e-04 9.99970514e-01 8.03963936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.15, Y:2.97, Z:0.80 [[ 9.94010678e-01 -1.09019568e-01 -7.58323829e-03 1.37149506e+02] [ 1.09013495e-01 9.94039532e-01 -1.21077913e-03 2.96943232e+00] [ 7.67003726e-03 3.76852067e-04 9.99970514e-01 8.03035127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.18, Y:2.98, Z:0.80 [[ 9.94183477e-01 -1.07432350e-01 -7.58313901e-03 1.37176200e+02] [ 1.07426227e-01 9.94212321e-01 -1.21140062e-03 2.97815525e+00] [ 7.66939384e-03 3.89726468e-04 9.99970514e-01 8.01887979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.755898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.20, Y:2.99, Z:0.80 [[ 9.94260812e-01 -1.06714280e-01 -7.58290634e-03 1.37202646e+02] [ 1.06708125e-01 9.94289648e-01 -1.21285525e-03 2.98639115e+00] [ 7.66903426e-03 3.96736720e-04 9.99970514e-01 8.00943963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.23, Y:2.99, Z:0.80 [[ 9.94241476e-01 -1.06894282e-01 -7.58280533e-03 1.37229476e+02] [ 1.06888127e-01 9.94270313e-01 -1.21348649e-03 2.99407288e+00] [ 7.66907299e-03 3.95986734e-04 9.99970514e-01 8.00525640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:3.00, Z:0.80 [[ 9.93991661e-01 -1.09192866e-01 -7.58258098e-03 1.37255357e+02] [ 1.09186768e-01 9.94020510e-01 -1.21488671e-03 3.00465166e+00] [ 7.66989797e-03 3.79669751e-04 9.99970514e-01 7.99113869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.28, Y:3.01, Z:0.80 [[ 9.93831301e-01 -1.10642897e-01 -7.58248323e-03 1.37282532e+02] [ 1.10636836e-01 9.93860158e-01 -1.21549649e-03 3.01248011e+00] [ 7.67041403e-03 3.69096504e-04 9.99970514e-01 7.99678325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.31, Y:3.02, Z:0.80 [[ 9.93683962e-01 -1.11958444e-01 -7.58225522e-03 1.37310179e+02] [ 1.11952410e-01 9.93712824e-01 -1.21691716e-03 3.01967596e+00] [ 7.67082840e-03 3.60379316e-04 9.99970514e-01 8.00059583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:3.03, Z:0.80 [[ 9.93505894e-01 -1.13527759e-01 -7.58202756e-03 1.37337728e+02] [ 1.13521760e-01 9.93534763e-01 -1.21833398e-03 3.02668291e+00] [ 7.67132268e-03 3.49696878e-04 9.99970514e-01 7.99149127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:3.03, Z:0.80 [[ 9.93302927e-01 -1.15290122e-01 -7.58179868e-03 1.37364035e+02] [ 1.15284163e-01 9.93331805e-01 -1.21975664e-03 3.03234819e+00] [ 7.67186765e-03 3.37526521e-04 9.99970514e-01 7.97789837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.39, Y:3.04, Z:0.80 [[ 9.93041769e-01 -1.17518358e-01 -7.58163973e-03 1.37391389e+02] [ 1.17512457e-01 9.93070658e-01 -1.22074381e-03 3.03783272e+00] [ 7.67256377e-03 3.21312477e-04 9.99970514e-01 7.96302689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.42, Y:3.04, Z:0.80 [[ 9.92741087e-01 -1.20031895e-01 -7.58141220e-03 1.37418366e+02] [ 1.20026056e-01 9.92769990e-01 -1.22215524e-03 3.04316062e+00] [ 7.67329612e-03 3.03316720e-04 9.99970514e-01 7.95446445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.45, Y:3.05, Z:0.80 [[ 9.92526809e-01 -1.21791043e-01 -7.58125525e-03 1.37445604e+02] [ 1.21785248e-01 9.92555720e-01 -1.22312808e-03 3.04779076e+00] [ 7.67378431e-03 2.90702356e-04 9.99970514e-01 7.95003174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.055898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.47, Y:3.05, Z:0.79 [[ 9.92351803e-01 -1.23208873e-01 -7.58103883e-03 1.37473616e+02] [ 1.23203109e-01 9.92380721e-01 -1.22446798e-03 3.05210623e+00] [ 7.67414210e-03 2.81095450e-04 9.99970514e-01 7.94701794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.50, Y:3.06, Z:0.79 [[ 9.92310684e-01 -1.23539623e-01 -7.58082159e-03 1.37501573e+02] [ 1.23533859e-01 9.92339601e-01 -1.22581145e-03 3.05511927e+00] [ 7.67418576e-03 2.79897658e-04 9.99970514e-01 7.94870525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.53, Y:3.06, Z:0.80 [[ 9.92429391e-01 -1.22582373e-01 -7.58059797e-03 1.37529434e+02] [ 1.22576570e-01 9.92458301e-01 -1.22719282e-03 3.05954914e+00] [ 7.67385959e-03 2.88698524e-04 9.99970514e-01 7.95634002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.145898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.56, Y:3.06, Z:0.80 [[ 9.92622625e-01 -1.21007698e-01 -7.58037499e-03 1.37556577e+02] [ 1.21001839e-01 9.92651523e-01 -1.22856860e-03 3.06436002e+00] [ 7.67333704e-03 3.02265675e-04 9.99970514e-01 7.96384832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.58, Y:3.07, Z:0.80 [[ 9.92826860e-01 -1.19320438e-01 -7.58015261e-03 1.37583766e+02] [ 1.19314519e-01 9.92855746e-01 -1.22993915e-03 3.06902448e+00] [ 7.67275496e-03 3.16694364e-04 9.99970514e-01 7.97402856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.205898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.61, Y:3.07, Z:0.80 [[ 9.93086151e-01 -1.17142825e-01 -7.57992438e-03 1.37611750e+02] [ 1.17136832e-01 9.93115022e-01 -1.23134407e-03 3.07306317e+00] [ 7.67197989e-03 3.34942413e-04 9.99970514e-01 7.98272590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.235898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.64, Y:3.08, Z:0.80 [[ 9.93651748e-01 -1.12244154e-01 -7.57985353e-03 1.37640009e+02] [ 1.12238015e-01 9.93680588e-01 -1.23178011e-03 3.07542316e+00] [ 7.67021342e-03 3.73212744e-04 9.99970514e-01 8.00116310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.67, Y:3.08, Z:0.80 [[ 9.93917350e-01 -1.09867412e-01 -7.57978489e-03 1.37667875e+02] [ 1.09861201e-01 9.93946175e-01 -1.23220230e-03 3.07931991e+00] [ 7.66927708e-03 3.91982971e-04 9.99970514e-01 8.01258186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.70, Y:3.08, Z:0.80 [[ 9.94174762e-01 -1.07513222e-01 -7.57956684e-03 1.37695044e+02] [ 1.07506932e-01 9.94203570e-01 -1.23354215e-03 3.08360266e+00] [ 7.66825450e-03 4.11500495e-04 9.99970514e-01 8.01505333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.72, Y:3.09, Z:0.80 [[ 9.94395192e-01 -1.05454995e-01 -7.57935008e-03 1.37723151e+02] [ 1.05448636e-01 9.94423984e-01 -1.23487257e-03 3.08789982e+00] [ 7.66731098e-03 4.28719219e-04 9.99970514e-01 8.02398620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.355898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:137.75, Y:3.09, Z:0.80 [[ 9.94697081e-01 -1.02568388e-01 -7.57911291e-03 1.37751247e+02] [ 1.02561934e-01 9.94725852e-01 -1.23632647e-03 3.09239392e+00] [ 7.66594756e-03 4.52441846e-04 9.99970514e-01 8.00281340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:3.10, Z:0.80 [[ 9.94852723e-01 -1.01047610e-01 -7.57887331e-03 1.37778357e+02] [ 1.01041101e-01 9.94881482e-01 -1.23779351e-03 3.09636198e+00] [ 7.66515679e-03 4.65644537e-04 9.99970514e-01 8.02763591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:3.10, Z:0.80 [[ 9.95008602e-01 -9.95009711e-02 -7.57876911e-03 1.37805610e+02] [ 9.94944130e-02 9.95037350e-01 -1.23843119e-03 3.10101989e+00] [ 7.66438344e-03 4.78204501e-04 9.99970514e-01 8.03816151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.83, Y:3.11, Z:0.80 [[ 9.95201451e-01 -9.75532550e-02 -7.57853087e-03 1.37831949e+02] [ 9.75466296e-02 9.95230183e-01 -1.23988740e-03 3.10571311e+00] [ 7.66333772e-03 4.94677592e-04 9.99970514e-01 8.04658375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.86, Y:3.11, Z:0.81 [[ 9.95386985e-01 -9.56416188e-02 -7.57836644e-03 1.37858469e+02] [ 9.56349306e-02 9.95415702e-01 -1.24089158e-03 3.11103227e+00] [ 7.66230583e-03 5.10410776e-04 9.99970514e-01 8.05436899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:3.12, Z:0.81 [[ 9.95577691e-01 -9.36356284e-02 -7.57826816e-03 1.37885369e+02] [ 9.36288778e-02 9.95606394e-01 -1.24149154e-03 3.11686283e+00] [ 7.66122007e-03 5.26456534e-04 9.99970514e-01 8.06075458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.535898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.91, Y:3.12, Z:0.81 [[ 9.96013202e-01 -8.88834956e-02 -7.57803688e-03 1.37912518e+02] [ 8.88765974e-02 9.96041869e-01 -1.24290166e-03 3.12452754e+00] [ 7.65851546e-03 5.64436326e-04 9.99970514e-01 8.05168306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.565898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.94, Y:3.13, Z:0.81 [[ 9.95996602e-01 -8.90693327e-02 -7.57780451e-03 1.37940587e+02] [ 8.90624292e-02 9.96025268e-01 -1.24431676e-03 3.12931388e+00] [ 7.65851523e-03 5.64437590e-04 9.99970514e-01 8.05387036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.595898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.97, Y:3.14, Z:0.80 [[ 9.96309681e-01 -8.54961947e-02 -7.57757208e-03 1.37966537e+02] [ 8.54891777e-02 9.96338320e-01 -1.24573057e-03 3.13748796e+00] [ 7.65633067e-03 5.93333016e-04 9.99970514e-01 8.04007010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.625898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.99, Y:3.14, Z:0.80 [[ 9.96371856e-01 -8.47685524e-02 -7.57741236e-03 1.37993799e+02] [ 8.47615072e-02 9.96400488e-01 -1.24670138e-03 3.14459728e+00] [ 7.65581844e-03 5.99905277e-04 9.99970514e-01 8.03005269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.02, Y:3.15, Z:0.80 [[ 9.96351362e-01 -8.50091157e-02 -7.57718591e-03 1.38022313e+02] [ 8.50020670e-02 9.96379993e-01 -1.24807614e-03 3.15170877e+00] [ 7.65585430e-03 5.99445901e-04 9.99970514e-01 8.00237455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.685898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.05, Y:3.16, Z:0.80 [[ 9.96294828e-01 -8.56691615e-02 -7.57698606e-03 1.38049182e+02] [ 8.56621226e-02 9.96323462e-01 -1.24928824e-03 3.15835785e+00] [ 7.65615446e-03 5.95598699e-04 9.99970514e-01 7.98818175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.715898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:138.08, Y:3.16, Z:0.80 [[ 9.96174905e-01 -8.70525681e-02 -7.57691507e-03 1.38076153e+02] [ 8.70455657e-02 9.96203547e-01 -1.24971867e-03 3.16447526e+00] [ 7.65694089e-03 5.85401515e-04 9.99970514e-01 7.98959526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.745898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:138.10, Y:3.17, Z:0.80 [[ 9.96002263e-01 -8.90061000e-02 -7.57667967e-03 1.38102603e+02] [ 8.89991430e-02 9.96030917e-01 -1.25114420e-03 3.17255383e+00] [ 7.65796666e-03 5.71824455e-04 9.99970514e-01 8.00551511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.775898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:138.13, Y:3.18, Z:0.80 [[ 9.95991174e-01 -8.91301069e-02 -7.57660630e-03 1.38130220e+02] [ 8.91231501e-02 9.96019828e-01 -1.25158837e-03 3.17933839e+00] [ 7.65800431e-03 5.71319951e-04 9.99970514e-01 8.01436538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.16, Y:3.19, Z:0.80 [[ 9.96013523e-01 -8.88800352e-02 -7.57636762e-03 1.38157638e+02] [ 8.88730603e-02 9.96042172e-01 -1.25303152e-03 3.18652775e+00] [ 7.65775115e-03 5.74701361e-04 9.99970514e-01 8.01398847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.18, Y:3.19, Z:0.80 [[ 9.96090650e-01 -8.80114698e-02 -7.57612845e-03 1.38184171e+02] [ 8.80044590e-02 9.96119291e-01 -1.25447594e-03 3.19302500e+00] [ 7.65713597e-03 5.82838664e-04 9.99970514e-01 8.00680743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.21, Y:3.20, Z:0.80 [[ 9.96171543e-01 -8.70911148e-02 -7.57595688e-03 1.38210929e+02] [ 8.70840697e-02 9.96200175e-01 -1.25551124e-03 3.20025627e+00] [ 7.65651344e-03 5.90959412e-04 9.99970514e-01 8.01266157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.895898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:138.24, Y:3.21, Z:0.80 [[ 9.96284720e-01 -8.57867470e-02 -7.57571867e-03 1.38237196e+02] [ 8.57796536e-02 9.96313340e-01 -1.25694691e-03 3.20805145e+00] [ 7.65561896e-03 6.02434475e-04 9.99970514e-01 7.99526698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.26, Y:3.22, Z:0.80 [[ 9.96525664e-01 -8.29410046e-02 -7.57561508e-03 1.38264304e+02] [ 8.29338248e-02 9.96554263e-01 -1.25757092e-03 3.22007970e+00] [ 7.65381570e-03 6.24926965e-04 9.99970514e-01 8.03682412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.29, Y:3.22, Z:0.80 [[ 9.96510242e-01 -8.31261116e-02 -7.57541023e-03 1.38292358e+02] [ 8.31189278e-02 9.96538840e-01 -1.25880375e-03 3.22491588e+00] [ 7.65382998e-03 6.24750855e-04 9.99970514e-01 8.03901126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.32, Y:3.23, Z:0.81 [[ 9.96578796e-01 -8.23001886e-02 -7.57517614e-03 1.38318645e+02] [ 8.22929704e-02 9.96607385e-01 -1.26021084e-03 3.23436866e+00] [ 7.65319207e-03 6.32515653e-04 9.99970514e-01 8.05493811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.015898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:138.34, Y:3.24, Z:0.81 [[ 9.96641775e-01 -8.15339918e-02 -7.57493669e-03 1.38344769e+02] [ 8.15267408e-02 9.96670356e-01 -1.26164848e-03 3.24396623e+00] [ 7.65258209e-03 6.39851684e-04 9.99970514e-01 8.05347758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.045898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:138.37, Y:3.25, Z:0.81 [[ 9.96662644e-01 -8.12785099e-02 -7.57486244e-03 1.38372079e+02] [ 8.12712483e-02 9.96691222e-01 -1.26209415e-03 3.25298260e+00] [ 7.65238003e-03 6.42263567e-04 9.99970514e-01 8.06800690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.075898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:138.40, Y:3.26, Z:0.81 [[ 9.96661827e-01 -8.12885374e-02 -7.57465246e-03 1.38399020e+02] [ 8.12812665e-02 9.96690403e-01 -1.26335313e-03 3.26165132e+00] [ 7.65227954e-03 6.43458492e-04 9.99970514e-01 8.06948805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.43, Y:3.27, Z:0.81 [[ 9.96648970e-01 -8.14460307e-02 -7.57457787e-03 1.38425515e+02] [ 8.14387610e-02 9.96677546e-01 -1.26380014e-03 3.26964679e+00] [ 7.65234319e-03 6.42700869e-04 9.99970514e-01 8.08582603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.135898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.45, Y:3.28, Z:0.81 [[ 9.96649666e-01 -8.14375236e-02 -7.57450374e-03 1.38452851e+02] [ 8.14302503e-02 9.96678241e-01 -1.26424431e-03 3.27899128e+00] [ 7.65229999e-03 6.43214935e-04 9.99970514e-01 8.09027537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.48, Y:3.30, Z:0.81 [[ 9.96714201e-01 -8.06438507e-02 -7.57429724e-03 1.38479492e+02] [ 8.06365454e-02 9.96742768e-01 -1.26548025e-03 3.29534504e+00] [ 7.65167920e-03 6.50556975e-04 9.99970514e-01 8.11672407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.51, Y:3.31, Z:0.81 [[ 9.96747881e-01 -8.02265050e-02 -7.57426791e-03 1.38507710e+02] [ 8.02191863e-02 9.96776444e-01 -1.26565581e-03 3.30566606e+00] [ 7.65139098e-03 6.53938136e-04 9.99970514e-01 8.11711769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.54, Y:3.32, Z:0.81 [[ 9.96771192e-01 -7.99363650e-02 -7.57423877e-03 1.38535893e+02] [ 7.99290367e-02 9.96799753e-01 -1.26583018e-03 3.31535626e+00] [ 7.65118519e-03 6.56341445e-04 9.99970514e-01 8.11310502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.56, Y:3.32, Z:0.81 [[ 9.96772959e-01 -7.99143285e-02 -7.57420976e-03 1.38564147e+02] [ 7.99069982e-02 9.96801519e-01 -1.26600373e-03 3.32451738e+00] [ 7.65115563e-03 6.56685922e-04 9.99970514e-01 8.10216542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.59, Y:3.33, Z:0.81 [[ 9.96703725e-01 -8.07732407e-02 -7.57418086e-03 1.38592649e+02] [ 8.07659338e-02 9.96732291e-01 -1.26617658e-03 3.33448800e+00] [ 7.65170383e-03 6.50267124e-04 9.99970514e-01 8.09651876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:3.34, Z:0.81 [[ 9.96604644e-01 -8.19866780e-02 -7.57415181e-03 1.38620750e+02] [ 8.19794046e-02 9.96633219e-01 -1.26635034e-03 3.34433118e+00] [ 7.65247516e-03 6.41126170e-04 9.99970514e-01 8.09755317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.65, Y:3.36, Z:0.81 [[ 9.96432356e-01 -8.40547023e-02 -7.57413731e-03 1.38650396e+02] [ 8.40474875e-02 9.96460946e-01 -1.26643707e-03 3.35886001e+00] [ 7.65378202e-03 6.25331664e-04 9.99970514e-01 8.09183471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.68, Y:3.37, Z:0.81 [[ 9.96360145e-01 -8.49063790e-02 -7.57416899e-03 1.38679530e+02] [ 8.48991901e-02 9.96388741e-01 -1.26624757e-03 3.36730038e+00] [ 7.65432920e-03 6.18597801e-04 9.99970514e-01 8.07363859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:3.38, Z:0.81 [[ 9.96273830e-01 -8.59132568e-02 -7.57418482e-03 1.38708611e+02] [ 8.59060974e-02 9.96302434e-01 -1.26615290e-03 3.37545985e+00] [ 7.65495808e-03 6.10766341e-04 9.99970514e-01 8.05103373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.74, Y:3.38, Z:0.81 [[ 9.96197929e-01 -8.67889288e-02 -7.57419999e-03 1.38738620e+02] [ 8.67817954e-02 9.96226539e-01 -1.26606212e-03 3.38408981e+00] [ 7.65549922e-03 6.03945792e-04 9.99970514e-01 8.06199931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.77, Y:3.39, Z:0.81 [[ 9.96147316e-01 -8.73679286e-02 -7.57423013e-03 1.38767623e+02] [ 8.73608131e-02 9.96175931e-01 -1.26588177e-03 3.39262474e+00] [ 7.65586322e-03 5.99313826e-04 9.99970514e-01 8.06355032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.80, Y:3.40, Z:0.81 [[ 9.96119969e-01 -8.76791766e-02 -7.57424509e-03 1.38798273e+02] [ 8.76720707e-02 9.96148586e-01 -1.26579225e-03 3.40119237e+00] [ 7.65605716e-03 5.96831190e-04 9.99970514e-01 8.08195537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.83, Y:3.41, Z:0.81 [[ 9.96176308e-01 -8.70367350e-02 -7.57427545e-03 1.38828124e+02] [ 8.70296121e-02 9.96204921e-01 -1.26561058e-03 3.41294877e+00] [ 7.65568509e-03 6.01585019e-04 9.99970514e-01 8.08946277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:3.42, Z:0.81 [[ 9.96278671e-01 -8.58570864e-02 -7.57430585e-03 1.38857819e+02] [ 8.58499309e-02 9.96307276e-01 -1.26542861e-03 3.42151949e+00] [ 7.65498204e-03 6.10465896e-04 9.99970514e-01 8.09514117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.585898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:138.89, Y:3.43, Z:0.81 [[ 9.96354207e-01 -8.49760215e-02 -7.57435139e-03 1.38888937e+02] [ 8.49688428e-02 9.96382806e-01 -1.26515594e-03 3.43175677e+00] [ 7.65446141e-03 6.16959570e-04 9.99970514e-01 8.09005281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.92, Y:3.44, Z:0.81 [[ 9.96482276e-01 -8.34607760e-02 -7.57441166e-03 1.38918854e+02] [ 8.34535566e-02 9.96510865e-01 -1.26479505e-03 3.44051221e+00] [ 7.65354429e-03 6.28234258e-04 9.99970514e-01 8.11630789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:3.45, Z:0.81 [[ 9.96594329e-01 -8.21119433e-02 -7.57445664e-03 1.38948817e+02] [ 8.21046872e-02 9.96622908e-01 -1.26452561e-03 3.44940303e+00] [ 7.65270966e-03 6.38320659e-04 9.99970514e-01 8.12460477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.98, Y:3.46, Z:0.81 [[ 9.96879470e-01 -7.85744839e-02 -7.57450129e-03 1.38979448e+02] [ 7.85671285e-02 9.96908024e-01 -1.26425809e-03 3.46171458e+00] [ 7.65041954e-03 6.65206118e-04 9.99970514e-01 8.14251061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.01, Y:3.47, Z:0.81 [[ 9.96993786e-01 -7.71104168e-02 -7.57456117e-03 1.39010626e+02] [ 7.71030221e-02 9.97022330e-01 -1.26389925e-03 3.47128339e+00] [ 7.64946642e-03 6.76078142e-04 9.99970514e-01 8.14390425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.04, Y:3.48, Z:0.81 [[ 9.97050605e-01 -7.63722260e-02 -7.57462079e-03 1.39041155e+02] [ 7.63648129e-02 9.97079144e-01 -1.26354183e-03 3.48118352e+00] [ 7.64899591e-03 6.81380643e-04 9.99970514e-01 8.14705659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.07, Y:3.49, Z:0.81 [[ 9.97013187e-01 -7.68591478e-02 -7.57468262e-03 1.39071410e+02] [ 7.68517514e-02 9.97041731e-01 -1.26317103e-03 3.49067309e+00] [ 7.64936092e-03 6.77270552e-04 9.99970514e-01 8.14508421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.10, Y:3.50, Z:0.81 [[ 9.96909579e-01 -7.81915296e-02 -7.57472882e-03 1.39101926e+02] [ 7.81841735e-02 9.96938133e-01 -1.26289396e-03 3.49973603e+00] [ 7.65028361e-03 6.66767172e-04 9.99970514e-01 8.14954635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.825898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:139.13, Y:3.51, Z:0.81 [[ 9.96755112e-01 -8.01365651e-02 -7.57477392e-03 1.39133338e+02] [ 8.01292668e-02 9.96783681e-01 -1.26262336e-03 3.50851759e+00] [ 7.65159333e-03 6.51565206e-04 9.99970514e-01 8.13644725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.16, Y:3.52, Z:0.81 [[ 9.96457157e-01 -8.37601115e-02 -7.57483400e-03 1.39164271e+02] [ 8.37529198e-02 9.96485753e-01 -1.26226288e-03 3.51770510e+00] [ 7.65394143e-03 6.23376412e-04 9.99970514e-01 8.14653869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.20, Y:3.53, Z:0.81 [[ 9.96279400e-01 -8.58485716e-02 -7.57489449e-03 1.39195621e+02] [ 8.58414426e-02 9.96308012e-01 -1.26189975e-03 3.52567397e+00] [ 7.65526036e-03 6.06964855e-04 9.99970514e-01 8.13804529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.23, Y:3.53, Z:0.81 [[ 9.96125343e-01 -8.76180430e-02 -7.57495503e-03 1.39225873e+02] [ 8.76109676e-02 9.96153967e-01 -1.26153621e-03 3.53328142e+00] [ 7.65635484e-03 5.92999051e-04 9.99970514e-01 8.12111237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.26, Y:3.54, Z:0.81 [[ 9.95929277e-01 -8.98192274e-02 -7.57505660e-03 1.39256856e+02] [ 8.98122198e-02 9.95957918e-01 -1.26092607e-03 3.54103259e+00] [ 7.65769300e-03 5.75460537e-04 9.99970514e-01 8.12414975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:3.55, Z:0.81 [[ 9.95704769e-01 -9.22747538e-02 -7.57511666e-03 1.39287477e+02] [ 9.22678196e-02 9.95733428e-01 -1.26056514e-03 3.54773379e+00] [ 7.65911522e-03 5.56211225e-04 9.99970514e-01 8.13888560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.32, Y:3.55, Z:0.82 [[ 9.95407802e-01 -9.54249733e-02 -7.57516153e-03 1.39318139e+02] [ 9.54181319e-02 9.95436483e-01 -1.26029543e-03 3.55382949e+00] [ 7.66085581e-03 5.31700144e-04 9.99970514e-01 8.16480435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.35, Y:3.56, Z:0.82 [[ 9.94712589e-01 -1.02418172e-01 -7.57520612e-03 1.39350053e+02] [ 1.02411534e-01 9.94741318e-01 -1.26002733e-03 3.55747139e+00] [ 7.66442022e-03 4.77576567e-04 9.99970514e-01 8.17352487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.38, Y:3.56, Z:0.82 [[ 9.94346509e-01 -1.05913336e-01 -7.57528066e-03 1.39382536e+02] [ 1.05906803e-01 9.94375262e-01 -1.25957903e-03 3.56070564e+00] [ 7.66607792e-03 4.50184253e-04 9.99970514e-01 8.15562299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.41, Y:3.56, Z:0.81 [[ 9.93999706e-01 -1.09120112e-01 -7.57534095e-03 1.39414419e+02] [ 1.09113674e-01 9.94028481e-01 -1.25921634e-03 3.56382648e+00] [ 7.66751049e-03 4.25087386e-04 9.99970514e-01 8.13832075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.45, Y:3.57, Z:0.81 [[ 9.93785161e-01 -1.11057042e-01 -7.57540139e-03 1.39445195e+02] [ 1.11050663e-01 9.93813949e-01 -1.25885265e-03 3.56614636e+00] [ 7.66834402e-03 4.09775737e-04 9.99970514e-01 8.12751894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.48, Y:3.57, Z:0.81 [[ 9.93611967e-01 -1.12596048e-01 -7.57549922e-03 1.39476796e+02] [ 1.12589719e-01 9.93640766e-01 -1.25826363e-03 3.56927015e+00] [ 7.66900036e-03 3.97302477e-04 9.99970514e-01 8.13336662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.51, Y:3.57, Z:0.81 [[ 9.93559156e-01 -1.13061111e-01 -7.57559431e-03 1.39509633e+02] [ 1.13054799e-01 9.93587958e-01 -1.25769090e-03 3.56943371e+00] [ 7.66921521e-03 3.93133021e-04 9.99970514e-01 8.13867623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.54, Y:3.57, Z:0.81 [[ 9.93636829e-01 -1.12376426e-01 -7.57565426e-03 1.39541354e+02] [ 1.12370097e-01 9.93665628e-01 -1.25732965e-03 3.57162701e+00] [ 7.66896146e-03 3.98052042e-04 9.99970514e-01 8.12667338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.57, Y:3.57, Z:0.81 [[ 9.93766117e-01 -1.11227305e-01 -7.57574820e-03 1.39573717e+02] [ 1.11220947e-01 9.93794909e-01 -1.25676341e-03 3.57328614e+00] [ 7.66852640e-03 4.06347003e-04 9.99970514e-01 8.12871491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.61, Y:3.57, Z:0.81 [[ 9.93934442e-01 -1.09712952e-01 -7.57580997e-03 1.39605460e+02] [ 1.09706553e-01 9.93963226e-01 -1.25639095e-03 3.57427175e+00] [ 7.66791887e-03 4.17654241e-04 9.99970514e-01 8.12692188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.64, Y:3.58, Z:0.81 [[ 9.94108636e-01 -1.08123198e-01 -7.57590744e-03 1.39637222e+02] [ 1.08116757e-01 9.94137410e-01 -1.25580295e-03 3.57525816e+00] [ 7.66727443e-03 4.29322008e-04 9.99970514e-01 8.13017381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.67, Y:3.58, Z:0.81 [[ 9.94340080e-01 -1.05973629e-01 -7.57593748e-03 1.39668544e+02] [ 1.05967128e-01 9.94368841e-01 -1.25562167e-03 3.57598187e+00] [ 7.66633896e-03 4.45714614e-04 9.99970514e-01 8.13618386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.70, Y:3.58, Z:0.82 [[ 9.94924249e-01 -1.00341138e-01 -7.57596747e-03 1.39698908e+02] [ 1.00334475e-01 9.94952972e-01 -1.25544071e-03 3.57525370e+00] [ 7.66370370e-03 4.88937694e-04 9.99970514e-01 8.15237181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.73, Y:3.58, Z:0.82 [[ 9.95292689e-01 -9.66181548e-02 -7.57598239e-03 1.39729774e+02] [ 9.66113853e-02 9.95321387e-01 -1.25535066e-03 3.57845546e+00] [ 7.66182697e-03 5.17515185e-04 9.99970514e-01 8.15816597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.76, Y:3.58, Z:0.82 [[ 9.95680223e-01 -9.25391681e-02 -7.57601209e-03 1.39762014e+02] [ 9.25322823e-02 9.95708894e-01 -1.25517140e-03 3.58155840e+00] [ 7.65965514e-03 5.48723648e-04 9.99970514e-01 8.16150970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.79, Y:3.59, Z:0.82 [[ 9.96006719e-01 -8.89562768e-02 -7.57607388e-03 1.39792760e+02] [ 8.89492907e-02 9.96035365e-01 -1.25479834e-03 3.58508844e+00] [ 7.65765970e-03 5.75901176e-04 9.99970514e-01 8.16196537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.83, Y:3.59, Z:0.82 [[ 9.96297257e-01 -8.56409787e-02 -7.57611985e-03 1.39825083e+02] [ 8.56338995e-02 9.96325881e-01 -1.25452069e-03 3.58881536e+00] [ 7.65572267e-03 6.01102840e-04 9.99970514e-01 8.17030438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.86, Y:3.59, Z:0.82 [[ 9.96522537e-01 -8.29785145e-02 -7.57618064e-03 1.39855951e+02] [ 8.29713616e-02 9.96551143e-01 -1.25415350e-03 3.59314071e+00] [ 7.65411927e-03 6.21186202e-04 9.99970514e-01 8.17219488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.89, Y:3.60, Z:0.81 [[ 9.96789150e-01 -7.97119231e-02 -7.57622598e-03 1.39887435e+02] [ 7.97046785e-02 9.96817733e-01 -1.25387953e-03 3.59591836e+00] [ 7.65206555e-03 6.45992853e-04 9.99970514e-01 8.14434473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.92, Y:3.60, Z:0.81 [[ 9.96836117e-01 -7.91224073e-02 -7.57627078e-03 1.39919173e+02] [ 7.91151478e-02 9.96864696e-01 -1.25360878e-03 3.59933191e+00] [ 7.65170541e-03 6.50244726e-04 9.99970514e-01 8.14928749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.95, Y:3.60, Z:0.82 [[ 9.96846811e-01 -7.89875635e-02 -7.57633071e-03 1.39950469e+02] [ 7.89803030e-02 9.96875389e-01 -1.25324650e-03 3.60281181e+00] [ 7.65164851e-03 6.50913885e-04 9.99970514e-01 8.15770083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.98, Y:3.61, Z:0.82 [[ 9.96851347e-01 -7.89302914e-02 -7.57637555e-03 1.39982187e+02] [ 7.89230313e-02 9.96879925e-01 -1.25297535e-03 3.60737398e+00] [ 7.65163440e-03 6.51079643e-04 9.99970514e-01 8.17312303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.01, Y:3.61, Z:0.82 [[ 9.96893776e-01 -7.83925873e-02 -7.57643486e-03 1.40012344e+02] [ 7.83853144e-02 9.96922351e-01 -1.25261665e-03 3.61173174e+00] [ 7.65131311e-03 6.54844513e-04 9.99970514e-01 8.18562819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.04, Y:3.62, Z:0.82 [[ 9.96987697e-01 -7.71889171e-02 -7.57644962e-03 1.40043288e+02] [ 7.71816104e-02 9.97016264e-01 -1.25252735e-03 3.61664054e+00] [ 7.65052472e-03 6.63991775e-04 9.99970514e-01 8.18850660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:3.62, Z:0.82 [[ 9.97234277e-01 -7.39350643e-02 -7.57647895e-03 1.40073049e+02] [ 7.39276657e-02 9.97262820e-01 -1.25234989e-03 3.62173117e+00] [ 7.64833333e-03 6.88774829e-04 9.99970514e-01 8.17717353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.11, Y:3.63, Z:0.82 [[ 9.97368684e-01 -7.20992688e-02 -7.57649352e-03 1.40105204e+02] [ 7.20918183e-02 9.97397214e-01 -1.25226174e-03 3.62749407e+00] [ 7.64706068e-03 7.02763454e-04 9.99970514e-01 8.18083902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.14, Y:3.63, Z:0.82 [[ 9.97514736e-01 -7.00496132e-02 -7.57655320e-03 1.40135767e+02] [ 7.00421068e-02 9.97543250e-01 -1.25190055e-03 3.63305767e+00] [ 7.64563466e-03 7.18111496e-04 9.99970514e-01 8.17536670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.17, Y:3.64, Z:0.82 [[ 9.97516365e-01 -7.00264067e-02 -7.57659763e-03 1.40167187e+02] [ 7.00189017e-02 9.97544880e-01 -1.25163160e-03 3.63820465e+00] [ 7.64564344e-03 7.18017954e-04 9.99970514e-01 8.17781124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.20, Y:3.64, Z:0.82 [[ 9.97645228e-01 -6.81659343e-02 -7.57662674e-03 1.40198096e+02] [ 6.81583775e-02 9.97673729e-01 -1.25145534e-03 3.64442457e+00] [ 7.64430808e-03 7.32097864e-04 9.99970514e-01 8.17462842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.23, Y:3.65, Z:0.82 [[ 9.97752800e-01 -6.65728414e-02 -7.57667031e-03 1.40229064e+02] [ 6.65652411e-02 9.97781290e-01 -1.25119154e-03 3.65074414e+00] [ 7.64315525e-03 7.44036978e-04 9.99970514e-01 8.18601993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:3.66, Z:0.82 [[ 9.97844947e-01 -6.51771097e-02 -7.57669966e-03 1.40258656e+02] [ 6.51694709e-02 9.97873426e-01 -1.25101377e-03 3.65750357e+00] [ 7.64212471e-03 7.54548256e-04 9.99970514e-01 8.20019667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.29, Y:3.67, Z:0.82 [[ 9.98025324e-01 -6.23542009e-02 -7.57672885e-03 1.40290005e+02] [ 6.23464829e-02 9.98053782e-01 -1.25083694e-03 3.66749645e+00] [ 7.63997782e-03 7.75984546e-04 9.99970514e-01 8.23262273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.32, Y:3.68, Z:0.82 [[ 9.98070206e-01 -6.16316194e-02 -7.57678735e-03 1.40320551e+02] [ 6.16238834e-02 9.98098659e-01 -1.25048249e-03 3.67539485e+00] [ 7.63945056e-03 7.81158252e-04 9.99970514e-01 8.23521088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.995898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:140.35, Y:3.68, Z:0.82 [[ 9.98077461e-01 -6.15140126e-02 -7.57681640e-03 1.40350571e+02] [ 6.15062746e-02 9.98105914e-01 -1.25030643e-03 3.68301276e+00] [ 7.63937663e-03 7.81880919e-04 9.99970514e-01 8.21650892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.38, Y:3.69, Z:0.82 [[ 9.98029457e-01 -6.22879934e-02 -7.57691451e-03 1.40382124e+02] [ 6.22802819e-02 9.98057917e-01 -1.24971163e-03 3.68932796e+00] [ 7.64004154e-03 7.75356646e-04 9.99970514e-01 8.23110068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:3.70, Z:0.82 [[ 9.97936298e-01 -6.37631178e-02 -7.57697278e-03 1.40412688e+02] [ 6.37554511e-02 9.97964770e-01 -1.24935823e-03 3.69537172e+00] [ 7.64121487e-03 7.63706614e-04 9.99970514e-01 8.22692659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:3.70, Z:0.82 [[ 9.97781578e-01 -6.61400924e-02 -7.57701616e-03 1.40444789e+02] [ 6.61324955e-02 9.97810069e-01 -1.24909512e-03 3.70124125e+00] [ 7.64303828e-03 7.45237114e-04 9.99970514e-01 8.23397822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:3.71, Z:0.82 [[ 9.97368847e-01 -7.20969578e-02 -7.57707564e-03 1.40475965e+02] [ 7.20895338e-02 9.97397383e-01 -1.24873420e-03 3.70624984e+00] [ 7.64738535e-03 6.99220743e-04 9.99970514e-01 8.22613731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:3.71, Z:0.82 [[ 9.97173168e-01 -7.47546734e-02 -7.57712011e-03 1.40506609e+02] [ 7.47473276e-02 9.97201724e-01 -1.24846426e-03 3.71068201e+00] [ 7.64924578e-03 6.78565578e-04 9.99970514e-01 8.23443774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.175898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:140.54, Y:3.72, Z:0.82 [[ 9.97013949e-01 -7.68490117e-02 -7.57721841e-03 1.40538572e+02] [ 7.68417304e-02 9.97042522e-01 -1.24786739e-03 3.71565605e+00] [ 7.65070633e-03 6.61894623e-04 9.99970514e-01 8.23052245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.57, Y:3.72, Z:0.82 [[ 9.96908163e-01 -7.82093315e-02 -7.57727959e-03 1.40569240e+02] [ 7.82020920e-02 9.96936747e-01 -1.24749578e-03 3.71931437e+00] [ 7.65163427e-03 6.51079608e-04 9.99970514e-01 8.24355933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.60, Y:3.72, Z:0.82 [[ 9.96853043e-01 -7.89087747e-02 -7.57732541e-03 1.40601303e+02] [ 7.89015574e-02 9.96881632e-01 -1.24721739e-03 3.72400929e+00] [ 7.65211292e-03 6.45429675e-04 9.99970514e-01 8.24125704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:3.73, Z:0.82 [[ 9.96838139e-01 -7.90968302e-02 -7.57738482e-03 1.40632146e+02] [ 7.90896209e-02 9.96866730e-01 -1.24685638e-03 3.72832153e+00] [ 7.65226521e-03 6.43621502e-04 9.99970514e-01 8.22866798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.66, Y:3.73, Z:0.82 [[ 9.96789197e-01 -7.97112244e-02 -7.57742912e-03 1.40664081e+02] [ 7.97040348e-02 9.96817793e-01 -1.24658706e-03 3.73104872e+00] [ 7.65268316e-03 6.38632842e-04 9.99970514e-01 8.22860106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:3.74, Z:0.82 [[ 9.96718829e-01 -8.05863419e-02 -7.57748797e-03 1.40695668e+02] [ 8.05791801e-02 9.96747432e-01 -1.24622928e-03 3.73511983e+00] [ 7.65327073e-03 6.31552421e-04 9.99970514e-01 8.24421789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.73, Y:3.74, Z:0.83 [[ 9.96644413e-01 -8.15015041e-02 -7.57754706e-03 1.40726610e+02] [ 8.14943713e-02 9.96673023e-01 -1.24586987e-03 3.73934676e+00] [ 7.65387700e-03 6.24161817e-04 9.99970514e-01 8.25705856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:3.74, Z:0.83 [[ 9.96615645e-01 -8.18525285e-02 -7.57764510e-03 1.40758074e+02] [ 8.18454103e-02 9.96644259e-01 -1.24527327e-03 3.74412594e+00] [ 7.65414525e-03 6.20863355e-04 9.99970514e-01 8.26873055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:3.75, Z:0.83 [[ 9.96610886e-01 -8.19104463e-02 -7.57770395e-03 1.40788549e+02] [ 8.19033324e-02 9.96639501e-01 -1.24491506e-03 3.74899597e+00] [ 7.65421063e-03 6.20056695e-04 9.99970514e-01 8.26747214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.82, Y:3.75, Z:0.83 [[ 9.96668021e-01 -8.12122718e-02 -7.57774807e-03 1.40820691e+02] [ 8.12051400e-02 9.96696632e-01 -1.24464648e-03 3.75418890e+00] [ 7.65379654e-03 6.25147250e-04 9.99970514e-01 8.27562361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.85, Y:3.76, Z:0.83 [[ 9.96877271e-01 -7.86020512e-02 -7.57780811e-03 1.40850766e+02] [ 7.85948472e-02 9.96905864e-01 -1.24428079e-03 3.76064696e+00] [ 7.65216437e-03 6.44818569e-04 9.99970514e-01 8.27348267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.88, Y:3.77, Z:0.83 [[ 9.97017023e-01 -7.68090606e-02 -7.57790884e-03 1.40882145e+02] [ 7.68018098e-02 9.97045603e-01 -1.24366704e-03 3.76756167e+00] [ 7.65104559e-03 6.57960097e-04 9.99970514e-01 8.27340975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.91, Y:3.77, Z:0.83 [[ 9.97138194e-01 -7.52196570e-02 -7.57796732e-03 1.40912586e+02] [ 7.52123634e-02 9.97166764e-01 -1.24331062e-03 3.77404256e+00] [ 7.65001854e-03 6.69795675e-04 9.99970514e-01 8.27358599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.94, Y:3.78, Z:0.83 [[ 9.97200056e-01 -7.43950414e-02 -7.57801084e-03 1.40943717e+02] [ 7.43877262e-02 9.97228620e-01 -1.24304529e-03 3.78011699e+00] [ 7.64948570e-03 6.75853836e-04 9.99970514e-01 8.27649665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.97, Y:3.79, Z:0.83 [[ 9.97205119e-01 -7.43271369e-02 -7.57806964e-03 1.40974838e+02] [ 7.43198224e-02 9.97233684e-01 -1.24268673e-03 3.78504565e+00] [ 7.64947165e-03 6.76012782e-04 9.99970514e-01 8.27239434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.01, Y:3.79, Z:0.83 [[ 9.97002047e-01 -7.70031778e-02 -7.57816763e-03 1.41007128e+02] [ 7.69959445e-02 9.97030632e-01 -1.24208886e-03 3.78783601e+00] [ 7.65131005e-03 6.54876961e-04 9.99970514e-01 8.26637834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:3.79, Z:0.83 [[ 9.96886641e-01 -7.84830913e-02 -7.57822600e-03 1.41038490e+02] [ 7.84759032e-02 9.96915237e-01 -1.24173265e-03 3.79123969e+00] [ 7.65230399e-03 6.43158559e-04 9.99970514e-01 8.25503223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:3.79, Z:0.83 [[ 9.96789798e-01 -7.97036246e-02 -7.57832327e-03 1.41070011e+02] [ 7.96964759e-02 9.96818404e-01 -1.24113871e-03 3.79494858e+00] [ 7.65313536e-03 6.33188748e-04 9.99970514e-01 8.25726485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:3.80, Z:0.83 [[ 9.96774625e-01 -7.98931496e-02 -7.57838271e-03 1.41102359e+02] [ 7.98860091e-02 9.96803233e-01 -1.24077568e-03 3.79911609e+00] [ 7.65328586e-03 6.31366958e-04 9.99970514e-01 8.25735907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.13, Y:3.80, Z:0.83 [[ 9.96796171e-01 -7.96238701e-02 -7.57844223e-03 1.41134477e+02] [ 7.96167246e-02 9.96824778e-01 -1.24041205e-03 3.80426387e+00] [ 7.65314540e-03 6.33067230e-04 9.99970514e-01 8.26444766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.775898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:141.17, Y:3.81, Z:0.83 [[ 9.96844554e-01 -7.90158328e-02 -7.57850141e-03 1.41165720e+02] [ 7.90086727e-02 9.96873157e-01 -1.24005033e-03 3.80991425e+00] [ 7.65278824e-03 6.37370078e-04 9.99970514e-01 8.26230693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.20, Y:3.81, Z:0.83 [[ 9.96926099e-01 -7.79802488e-02 -7.57856109e-03 1.41196401e+02] [ 7.79730616e-02 9.96954695e-01 -1.23968548e-03 3.81437231e+00] [ 7.65215305e-03 6.44951202e-04 9.99970514e-01 8.27806860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.23, Y:3.82, Z:0.83 [[ 9.97064018e-01 -7.61965096e-02 -7.57860572e-03 1.41227124e+02] [ 7.61892733e-02 9.97092603e-01 -1.23941259e-03 3.81923864e+00] [ 7.65101062e-03 6.58365233e-04 9.99970514e-01 8.27436265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:3.82, Z:0.82 [[ 9.97351781e-01 -7.23324895e-02 -7.57863413e-03 1.41259294e+02] [ 7.23251439e-02 9.97380338e-01 -1.23923886e-03 3.82278481e+00] [ 7.64841790e-03 6.87831284e-04 9.99970514e-01 8.24157682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:3.83, Z:0.82 [[ 9.97436048e-01 -7.11610447e-02 -7.57869284e-03 1.41289982e+02] [ 7.11536682e-02 9.97464596e-01 -1.23887973e-03 3.82611437e+00] [ 7.64763777e-03 6.96451505e-04 9.99970514e-01 8.23267627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.32, Y:3.83, Z:0.83 [[ 9.97440429e-01 -7.10996064e-02 -7.57873680e-03 1.41322277e+02] [ 7.10922302e-02 9.97468977e-01 -1.23861070e-03 3.82976093e+00] [ 7.64761958e-03 6.96651087e-04 9.99970514e-01 8.25974231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:3.83, Z:0.83 [[ 9.97376250e-01 -7.19942862e-02 -7.57879618e-03 1.41353294e+02] [ 7.19869384e-02 9.97404806e-01 -1.23824731e-03 3.83244716e+00] [ 7.64827446e-03 6.89424126e-04 9.99970514e-01 8.28067995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:3.84, Z:0.83 [[ 9.97273740e-01 -7.34006047e-02 -7.57884035e-03 1.41385058e+02] [ 7.33932991e-02 9.97302307e-01 -1.23797689e-03 3.83519891e+00] [ 7.64926321e-03 6.78365743e-04 9.99970514e-01 8.30109462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:3.84, Z:0.83 [[ 9.97153396e-01 -7.50177688e-02 -7.57886945e-03 1.41416272e+02] [ 7.50105109e-02 9.97181975e-01 -1.23779869e-03 3.83780615e+00] [ 7.65036890e-03 6.65780299e-04 9.99970514e-01 8.30219472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:3.84, Z:0.83 [[ 9.97015489e-01 -7.68288654e-02 -7.57891311e-03 1.41448140e+02] [ 7.68216615e-02 9.97044082e-01 -1.23753135e-03 3.83862783e+00] [ 7.65158859e-03 6.51613226e-04 9.99970514e-01 8.29637967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:3.84, Z:0.83 [[ 9.96964047e-01 -7.74935402e-02 -7.57894248e-03 1.41479039e+02] [ 7.74863567e-02 9.96992645e-01 -1.23735142e-03 3.84165187e+00] [ 7.65203665e-03 6.46330243e-04 9.99970514e-01 8.31351948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:3.84, Z:0.83 [[ 9.96899125e-01 -7.83242843e-02 -7.57897209e-03 1.41509763e+02] [ 7.83171261e-02 9.96927729e-01 -1.23717002e-03 3.84444096e+00] [ 7.65258789e-03 6.39770397e-04 9.99970514e-01 8.33608210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:3.85, Z:0.84 [[ 9.96824525e-01 -7.92680615e-02 -7.57898680e-03 1.41540666e+02] [ 7.92609309e-02 9.96853136e-01 -1.23707993e-03 3.84732441e+00] [ 7.65319768e-03 6.32434068e-04 9.99970514e-01 8.36054357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:3.85, Z:0.84 [[ 9.96722458e-01 -8.05412983e-02 -7.57901582e-03 1.41570672e+02] [ 8.05342057e-02 9.96751078e-01 -1.23690209e-03 3.84997342e+00] [ 7.65401389e-03 6.22478074e-04 9.99970514e-01 8.37639009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:3.85, Z:0.84 [[ 9.96602592e-01 -8.20111671e-02 -7.57903026e-03 1.41602001e+02] [ 8.20041173e-02 9.96631223e-01 -1.23681361e-03 3.85253949e+00] [ 7.65493073e-03 6.11099960e-04 9.99970514e-01 8.37118872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.63, Y:3.85, Z:0.83 [[ 9.96199280e-01 -8.67729892e-02 -7.57905949e-03 1.41634257e+02] [ 8.67660777e-02 9.96227945e-01 -1.23663449e-03 3.85222880e+00] [ 7.65777733e-03 5.74329127e-04 9.99970514e-01 8.32709534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:3.85, Z:0.83 [[ 9.95948077e-01 -8.96101807e-02 -7.57908952e-03 1.41664893e+02] [ 8.96033523e-02 9.95976762e-01 -1.23645039e-03 3.85433638e+00] [ 7.65939558e-03 5.52328561e-04 9.99970514e-01 8.30958871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:3.86, Z:0.83 [[ 9.95696185e-01 -9.23670045e-02 -7.57914000e-03 1.41695753e+02] [ 9.23602579e-02 9.95724889e-01 -1.23614087e-03 3.85625149e+00] [ 7.66091697e-03 5.30809424e-04 9.99970514e-01 8.29651834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:3.86, Z:0.83 [[ 9.95507995e-01 -9.43736320e-02 -7.57952956e-03 1.41725354e+02] [ 9.43669613e-02 9.95536717e-01 -1.23375224e-03 3.85833554e+00] [ 7.66213365e-03 5.12953045e-04 9.99970514e-01 8.31295876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.345898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:141.75, Y:3.86, Z:0.83 [[ 9.95427696e-01 -9.52168998e-02 -7.57912740e-03 1.41754568e+02] [ 9.52102348e-02 9.95456419e-01 -1.23621783e-03 3.86120940e+00] [ 7.66239985e-03 5.08954964e-04 9.99970514e-01 8.30202606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.375898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:141.78, Y:3.86, Z:0.83 [[ 9.95577966e-01 -9.36326337e-02 -7.57911283e-03 1.41784548e+02] [ 9.36259223e-02 9.95606678e-01 -1.23630717e-03 3.86235148e+00] [ 7.66157404e-03 5.21238748e-04 9.99970514e-01 8.29550597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:3.87, Z:0.83 [[ 9.95720303e-01 -9.21066511e-02 -7.57909837e-03 1.41814483e+02] [ 9.20998951e-02 9.95749005e-01 -1.23639582e-03 3.86588749e+00] [ 7.66075993e-03 5.33070260e-04 9.99970514e-01 8.30061877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:3.87, Z:0.83 [[ 9.95875382e-01 -9.04144974e-02 -7.57906859e-03 1.41843824e+02] [ 9.04076912e-02 9.95904072e-01 -1.23657834e-03 3.87027419e+00] [ 7.65982988e-03 5.46271834e-04 9.99970514e-01 8.28892239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:3.88, Z:0.83 [[ 9.96012289e-01 -8.88936376e-02 -7.57905382e-03 1.41872731e+02] [ 8.88867869e-02 9.96040968e-01 -1.23666882e-03 3.87509624e+00] [ 7.65898010e-03 5.58059602e-04 9.99970514e-01 8.29207625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:3.88, Z:0.83 [[ 9.96080718e-01 -8.81235633e-02 -7.57902508e-03 1.41902500e+02] [ 8.81166891e-02 9.96109391e-01 -1.23684497e-03 3.87927654e+00] [ 7.65853324e-03 5.64158827e-04 9.99970514e-01 8.31441243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:3.88, Z:0.83 [[ 9.96012837e-01 -8.88875007e-02 -7.57902508e-03 1.41932419e+02] [ 8.88806485e-02 9.96041515e-01 -1.23684497e-03 3.88255550e+00] [ 7.65896368e-03 5.58284802e-04 9.99970514e-01 8.31488094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.96, Y:3.89, Z:0.83 [[ 9.95880814e-01 -9.03546567e-02 -7.57899633e-03 1.41962007e+02] [ 9.03478455e-02 9.95909502e-01 -1.23702110e-03 3.88508074e+00] [ 7.65976508e-03 5.47179593e-04 9.99970514e-01 8.31781278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:3.89, Z:0.83 [[ 9.95712588e-01 -9.21900268e-02 -7.57896739e-03 1.41991118e+02] [ 9.21832671e-02 9.95741289e-01 -1.23719840e-03 3.88751872e+00] [ 7.66074811e-03 5.33240044e-04 9.99970514e-01 8.31307135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:3.89, Z:0.83 [[ 9.95541453e-01 -9.40200802e-02 -7.57895299e-03 1.42019341e+02] [ 9.40133725e-02 9.95570166e-01 -1.23728658e-03 3.88989511e+00] [ 7.66170927e-03 5.19247146e-04 9.99970514e-01 8.31938997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:3.89, Z:0.83 [[ 9.95392681e-01 -9.55822680e-02 -7.57889954e-03 1.42048512e+02] [ 9.55756030e-02 9.95421404e-01 -1.23761393e-03 3.89256258e+00] [ 7.66249277e-03 5.07553960e-04 9.99970514e-01 8.33154080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:3.89, Z:0.83 [[ 9.95315593e-01 -9.63817102e-02 -7.57869852e-03 1.42077781e+02] [ 9.63750589e-02 9.95344319e-01 -1.23884365e-03 3.89260064e+00] [ 7.66281639e-03 5.02642889e-04 9.99970514e-01 8.33835400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:3.89, Z:0.83 [[ 9.95391212e-01 -9.55976024e-02 -7.57849469e-03 1.42106733e+02] [ 9.55909190e-02 9.95419931e-01 -1.24008934e-03 3.89481928e+00] [ 7.66233422e-03 5.09938756e-04 9.99970514e-01 8.33846531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:3.90, Z:0.83 [[ 9.95563347e-01 -9.37880144e-02 -7.57828982e-03 1.42134714e+02] [ 9.37812694e-02 9.95592051e-01 -1.24134003e-03 3.89681905e+00] [ 7.66130792e-03 5.25130996e-04 9.99970514e-01 8.32937064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:3.90, Z:0.83 [[ 9.95548137e-01 -9.39493380e-02 -7.57821737e-03 1.42163603e+02] [ 9.39425943e-02 9.95576841e-01 -1.24178220e-03 3.90169915e+00] [ 7.66136232e-03 5.24336552e-04 9.99970514e-01 8.33162109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.19, Y:3.90, Z:0.83 [[ 9.95726006e-01 -9.20450677e-02 -7.57801594e-03 1.42192001e+02] [ 9.20382598e-02 9.95754696e-01 -1.24301018e-03 3.90462900e+00] [ 7.66025791e-03 5.40230158e-04 9.99970514e-01 8.32658951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.22, Y:3.91, Z:0.83 [[ 9.95929815e-01 -8.98130353e-02 -7.57781500e-03 1.42220420e+02] [ 8.98061539e-02 9.95958486e-01 -1.24423397e-03 3.90752630e+00] [ 7.65893759e-03 5.58635292e-04 9.99970514e-01 8.33004568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:3.91, Z:0.83 [[ 9.96102674e-01 -8.78751512e-02 -7.57761383e-03 1.42249150e+02] [ 8.78682047e-02 9.96131330e-01 -1.24545792e-03 3.91022334e+00] [ 7.65774335e-03 5.74772641e-04 9.99970514e-01 8.34406605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:3.91, Z:0.84 [[ 9.96230745e-01 -8.64111434e-02 -7.57741161e-03 1.42276701e+02] [ 8.64041455e-02 9.96259389e-01 -1.24668707e-03 3.91238484e+00] [ 7.65679511e-03 5.87268213e-04 9.99970514e-01 8.35682333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:3.91, Z:0.84 [[ 9.96319813e-01 -8.53780615e-02 -7.57734008e-03 1.42304527e+02] [ 8.53710306e-02 9.96348449e-01 -1.24712167e-03 3.91491158e+00] [ 7.65614786e-03 5.95646702e-04 9.99970514e-01 8.37320936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:3.92, Z:0.84 [[ 9.96443354e-01 -8.39239566e-02 -7.57711106e-03 1.42332068e+02] [ 8.39168734e-02 9.96471976e-01 -1.24851153e-03 3.91687054e+00] [ 7.65515886e-03 6.08223550e-04 9.99970514e-01 8.38125756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:3.92, Z:0.84 [[ 9.96537865e-01 -8.27941689e-02 -7.57687971e-03 1.42360310e+02] [ 8.27870426e-02 9.96566477e-01 -1.24991396e-03 3.92091175e+00] [ 7.65434991e-03 6.18319129e-04 9.99970514e-01 8.38501366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:3.93, Z:0.84 [[ 9.96622630e-01 -8.17675156e-02 -7.57667694e-03 1.42389248e+02] [ 8.17603506e-02 9.96651233e-01 -1.25114191e-03 3.92550004e+00] [ 7.65360718e-03 6.27444575e-04 9.99970514e-01 8.38702354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:3.93, Z:0.84 [[ 9.96688198e-01 -8.09643918e-02 -7.57647436e-03 1.42417780e+02] [ 8.09571946e-02 9.96716792e-01 -1.25236747e-03 3.92995132e+00] [ 7.65299639e-03 6.34849768e-04 9.99970514e-01 8.38766204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:3.93, Z:0.84 [[ 9.96681898e-01 -8.10419271e-02 -7.57626901e-03 1.42446252e+02] [ 8.10347227e-02 9.96710491e-01 -1.25360852e-03 3.93440090e+00] [ 7.65294165e-03 6.35508060e-04 9.99970514e-01 8.38744335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:3.94, Z:0.84 [[ 9.96650726e-01 -8.14244056e-02 -7.57605971e-03 1.42473502e+02] [ 8.14172026e-02 9.96679319e-01 -1.25487212e-03 3.93810698e+00] [ 7.65307925e-03 6.33847624e-04 9.99970514e-01 8.37663066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.50, Y:3.94, Z:0.84 [[ 9.96540426e-01 -8.27634262e-02 -7.57598527e-03 1.42501233e+02] [ 8.27562583e-02 9.96569027e-01 -1.25532137e-03 3.94007931e+00] [ 7.65388697e-03 6.24018296e-04 9.99970514e-01 8.39713598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:3.94, Z:0.84 [[ 9.96457040e-01 -8.37614144e-02 -7.57576435e-03 1.42529082e+02] [ 8.37542651e-02 9.96485647e-01 -1.25665318e-03 3.94406086e+00] [ 7.65439949e-03 6.17698335e-04 9.99970514e-01 8.40730804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:3.95, Z:0.84 [[ 9.96380057e-01 -8.46722692e-02 -7.57553125e-03 1.42556413e+02] [ 8.46651354e-02 9.96408667e-01 -1.25805683e-03 3.94803565e+00] [ 7.65484752e-03 6.12119357e-04 9.99970514e-01 8.40152761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:3.95, Z:0.84 [[ 9.96304128e-01 -8.55610888e-02 -7.57529929e-03 1.42583509e+02] [ 8.55539700e-02 9.96332742e-01 -1.25945202e-03 3.95188030e+00] [ 7.65527880e-03 6.06700318e-04 9.99970514e-01 8.38855115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:3.96, Z:0.84 [[ 9.96177433e-01 -8.70237792e-02 -7.57519811e-03 1.42611270e+02] [ 8.70166978e-02 9.96206056e-01 -1.26006031e-03 3.95523759e+00] [ 7.65611344e-03 5.96074920e-04 9.99970514e-01 8.38018946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:3.96, Z:0.84 [[ 9.96059442e-01 -8.83640629e-02 -7.57496676e-03 1.42638656e+02] [ 8.83570096e-02 9.96088072e-01 -1.26144955e-03 3.95812885e+00] [ 7.65680084e-03 5.87177328e-04 9.99970514e-01 8.38411483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:3.96, Z:0.84 [[ 9.95830001e-01 -9.09133237e-02 -7.57473380e-03 1.42666022e+02] [ 9.09063331e-02 9.95858647e-01 -1.26284687e-03 3.95826553e+00] [ 7.65817376e-03 5.68989528e-04 9.99970514e-01 8.37870357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:3.96, Z:0.84 [[ 9.95744840e-01 -9.18413816e-02 -7.57456862e-03 1.42693753e+02] [ 9.18344102e-02 9.95773490e-01 -1.26383684e-03 3.96080505e+00] [ 7.65862715e-03 5.62852972e-04 9.99970514e-01 8.37561832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:3.96, Z:0.84 [[ 9.95685171e-01 -9.24860536e-02 -7.57432727e-03 1.42722043e+02] [ 9.24790898e-02 9.95713823e-01 -1.26528164e-03 3.96379323e+00] [ 7.65888327e-03 5.59355273e-04 9.99970514e-01 8.35510628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:3.97, Z:0.83 [[ 9.95673851e-01 -9.26078582e-02 -7.57408510e-03 1.42749578e+02] [ 9.26008869e-02 9.95702501e-01 -1.26672962e-03 3.96662825e+00] [ 7.65884460e-03 5.59882560e-04 9.99970514e-01 8.31058550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:3.97, Z:0.83 [[ 9.95642736e-01 -9.29417886e-02 -7.57401019e-03 1.42777872e+02] [ 9.29348236e-02 9.95671388e-01 -1.26717737e-03 3.96972920e+00] [ 7.65899897e-03 5.57766647e-04 9.99970514e-01 8.31049051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:3.97, Z:0.83 [[ 9.95575822e-01 -9.36558644e-02 -7.57378385e-03 1.42806030e+02] [ 9.36489097e-02 9.95604476e-01 -1.26852875e-03 3.97094422e+00] [ 7.65929825e-03 5.53639953e-04 9.99970514e-01 8.33767781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.485898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:142.83, Y:3.97, Z:0.83 [[ 9.95472497e-01 -9.47478155e-02 -7.57354071e-03 1.42833751e+02] [ 9.47408813e-02 9.95501156e-01 -1.26997868e-03 3.97483561e+00] [ 7.65979625e-03 5.46704925e-04 9.99970514e-01 8.33233715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.515898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.86, Y:3.98, Z:0.84 [[ 9.95342906e-01 -9.60996518e-02 -7.57346515e-03 1.42861361e+02] [ 9.60927530e-02 9.95371573e-01 -1.27042912e-03 3.97778794e+00] [ 7.66049972e-03 5.36757499e-04 9.99970514e-01 8.35530771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.89, Y:3.98, Z:0.84 [[ 9.95213084e-01 -9.74349179e-02 -7.57322050e-03 1.42887751e+02] [ 9.74280466e-02 9.95241759e-01 -1.27188589e-03 3.98054062e+00] [ 7.66111138e-03 5.27953404e-04 9.99970514e-01 8.36938487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:3.98, Z:0.84 [[ 9.95112724e-01 -9.84546322e-02 -7.57311456e-03 1.42914629e+02] [ 9.84477855e-02 9.95141404e-01 -1.27251633e-03 3.98328141e+00] [ 7.66160499e-03 5.20740831e-04 9.99970514e-01 8.36539617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.94, Y:3.99, Z:0.84 [[ 9.95017934e-01 -9.94080503e-02 -7.57300906e-03 1.42942658e+02] [ 9.94012263e-02 9.95046620e-01 -1.27314390e-03 3.98673074e+00] [ 7.66205782e-03 5.14034627e-04 9.99970514e-01 8.36780882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:3.99, Z:0.84 [[ 9.94891160e-01 -1.00668922e-01 -7.57277324e-03 1.42969836e+02] [ 1.00662124e-01 9.94919852e-01 -1.27454501e-03 3.98945871e+00] [ 7.66260951e-03 5.05742128e-04 9.99970514e-01 8.36642405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.00, Y:3.99, Z:0.84 [[ 9.94812245e-01 -1.01445804e-01 -7.57267067e-03 1.42997612e+02] [ 1.01439023e-01 9.94840941e-01 -1.27515417e-03 3.99368552e+00] [ 7.66296185e-03 5.00374665e-04 9.99970514e-01 8.37159187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:4.00, Z:0.84 [[ 9.94720478e-01 -1.02341729e-01 -7.57243733e-03 1.43024970e+02] [ 1.02334964e-01 9.94749177e-01 -1.27653832e-03 3.99784709e+00] [ 7.66331894e-03 4.94873709e-04 9.99970514e-01 8.38561796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.05, Y:4.00, Z:0.84 [[ 9.94628397e-01 -1.03232813e-01 -7.57219606e-03 1.43052416e+02] [ 1.03226063e-01 9.94657100e-01 -1.27796791e-03 4.00148252e+00] [ 7.66366679e-03 4.89455188e-04 9.99970514e-01 8.39330053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.08, Y:4.00, Z:0.84 [[ 9.94514219e-01 -1.04327050e-01 -7.57194784e-03 1.43079271e+02] [ 1.04320320e-01 9.94542927e-01 -1.27943694e-03 4.00484446e+00] [ 7.66410705e-03 4.82510207e-04 9.99970514e-01 8.38975286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.11, Y:4.01, Z:0.84 [[ 9.94371092e-01 -1.05682545e-01 -7.57177658e-03 1.43107477e+02] [ 1.05675847e-01 9.94399807e-01 -1.28044961e-03 4.00803951e+00] [ 7.66469435e-03 4.73088174e-04 9.99970514e-01 8.39130926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:4.01, Z:0.84 [[ 9.94096623e-01 -1.08233899e-01 -7.57153210e-03 1.43135891e+02] [ 1.08227263e-01 9.94125352e-01 -1.28189363e-03 4.01000277e+00] [ 7.66579637e-03 4.54879933e-04 9.99970514e-01 8.42519044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.16, Y:4.01, Z:0.84 [[ 9.94000538e-01 -1.09112816e-01 -7.57131405e-03 1.43162719e+02] [ 1.09106196e-01 9.94029271e-01 -1.28318026e-03 4.01356190e+00] [ 7.66611919e-03 4.49404591e-04 9.99970514e-01 8.43452905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.19, Y:4.02, Z:0.84 [[ 9.93933771e-01 -1.09719353e-01 -7.57114245e-03 1.43190719e+02] [ 1.09712743e-01 9.93962507e-01 -1.28419194e-03 4.01800299e+00] [ 7.66633244e-03 4.45750933e-04 9.99970514e-01 8.43083469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.22, Y:4.02, Z:0.84 [[ 9.93955072e-01 -1.09526234e-01 -7.57090492e-03 1.43218744e+02] [ 1.09519608e-01 9.93983804e-01 -1.28559079e-03 4.02221895e+00] [ 7.66616279e-03 4.48656948e-04 9.99970514e-01 8.41672260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:4.03, Z:0.84 [[ 9.94045475e-01 -1.08702709e-01 -7.57066705e-03 1.43246397e+02] [ 1.08696048e-01 9.94074199e-01 -1.28699005e-03 4.02667048e+00] [ 7.66570408e-03 4.56425047e-04 9.99970514e-01 8.40322454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.28, Y:4.03, Z:0.84 [[ 9.94317917e-01 -1.06181774e-01 -7.57042024e-03 1.43275054e+02] [ 1.06175029e-01 9.94346621e-01 -1.28844022e-03 4.03050962e+00] [ 7.66443065e-03 4.77329608e-04 9.99970514e-01 8.38435590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.30, Y:4.04, Z:0.84 [[ 9.94422580e-01 -1.05197070e-01 -7.57020218e-03 1.43302730e+02] [ 1.05190287e-01 9.94451276e-01 -1.28972013e-03 4.03509335e+00] [ 7.66387200e-03 4.86215080e-04 9.99970514e-01 8.37195357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:4.04, Z:0.84 [[ 9.94556235e-01 -1.03925878e-01 -7.57012469e-03 1.43330423e+02] [ 1.03919055e-01 9.94584921e-01 -1.29017479e-03 4.03989432e+00] [ 7.66321442e-03 4.96471179e-04 9.99970514e-01 8.37350876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.36, Y:4.05, Z:0.84 [[ 9.94691847e-01 -1.02619800e-01 -7.57005167e-03 1.43358581e+02] [ 1.02612936e-01 9.94720523e-01 -1.29060312e-03 4.04511076e+00] [ 7.66252719e-03 5.06967171e-04 9.99970514e-01 8.40161410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.39, Y:4.05, Z:0.84 [[ 9.94885571e-01 -1.00724362e-01 -7.56984508e-03 1.43386508e+02] [ 1.00717435e-01 9.94914232e-01 -1.29181372e-03 4.05106496e+00] [ 7.66146372e-03 5.22791448e-04 9.99970514e-01 8.42629857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.41, Y:4.06, Z:0.84 [[ 9.95118674e-01 -9.83947417e-02 -7.56963632e-03 1.43413187e+02] [ 9.83877379e-02 9.95147316e-01 -1.29303584e-03 4.05740434e+00] [ 7.66013119e-03 5.41964714e-04 9.99970514e-01 8.43430469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.44, Y:4.07, Z:0.84 [[ 9.95474689e-01 -9.47251019e-02 -7.56956228e-03 1.43440964e+02] [ 9.47179893e-02 9.95503305e-01 -1.29346912e-03 4.06700012e+00] [ 7.65804826e-03 5.70642050e-04 9.99970514e-01 8.40878941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.47, Y:4.07, Z:0.84 [[ 9.95532178e-01 -9.41190017e-02 -7.56935362e-03 1.43468248e+02] [ 9.41118625e-02 9.95560787e-01 -1.29468904e-03 4.07386693e+00] [ 7.65760649e-03 5.76538638e-04 9.99970514e-01 8.38978511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.205898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.49, Y:4.08, Z:0.84 [[ 9.95439517e-01 -9.50940224e-02 -7.56927959e-03 1.43494104e+02] [ 9.50869079e-02 9.95468132e-01 -1.29512170e-03 4.08038393e+00] [ 7.65813495e-03 5.69475926e-04 9.99970514e-01 8.36998213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.52, Y:4.09, Z:0.84 [[ 9.95180026e-01 -9.77723089e-02 -7.56917654e-03 1.43522152e+02] [ 9.77652668e-02 9.95208658e-01 -1.29572370e-03 4.08598412e+00] [ 7.65959592e-03 5.49475780e-04 9.99970514e-01 8.40081031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.55, Y:4.09, Z:0.84 [[ 9.94816372e-01 -1.01405604e-01 -7.56896849e-03 1.43550033e+02] [ 1.01398658e-01 9.94845028e-01 -1.29693786e-03 4.09063239e+00] [ 7.66146744e-03 5.22731775e-04 9.99970514e-01 8.39855836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.58, Y:4.09, Z:0.84 [[ 9.94345364e-01 -1.05924541e-01 -7.56889449e-03 1.43577330e+02] [ 1.05917721e-01 9.94374051e-01 -1.29736960e-03 4.09475131e+00] [ 7.66373555e-03 4.88353388e-04 9.99970514e-01 8.41593241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.61, Y:4.10, Z:0.84 [[ 9.93441995e-01 -1.14086452e-01 -7.56865376e-03 1.43605939e+02] [ 1.14079858e-01 9.93470734e-01 -1.29877242e-03 4.09854611e+00] [ 7.66740835e-03 4.26824125e-04 9.99970514e-01 8.38267898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.63, Y:4.10, Z:0.84 [[ 9.93059096e-01 -1.17372700e-01 -7.56844144e-03 1.43633906e+02] [ 1.17366191e-01 9.93087855e-01 -1.30000851e-03 4.10323819e+00] [ 7.66871279e-03 4.02706132e-04 9.99970514e-01 8.37098655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.66, Y:4.11, Z:0.84 [[ 9.92749167e-01 -1.19965879e-01 -7.56829031e-03 1.43660080e+02] [ 1.19959439e-01 9.92777941e-01 -1.30088779e-03 4.10774037e+00] [ 7.66969382e-03 3.83567412e-04 9.99970514e-01 8.37056119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.69, Y:4.11, Z:0.84 [[ 9.92595478e-01 -1.21230939e-01 -7.56812230e-03 1.43687446e+02] [ 1.21224528e-01 9.92624259e-01 -1.30186447e-03 4.11254520e+00] [ 7.67012804e-03 3.74782737e-04 9.99970514e-01 8.38795608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.71, Y:4.12, Z:0.84 [[ 9.92627677e-01 -1.20967031e-01 -7.56787783e-03 1.43714679e+02] [ 1.20960601e-01 9.92656453e-01 -1.30328405e-03 4.11729532e+00] [ 7.66995717e-03 3.78260770e-04 9.99970514e-01 8.40653762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.74, Y:4.12, Z:0.84 [[ 9.92750128e-01 -1.19957966e-01 -7.56763138e-03 1.43742751e+02] [ 1.19951497e-01 9.92778896e-01 -1.30471349e-03 4.12176038e+00] [ 7.66949551e-03 3.87505772e-04 9.99970514e-01 8.42178139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.77, Y:4.12, Z:0.84 [[ 9.92949955e-01 -1.18292524e-01 -7.56738265e-03 1.43771493e+02] [ 1.18285995e-01 9.92978709e-01 -1.30615458e-03 4.12471201e+00] [ 7.66875818e-03 4.01830740e-04 9.99970514e-01 8.44587174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.80, Y:4.13, Z:0.85 [[ 9.93005065e-01 -1.17829024e-01 -7.56716224e-03 1.43799482e+02] [ 1.17822472e-01 9.93033814e-01 -1.30743025e-03 4.12838801e+00] [ 7.66850121e-03 4.06703093e-04 9.99970514e-01 8.46353878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.83, Y:4.13, Z:0.85 [[ 9.93014780e-01 -1.17747126e-01 -7.56708415e-03 1.43826700e+02] [ 1.17740569e-01 9.93043528e-01 -1.30788208e-03 4.13240458e+00] [ 7.66844329e-03 4.07793447e-04 9.99970514e-01 8.47984150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.85, Y:4.14, Z:0.85 [[ 9.93011334e-01 -1.17776203e-01 -7.56684130e-03 1.43854726e+02] [ 1.17769636e-01 9.93040079e-01 -1.30928559e-03 4.13630831e+00] [ 7.66837937e-03 4.08991285e-04 9.99970514e-01 8.49069720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.88, Y:4.14, Z:0.85 [[ 9.92989527e-01 -1.17959933e-01 -7.56659849e-03 1.43882747e+02] [ 1.17953360e-01 9.93018271e-01 -1.31068735e-03 4.14135405e+00] [ 7.66837914e-03 4.08993097e-04 9.99970514e-01 8.49288450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.91, Y:4.14, Z:0.85 [[ 9.93181094e-01 -1.16336001e-01 -7.56635572e-03 1.43909822e+02] [ 1.16329370e-01 9.93209825e-01 -1.31208728e-03 4.14318334e+00] [ 7.66762183e-03 4.22950879e-04 9.99970514e-01 8.48902399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.94, Y:4.15, Z:0.85 [[ 9.93319187e-01 -1.15150969e-01 -7.56625016e-03 1.43937227e+02] [ 1.15144299e-01 9.93347908e-01 -1.31269575e-03 4.14684733e+00] [ 7.66707696e-03 4.32715300e-04 9.99970514e-01 8.48744739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.97, Y:4.15, Z:0.85 [[ 9.93466582e-01 -1.13872320e-01 -7.56601025e-03 1.43965370e+02] [ 1.13865603e-01 9.93495293e-01 -1.31407708e-03 4.15077274e+00] [ 7.66643257e-03 4.43983348e-04 9.99970514e-01 8.48213676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.745898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:143.99, Y:4.15, Z:0.85 [[ 9.93664044e-01 -1.12136198e-01 -7.56577133e-03 1.43993048e+02] [ 1.12129421e-01 9.93692741e-01 -1.31545118e-03 4.15476071e+00] [ 7.66556174e-03 4.58770982e-04 9.99970514e-01 8.47122988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:4.16, Z:0.85 [[ 9.93879890e-01 -1.10206747e-01 -7.56552582e-03 1.44020874e+02] [ 1.10199904e-01 9.93908571e-01 -1.31686171e-03 4.15804281e+00] [ 7.66456800e-03 4.75082156e-04 9.99970514e-01 8.49072154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.05, Y:4.16, Z:0.85 [[ 9.94081620e-01 -1.08372031e-01 -7.56544982e-03 1.44048827e+02] [ 1.08365131e-01 9.94110287e-01 -1.31729819e-03 4.16185973e+00] [ 7.66364977e-03 4.89670961e-04 9.99970514e-01 8.49568119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.08, Y:4.17, Z:0.85 [[ 9.94556552e-01 -1.03923204e-01 -7.56521420e-03 1.44076607e+02] [ 1.03916165e-01 9.94585186e-01 -1.31864992e-03 4.16550904e+00] [ 7.66128830e-03 5.25323866e-04 9.99970514e-01 8.49719900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.10, Y:4.17, Z:0.85 [[ 9.94835799e-01 -1.01215143e-01 -7.56495757e-03 1.44103107e+02] [ 1.01208015e-01 9.94864410e-01 -1.32012057e-03 4.16997972e+00] [ 7.65972324e-03 5.47668857e-04 9.99970514e-01 8.48601607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.13, Y:4.17, Z:0.85 [[ 9.95129844e-01 -9.82820798e-02 -7.56484641e-03 1.44130132e+02] [ 9.82748632e-02 9.95158433e-01 -1.32075725e-03 4.17467113e+00] [ 7.65802747e-03 5.70890712e-04 9.99970514e-01 8.47144916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.925898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:144.16, Y:4.18, Z:0.85 [[ 9.95400791e-01 -9.54989031e-02 -7.56476837e-03 1.44157827e+02] [ 9.54916031e-02 9.95429359e-01 -1.32120406e-03 4.17986562e+00] [ 7.65636607e-03 5.92755704e-04 9.99970514e-01 8.45827397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.18, Y:4.18, Z:0.85 [[ 9.95647245e-01 -9.28942454e-02 -7.56451200e-03 1.44184531e+02] [ 9.28868596e-02 9.95675792e-01 -1.32267028e-03 4.18423396e+00] [ 7.65466993e-03 6.14269261e-04 9.99970514e-01 8.45940454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.21, Y:4.19, Z:0.85 [[ 9.95784524e-01 -9.14109468e-02 -7.56440039e-03 1.44211809e+02] [ 9.14035137e-02 9.95813058e-01 -1.32330829e-03 4.18955424e+00] [ 7.65369355e-03 6.26317137e-04 9.99970514e-01 8.48567153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.24, Y:4.19, Z:0.85 [[ 9.95917105e-01 -8.99550038e-02 -7.56414979e-03 1.44239533e+02] [ 8.99475182e-02 9.95945626e-01 -1.32473917e-03 4.19404903e+00] [ 7.65264881e-03 6.38953901e-04 9.99970514e-01 8.49400700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:4.20, Z:0.85 [[ 9.95907885e-01 -9.00570316e-02 -7.56407180e-03 1.44266279e+02] [ 9.00495456e-02 9.95936405e-01 -1.32518433e-03 4.19816168e+00] [ 7.65267665e-03 6.38620295e-04 9.99970514e-01 8.48642850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.29, Y:4.20, Z:0.85 [[ 9.95905451e-01 -9.00839598e-02 -7.56396599e-03 1.44293480e+02] [ 9.00764700e-02 9.95933970e-01 -1.32578801e-03 4.20230186e+00] [ 7.65264291e-03 6.39024153e-04 9.99970514e-01 8.48951368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.32, Y:4.21, Z:0.85 [[ 9.95986085e-01 -8.91880496e-02 -7.56371393e-03 1.44322464e+02] [ 8.91805234e-02 9.96014595e-01 -1.32722448e-03 4.20656022e+00] [ 7.65194203e-03 6.47361151e-04 9.99970514e-01 8.46722249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.35, Y:4.21, Z:0.85 [[ 9.96053157e-01 -8.84356847e-02 -7.56552704e-03 1.44348984e+02] [ 8.84282147e-02 9.96081682e-01 -1.31689248e-03 4.21313786e+00] [ 7.65234319e-03 6.42688866e-04 9.99970514e-01 8.50086123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.38, Y:4.22, Z:0.85 [[ 9.96242230e-01 -8.62798452e-02 -7.56359771e-03 1.44375695e+02] [ 8.62722308e-02 9.96270716e-01 -1.32788196e-03 4.21998548e+00] [ 7.64996035e-03 6.70363643e-04 9.99970514e-01 8.51264521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.40, Y:4.23, Z:0.85 [[ 9.96777336e-01 -7.98607210e-02 -7.56351892e-03 1.44401558e+02] [ 7.98529199e-02 9.96805772e-01 -1.32833060e-03 4.23142422e+00] [ 7.64544075e-03 7.20080763e-04 9.99970514e-01 8.52441137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.43, Y:4.24, Z:0.85 [[ 9.97019560e-01 -7.67775428e-02 -7.56341307e-03 1.44428649e+02] [ 7.67696493e-02 9.97047970e-01 -1.32893302e-03 4.24034672e+00] [ 7.64311786e-03 7.44331650e-04 9.99970514e-01 8.51871389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.255898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:144.46, Y:4.25, Z:0.85 [[ 9.97236189e-01 -7.39106389e-02 -7.56316667e-03 1.44455624e+02] [ 7.39026532e-02 9.97264573e-01 -1.33033382e-03 4.24961549e+00] [ 7.64080400e-03 7.67718947e-04 9.99970514e-01 8.49447393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:4.26, Z:0.85 [[ 9.97366269e-01 -7.21340991e-02 -7.56292097e-03 1.44481708e+02] [ 7.21260524e-02 9.97394636e-01 -1.33172919e-03 4.25905743e+00] [ 7.63927989e-03 7.82738136e-04 9.99970514e-01 8.50815579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:4.27, Z:0.85 [[ 9.97419325e-01 -7.13967358e-02 -7.56281382e-03 1.44508401e+02] [ 7.13886636e-02 9.97447685e-01 -1.33233738e-03 4.26887457e+00] [ 7.63863567e-03 7.88999881e-04 9.99970514e-01 8.51838258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.345898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:144.54, Y:4.28, Z:0.85 [[ 9.97407333e-01 -7.15640969e-02 -7.56257071e-03 1.44535125e+02] [ 7.15560191e-02 9.97435691e-01 -1.33371590e-03 4.27878776e+00] [ 7.63862411e-03 7.89110568e-04 9.99970514e-01 8.51575052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.56, Y:4.29, Z:0.85 [[ 9.97126226e-01 -7.53797096e-02 -7.56232798e-03 1.44561872e+02] [ 7.53717299e-02 9.97154612e-01 -1.33509079e-03 4.29303674e+00] [ 7.64144898e-03 7.61268299e-04 9.99970514e-01 8.53149229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.59, Y:4.30, Z:0.85 [[ 9.96853759e-01 -7.89011914e-02 -7.56212670e-03 1.44588170e+02] [ 7.88933036e-02 9.96882170e-01 -1.33622991e-03 4.30216298e+00] [ 7.64397940e-03 7.35424647e-04 9.99970514e-01 8.52626548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.62, Y:4.31, Z:0.85 [[ 9.96479139e-01 -8.34993432e-02 -7.56204928e-03 1.44616430e+02] [ 8.34915832e-02 9.96507586e-01 -1.33666785e-03 4.31060936e+00] [ 7.64725037e-03 7.00594166e-04 9.99970514e-01 8.52956545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.64, Y:4.32, Z:0.85 [[ 9.96027098e-01 -8.87290215e-02 -7.56183376e-03 1.44643223e+02] [ 8.87214018e-02 9.96055582e-01 -1.33788603e-03 4.31788624e+00] [ 7.65071604e-03 6.61674248e-04 9.99970514e-01 8.53228833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.67, Y:4.33, Z:0.85 [[ 9.94918298e-01 -1.00401192e-01 -7.56175692e-03 1.44670213e+02] [ 1.00393904e-01 9.94946869e-01 -1.33832015e-03 4.32572416e+00] [ 7.65791532e-03 5.72364909e-04 9.99970514e-01 8.53200031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:4.33, Z:0.85 [[ 9.94314786e-01 -1.06211721e-01 -7.56152959e-03 1.44697252e+02] [ 1.06204590e-01 9.94343397e-01 -1.33960334e-03 4.33153117e+00] [ 7.66103860e-03 5.28918253e-04 9.99970514e-01 8.54000915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.72, Y:4.34, Z:0.85 [[ 9.93706431e-01 -1.11760258e-01 -7.56129014e-03 1.44723350e+02] [ 1.11753276e-01 9.93735079e-01 -1.34095356e-03 4.33680519e+00] [ 7.66378457e-03 4.87515225e-04 9.99970514e-01 8.54701987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.585898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:144.75, Y:4.34, Z:0.85 [[ 9.93128842e-01 -1.16781552e-01 -7.56117849e-03 1.44750570e+02] [ 1.16774711e-01 9.93157524e-01 -1.34158282e-03 4.34205997e+00] [ 7.66611343e-03 4.49410160e-04 9.99970514e-01 8.53534448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.78, Y:4.35, Z:0.86 [[ 9.92585706e-01 -1.21311374e-01 -7.56093057e-03 1.44778230e+02] [ 1.21304652e-01 9.92614415e-01 -1.34297859e-03 4.34590941e+00] [ 7.66800726e-03 4.15845302e-04 9.99970514e-01 8.56667040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.81, Y:4.35, Z:0.85 [[ 9.91824175e-01 -1.27387762e-01 -7.56067862e-03 1.44805984e+02] [ 1.27381206e-01 9.91852923e-01 -1.34439556e-03 4.34754318e+00] [ 7.67034073e-03 3.70315651e-04 9.99970514e-01 8.54372245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.675898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:144.83, Y:4.35, Z:0.85 [[ 9.91627745e-01 -1.28907927e-01 -7.56060013e-03 1.44834157e+02] [ 1.28901412e-01 9.91656502e-01 -1.34483682e-03 4.35001198e+00] [ 7.67087840e-03 3.59005468e-04 9.99970514e-01 8.49991552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.86, Y:4.35, Z:0.85 [[ 9.91466741e-01 -1.30140462e-01 -7.56052294e-03 1.44862533e+02] [ 1.30133980e-01 9.91495506e-01 -1.34527060e-03 4.35149326e+00] [ 7.67129865e-03 3.49910120e-04 9.99970514e-01 8.51920421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.89, Y:4.35, Z:0.85 [[ 9.91374412e-01 -1.30841954e-01 -7.56026788e-03 1.44890165e+02] [ 1.30835481e-01 9.91403179e-01 -1.34670252e-03 4.35292360e+00] [ 7.67147880e-03 3.45935136e-04 9.99970514e-01 8.51659009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.92, Y:4.35, Z:0.85 [[ 9.91386774e-01 -1.30748261e-01 -7.56015732e-03 1.44918058e+02] [ 1.30741780e-01 9.91415539e-01 -1.34732286e-03 4.35432788e+00] [ 7.67141757e-03 3.47289637e-04 9.99970514e-01 8.52268315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.795898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:144.95, Y:4.36, Z:0.85 [[ 9.91412411e-01 -1.30553731e-01 -7.56008065e-03 1.44945897e+02] [ 1.30547242e-01 9.91441174e-01 -1.34775296e-03 4.35564358e+00] [ 7.67132941e-03 3.49231340e-04 9.99970514e-01 8.51538123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.97, Y:4.35, Z:0.86 [[ 9.91480983e-01 -1.30031954e-01 -7.55983018e-03 1.44974997e+02] [ 1.30025438e-01 9.91509740e-01 -1.34915641e-03 4.35032624e+00] [ 7.67107871e-03 3.54692694e-04 9.99970514e-01 8.55885783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:4.35, Z:0.86 [[ 9.91511538e-01 -1.29798777e-01 -7.55956821e-03 1.45003593e+02] [ 1.29792243e-01 9.91540291e-01 -1.35062268e-03 4.34940780e+00] [ 7.67092564e-03 3.57984652e-04 9.99970514e-01 8.56057864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.885898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:145.03, Y:4.35, Z:0.85 [[ 9.91568743e-01 -1.29361055e-01 -7.55948690e-03 1.45031095e+02] [ 1.29354506e-01 9.91597492e-01 -1.35107767e-03 4.34816100e+00] [ 7.67074508e-03 3.61832693e-04 9.99970514e-01 8.53991964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.06, Y:4.35, Z:0.86 [[ 9.91586258e-01 -1.29226735e-01 -7.55937450e-03 1.45058467e+02] [ 1.29220176e-01 9.91615005e-01 -1.35170621e-03 4.34616688e+00] [ 7.67066577e-03 3.63509595e-04 9.99970514e-01 8.55744773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94589822700001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:145.09, Y:4.34, Z:0.85 [[ 9.91674981e-01 -1.28544117e-01 -7.55926331e-03 1.45086058e+02] [ 1.28537534e-01 9.91703723e-01 -1.35232776e-03 4.34486765e+00] [ 7.67038334e-03 3.69420537e-04 9.99970514e-01 8.53490373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.11, Y:4.34, Z:0.86 [[ 9.91816934e-01 -1.27444220e-01 -7.55909007e-03 1.45114542e+02] [ 1.27437598e-01 9.91845667e-01 -1.35329544e-03 4.34282401e+00] [ 7.66992041e-03 3.78909052e-04 9.99970514e-01 8.56570262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.005898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:145.14, Y:4.34, Z:0.86 [[ 9.92455234e-01 -1.22374317e-01 -7.55883647e-03 1.45143707e+02] [ 1.22367537e-01 9.92483930e-01 -1.35471045e-03 4.33589851e+00] [ 7.66780549e-03 4.19533279e-04 9.99970514e-01 8.56234845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.17, Y:4.34, Z:0.86 [[ 9.92844632e-01 -1.19173831e-01 -7.55875780e-03 1.45171066e+02] [ 1.19166955e-01 9.92873305e-01 -1.35514926e-03 4.33546890e+00] [ 7.66638717e-03 4.44698513e-04 9.99970514e-01 8.58601889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.20, Y:4.34, Z:0.86 [[ 9.93241712e-01 -1.15817829e-01 -7.55858572e-03 1.45199327e+02] [ 1.15810849e-01 9.93270360e-01 -1.35610835e-03 4.33629070e+00] [ 7.66478069e-03 4.71577149e-04 9.99970514e-01 8.57861333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.23, Y:4.34, Z:0.86 [[ 9.93618908e-01 -1.12535938e-01 -7.55833904e-03 1.45227762e+02] [ 1.12528854e-01 9.93647530e-01 -1.35748186e-03 4.33701171e+00] [ 7.66309041e-03 4.98288411e-04 9.99970514e-01 8.56595243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.26, Y:4.34, Z:0.86 [[ 9.93961418e-01 -1.09469514e-01 -7.55809281e-03 1.45255728e+02] [ 1.09462331e-01 9.93990016e-01 -1.35885144e-03 4.33766441e+00] [ 7.66142160e-03 5.23319443e-04 9.99970514e-01 8.56190257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.28, Y:4.33, Z:0.85 [[ 9.94578661e-01 -1.03711938e-01 -7.55783530e-03 1.45283159e+02] [ 1.03704578e-01 9.94607214e-01 -1.36028218e-03 4.33499377e+00] [ 7.65815501e-03 5.69125509e-04 9.99970514e-01 8.54762116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.31, Y:4.34, Z:0.86 [[ 9.94823602e-01 -1.01335492e-01 -7.55772357e-03 1.45310930e+02] [ 1.01328059e-01 9.94852136e-01 -1.36090266e-03 4.33740450e+00] [ 7.65672518e-03 5.88048628e-04 9.99970514e-01 8.55886640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.34, Y:4.34, Z:0.86 [[ 9.95070192e-01 -9.88847641e-02 -7.55748304e-03 1.45339118e+02] [ 9.88772515e-02 9.95098705e-01 -1.36223707e-03 4.34054794e+00] [ 7.65514608e-03 6.08258353e-04 9.99970514e-01 8.56343910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.37, Y:4.34, Z:0.86 [[ 9.95294828e-01 -9.65975896e-02 -7.55723705e-03 1.45366608e+02] [ 9.65900012e-02 9.95323320e-01 -1.36360038e-03 4.34436509e+00] [ 7.65361478e-03 6.27230870e-04 9.99970514e-01 8.56848644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:4.35, Z:0.86 [[ 9.95511968e-01 -9.43335203e-02 -7.55697785e-03 1.45394781e+02] [ 9.43258562e-02 9.95540441e-01 -1.36503533e-03 4.34869631e+00] [ 7.65204565e-03 6.46090605e-04 9.99970514e-01 8.56070870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:4.35, Z:0.86 [[ 9.95715473e-01 -9.21606936e-02 -7.55673551e-03 1.45421515e+02] [ 9.21529574e-02 9.95743926e-01 -1.36637563e-03 4.35312856e+00] [ 7.65049960e-03 6.64145830e-04 9.99970514e-01 8.55140763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.45, Y:4.36, Z:0.85 [[ 9.96070133e-01 -8.82450475e-02 -7.55662317e-03 1.45448678e+02] [ 8.82371948e-02 9.96098554e-01 -1.36699662e-03 4.35756221e+00] [ 7.64777209e-03 6.94849270e-04 9.99970514e-01 8.54595588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.48, Y:4.36, Z:0.85 [[ 9.96213896e-01 -8.66070179e-02 -7.55637141e-03 1.45475080e+02] [ 8.65991080e-02 9.96242301e-01 -1.36838687e-03 4.36200426e+00] [ 7.64648874e-03 7.08830994e-04 9.99970514e-01 8.54843649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.50, Y:4.37, Z:0.86 [[ 9.96297468e-01 -8.56402855e-02 -7.55626195e-03 1.45503109e+02] [ 8.56323435e-02 9.96325864e-01 -1.36899103e-03 4.36676319e+00] [ 7.64574000e-03 7.16861881e-04 9.99970514e-01 8.55892976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:4.37, Z:0.86 [[ 9.96297161e-01 -8.56438757e-02 -7.55601357e-03 1.45532129e+02] [ 8.56359236e-02 9.96325555e-01 -1.37036055e-03 4.37023348e+00] [ 7.64561240e-03 7.18220126e-04 9.99970514e-01 8.57327934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.56, Y:4.37, Z:0.86 [[ 9.96237686e-01 -8.63329737e-02 -7.55579445e-03 1.45560272e+02] [ 8.63250321e-02 9.96266083e-01 -1.37156767e-03 4.37451862e+00] [ 7.64599325e-03 7.14153209e-04 9.99970514e-01 8.58360660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.59, Y:4.38, Z:0.86 [[ 9.96133656e-01 -8.75251546e-02 -7.55554371e-03 1.45587287e+02] [ 8.75172366e-02 9.96162059e-01 -1.37294754e-03 4.37890812e+00] [ 7.64671343e-03 7.06398943e-04 9.99970514e-01 8.59719321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.61, Y:4.38, Z:0.86 [[ 9.96027137e-01 -8.87291189e-02 -7.55546566e-03 1.45614693e+02] [ 8.87212320e-02 9.96055549e-01 -1.37337689e-03 4.38302172e+00] [ 7.64752202e-03 6.97590431e-04 9.99970514e-01 8.61515477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.64, Y:4.39, Z:0.86 [[ 9.95890534e-01 -9.02494481e-02 -7.55521663e-03 1.45641460e+02] [ 9.02415943e-02 9.95918955e-01 -1.37474551e-03 4.38722989e+00] [ 7.64845347e-03 6.87301251e-04 9.99970514e-01 8.62549965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.67, Y:4.39, Z:0.86 [[ 9.95874246e-01 -9.04290173e-02 -7.55510828e-03 1.45669453e+02] [ 9.04211641e-02 9.95902667e-01 -1.37534071e-03 4.39249986e+00] [ 7.64852319e-03 6.86524711e-04 9.99970514e-01 8.62768704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.70, Y:4.40, Z:0.86 [[ 9.95738575e-01 -9.19109054e-02 -7.55486004e-03 1.45696443e+02] [ 9.19030843e-02 9.95767005e-01 -1.37670295e-03 4.39641503e+00] [ 7.64941437e-03 6.76521294e-04 9.99970514e-01 8.62778900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:4.40, Z:0.86 [[ 9.95449172e-01 -9.49940681e-02 -7.55468881e-03 1.45724607e+02] [ 9.49863280e-02 9.95477624e-01 -1.37764193e-03 4.39809034e+00] [ 7.65139148e-03 6.53780373e-04 9.99970514e-01 8.61867230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.75, Y:4.40, Z:0.86 [[ 9.95259462e-01 -9.69615064e-02 -7.55444098e-03 1.45753047e+02] [ 9.69538123e-02 9.95287927e-01 -1.37899963e-03 4.40066221e+00] [ 7.65255378e-03 6.40030580e-04 9.99970514e-01 8.62905688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:4.40, Z:0.86 [[ 9.95046661e-01 -9.91215288e-02 -7.55417957e-03 1.45779793e+02] [ 9.91138857e-02 9.95075139e-01 -1.38043016e-03 4.40278243e+00] [ 7.65380663e-03 6.24868333e-04 9.99970514e-01 8.63989759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:4.40, Z:0.87 [[ 9.94813369e-01 -1.01436171e-01 -7.55406556e-03 1.45807044e+02] [ 1.01428590e-01 9.94841864e-01 -1.38105374e-03 4.40402145e+00] [ 7.65518947e-03 6.07692503e-04 9.99970514e-01 8.65444681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.84, Y:4.40, Z:0.87 [[ 9.94553888e-01 -1.03949517e-01 -7.55395637e-03 1.45835021e+02] [ 1.03942003e-01 9.94582400e-01 -1.38165074e-03 4.40492214e+00] [ 7.65665398e-03 5.88952761e-04 9.99970514e-01 8.65906874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.86, Y:4.41, Z:0.87 [[ 9.94313138e-01 -1.06227701e-01 -7.55370713e-03 1.45863614e+02] [ 1.06220243e-01 9.94341665e-01 -1.38301203e-03 4.40603853e+00] [ 7.65787991e-03 5.72790424e-04 9.99970514e-01 8.65953222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:4.40, Z:0.86 [[ 9.94041797e-01 -1.08737534e-01 -7.55345821e-03 1.45892192e+02] [ 1.08730137e-01 9.94070340e-01 -1.38437019e-03 4.40449578e+00] [ 7.65920177e-03 5.54833283e-04 9.99970514e-01 8.63521152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.92, Y:4.41, Z:0.86 [[ 9.94012813e-01 -1.09002185e-01 -7.55320451e-03 1.45919853e+02] [ 1.08994785e-01 9.94041356e-01 -1.38575302e-03 4.40670055e+00] [ 7.65924776e-03 5.54196353e-04 9.99970514e-01 8.62473841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.875898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:145.95, Y:4.41, Z:0.86 [[ 9.94061423e-01 -1.08558004e-01 -7.55294324e-03 1.45946551e+02] [ 1.08550581e-01 9.94089959e-01 -1.38717560e-03 4.40944824e+00] [ 7.65889405e-03 5.59061376e-04 9.99970514e-01 8.60412094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:4.41, Z:0.86 [[ 9.94197477e-01 -1.07304859e-01 -7.55276509e-03 1.45973658e+02] [ 1.07297392e-01 9.94226002e-01 -1.38814485e-03 4.41094627e+00] [ 7.65811013e-03 5.69698117e-04 9.99970514e-01 8.62001175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:4.41, Z:0.86 [[ 9.94357188e-01 -1.05814650e-01 -7.55265577e-03 1.46000821e+02] [ 1.05807136e-01 9.94385700e-01 -1.38873939e-03 4.41316514e+00] [ 7.65720188e-03 5.81778114e-04 9.99970514e-01 8.61537179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:4.42, Z:0.86 [[ 9.94495164e-01 -1.04509938e-01 -7.55255004e-03 1.46028830e+02] [ 1.04502382e-01 9.94523666e-01 -1.38931416e-03 4.41620363e+00] [ 7.65638689e-03 5.92406745e-04 9.99970514e-01 8.60999491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.06, Y:4.42, Z:0.86 [[ 9.94799352e-01 -1.01573675e-01 -7.55230546e-03 1.46057094e+02] [ 1.01566026e-01 9.94827829e-01 -1.39064247e-03 4.41902042e+00] [ 7.65449630e-03 6.16352575e-04 9.99970514e-01 8.59806926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:4.42, Z:0.86 [[ 9.94957384e-01 -1.00013848e-01 -7.55204514e-03 1.46083615e+02] [ 1.00006142e-01 9.94985846e-01 -1.39205471e-03 4.42403378e+00] [ 7.65340277e-03 6.29784215e-04 9.99970514e-01 8.59367795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.11, Y:4.43, Z:0.86 [[ 9.95146310e-01 -9.81162029e-02 -7.55193261e-03 1.46110546e+02] [ 9.81084388e-02 9.95174756e-01 -1.39266492e-03 4.42934098e+00] [ 7.65213569e-03 6.44997035e-04 9.99970514e-01 8.58004903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.085898227 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:146.14, Y:4.44, Z:0.86 [[ 9.95325445e-01 -9.62820240e-02 -7.55185386e-03 1.46138182e+02] [ 9.62742044e-02 9.95353875e-01 -1.39309184e-03 4.43606504e+00] [ 7.65089670e-03 6.59531036e-04 9.99970514e-01 8.57276598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.17, Y:4.44, Z:0.86 [[ 9.95528116e-01 -9.41633826e-02 -7.55160121e-03 1.46166007e+02] [ 9.41554921e-02 9.95556527e-01 -1.39446003e-03 4.44144020e+00] [ 7.64935295e-03 6.77199437e-04 9.99970514e-01 8.58932711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.19, Y:4.45, Z:0.86 [[ 9.95679539e-01 -9.25485407e-02 -7.55134850e-03 1.46193327e+02] [ 9.25405939e-02 9.95707934e-01 -1.39582720e-03 4.44835240e+00] [ 7.64811938e-03 6.90990311e-04 9.99970514e-01 8.59278634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:4.46, Z:0.86 [[ 9.95995947e-01 -8.90789245e-02 -7.55109601e-03 1.46221478e+02] [ 8.90708686e-02 9.96024311e-01 -1.39719175e-03 4.45683453e+00] [ 7.64553554e-03 7.19014645e-04 9.99970514e-01 8.59995842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.25, Y:4.46, Z:0.86 [[ 9.96078447e-01 -8.81516942e-02 -7.55024919e-03 1.46249375e+02] [ 8.81435775e-02 9.96106794e-01 -1.40176538e-03 4.46336581e+00] [ 7.64442251e-03 7.30762312e-04 9.99970514e-01 8.62012727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.28, Y:4.47, Z:0.86 [[ 9.96114592e-01 -8.77422596e-02 -7.55082457e-03 1.46276950e+02] [ 8.77341546e-02 9.96142942e-01 -1.39865914e-03 4.46941433e+00] [ 7.64442212e-03 7.30759571e-04 9.99970514e-01 8.62579958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.30, Y:4.47, Z:0.86 [[ 9.96125534e-01 -8.76179802e-02 -7.55056377e-03 1.46303555e+02] [ 8.76098611e-02 9.96153880e-01 -1.40006563e-03 4.47433054e+00] [ 7.64419432e-03 7.33137278e-04 9.99970514e-01 8.61703403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.33, Y:4.48, Z:0.86 [[ 9.95957297e-01 -8.95100786e-02 -7.55045039e-03 1.46331702e+02] [ 8.95020087e-02 9.95985657e-01 -1.40067679e-03 4.47859156e+00] [ 7.64551499e-03 7.19233793e-04 9.99970514e-01 8.64021654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.325898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:146.36, Y:4.48, Z:0.87 [[ 9.95784080e-01 -9.14169557e-02 -7.55022967e-03 1.46359486e+02] [ 9.14089312e-02 9.95812453e-01 -1.40186558e-03 4.48389897e+00] [ 7.64676701e-03 7.05797001e-04 9.99970514e-01 8.65253568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.39, Y:4.49, Z:0.87 [[ 9.95643025e-01 -9.29406487e-02 -7.54997455e-03 1.46386828e+02] [ 9.29326574e-02 9.95671408e-01 -1.40323822e-03 4.48780213e+00] [ 7.64771166e-03 6.95485148e-04 9.99970514e-01 8.68825316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.41, Y:4.49, Z:0.87 [[ 9.95549602e-01 -9.39361046e-02 -7.54971107e-03 1.46412957e+02] [ 9.39281310e-02 9.95577989e-01 -1.40465439e-03 4.49240811e+00] [ 7.64827393e-03 6.89272872e-04 9.99970514e-01 8.70692728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:4.50, Z:0.87 [[ 9.95531615e-01 -9.41265442e-02 -7.54959638e-03 1.46439100e+02] [ 9.41185714e-02 9.95560003e-01 -1.40527055e-03 4.49737119e+00] [ 7.64834945e-03 6.88434038e-04 9.99970514e-01 8.70938542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:4.50, Z:0.87 [[ 9.95717925e-01 -9.21347826e-02 -7.54948568e-03 1.46465886e+02] [ 9.21267485e-02 9.95746296e-01 -1.40586499e-03 4.50383715e+00] [ 7.64690147e-03 7.04335407e-04 9.99970514e-01 8.70156965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.49, Y:4.51, Z:0.87 [[ 9.95836225e-01 -9.08472417e-02 -7.54922631e-03 1.46492229e+02] [ 9.08391605e-02 9.95864582e-01 -1.40725638e-03 4.51022479e+00] [ 7.64585247e-03 7.15631503e-04 9.99970514e-01 8.70557725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:4.52, Z:0.87 [[ 9.95918053e-01 -8.99457797e-02 -7.54911345e-03 1.46517951e+02] [ 8.99376683e-02 9.95946401e-01 -1.40786155e-03 4.51683020e+00] [ 7.64514358e-03 7.23165076e-04 9.99970514e-01 8.71713606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.55, Y:4.52, Z:0.87 [[ 9.95904354e-01 -9.00973380e-02 -7.54900390e-03 1.46545225e+02] [ 9.00892266e-02 9.95932702e-01 -1.40844870e-03 4.52363336e+00] [ 7.64519733e-03 7.22596270e-04 9.99970514e-01 8.71334524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.57, Y:4.53, Z:0.87 [[ 9.95834008e-01 -9.08715862e-02 -7.54874179e-03 1.46571147e+02] [ 9.08634862e-02 9.95862360e-01 -1.40985212e-03 4.52971116e+00] [ 7.64562331e-03 7.18073695e-04 9.99970514e-01 8.69833968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.60, Y:4.54, Z:0.87 [[ 9.95706858e-01 -9.22543840e-02 -7.54856177e-03 1.46598443e+02] [ 9.22463162e-02 9.95735219e-01 -1.41081534e-03 4.53562971e+00] [ 7.64652270e-03 7.08431496e-04 9.99970514e-01 8.67081998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.625898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:146.62, Y:4.54, Z:0.86 [[ 9.95313198e-01 -9.64088209e-02 -7.54830148e-03 1.46624368e+02] [ 9.64008610e-02 9.95341589e-01 -1.41220656e-03 4.54237982e+00] [ 7.64928757e-03 6.77925064e-04 9.99970514e-01 8.63412404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.65, Y:4.55, Z:0.87 [[ 9.95158181e-01 -9.79960168e-02 -7.54818820e-03 1.46651985e+02] [ 9.79880977e-02 9.95186584e-01 -1.41281182e-03 4.54701765e+00] [ 7.65030556e-03 6.66338639e-04 9.99970514e-01 8.65372964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:4.55, Z:0.87 [[ 9.94973453e-01 -9.98541810e-02 -7.54793260e-03 1.46679810e+02] [ 9.98463046e-02 9.95001867e-01 -1.41417602e-03 4.55231267e+00] [ 7.65141842e-03 6.53434416e-04 9.99970514e-01 8.66189405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:4.56, Z:0.87 [[ 9.94837227e-01 -1.01202393e-01 -7.54767698e-03 1.46707020e+02] [ 1.01194545e-01 9.94865649e-01 -1.41553899e-03 4.55786457e+00] [ 7.65218049e-03 6.44447151e-04 9.99970514e-01 8.66842149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.73, Y:4.57, Z:0.87 [[ 9.94715223e-01 -1.02394635e-01 -7.54741770e-03 1.46732936e+02] [ 1.02386811e-01 9.94743652e-01 -1.41692010e-03 4.56521064e+00] [ 7.65283086e-03 6.36675965e-04 9.99970514e-01 8.65393799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.76, Y:4.57, Z:0.86 [[ 9.94665107e-01 -1.02880332e-01 -7.54730453e-03 1.46760301e+02] [ 1.02872517e-01 9.94693539e-01 -1.41752265e-03 4.57240674e+00] [ 7.65309025e-03 6.33550113e-04 9.99970514e-01 8.64852732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.79, Y:4.58, Z:0.86 [[ 9.94645042e-01 -1.03074162e-01 -7.54704634e-03 1.46787005e+02] [ 1.03066343e-01 9.94673472e-01 -1.41889595e-03 4.57861729e+00] [ 7.65309829e-03 6.33451363e-04 9.99970514e-01 8.63290128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:4.58, Z:0.86 [[ 9.94545494e-01 -1.04030304e-01 -7.54693402e-03 1.46814627e+02] [ 1.04022507e-01 9.94573930e-01 -1.41949308e-03 4.58451476e+00] [ 7.65365413e-03 6.26699447e-04 9.99970514e-01 8.62893496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.84, Y:4.59, Z:0.86 [[ 9.94392621e-01 -1.05481575e-01 -7.54667655e-03 1.46842223e+02] [ 1.05473809e-01 9.94421066e-01 -1.42086059e-03 4.59005394e+00] [ 7.65444876e-03 6.16916562e-04 9.99970514e-01 8.63214112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.87, Y:4.59, Z:0.86 [[ 9.94232305e-01 -1.06982123e-01 -7.54641526e-03 1.46868668e+02] [ 1.06974390e-01 9.94260759e-01 -1.42224702e-03 4.59478400e+00] [ 7.65525957e-03 6.06770769e-04 9.99970514e-01 8.63908957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.90, Y:4.60, Z:0.87 [[ 9.93811221e-01 -1.10825586e-01 -7.54623638e-03 1.46896539e+02] [ 1.10817956e-01 9.93839703e-01 -1.42319546e-03 4.59836571e+00] [ 7.65747580e-03 5.78129133e-04 9.99970514e-01 8.65007146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.92, Y:4.60, Z:0.87 [[ 9.93636077e-01 -1.12385071e-01 -7.54597837e-03 1.46923174e+02] [ 1.12377475e-01 9.93664568e-01 -1.42456220e-03 4.60212692e+00] [ 7.65827086e-03 5.67498396e-04 9.99970514e-01 8.65489156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.95, Y:4.61, Z:0.87 [[ 9.93538657e-01 -1.13243091e-01 -7.54586628e-03 1.46949650e+02] [ 1.13235515e-01 9.93567153e-01 -1.42515568e-03 4.60578635e+00] [ 7.65871391e-03 5.61487213e-04 9.99970514e-01 8.66757079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:4.61, Z:0.87 [[ 9.93543297e-01 -1.13202377e-01 -7.54575603e-03 1.46977726e+02] [ 1.13194795e-01 9.93571792e-01 -1.42573915e-03 4.60980241e+00] [ 7.65864740e-03 5.62393267e-04 9.99970514e-01 8.69670518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.00, Y:4.61, Z:0.87 [[ 9.93703085e-01 -1.11791075e-01 -7.54551352e-03 1.47004068e+02] [ 1.11783443e-01 9.93731566e-01 -1.42702145e-03 4.61403059e+00] [ 7.65774323e-03 5.74572132e-04 9.99970514e-01 8.72937689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:4.62, Z:0.88 [[ 9.94369409e-01 -1.05700264e-01 -7.54540043e-03 1.47031476e+02] [ 1.05692454e-01 9.94397841e-01 -1.42761916e-03 4.61941492e+00] [ 7.65402963e-03 6.22088936e-04 9.99970514e-01 8.79146694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.06, Y:4.63, Z:0.88 [[ 9.94727621e-01 -1.02274276e-01 -7.54532339e-03 1.47058346e+02] [ 1.02266364e-01 9.94756026e-01 -1.42802624e-03 4.62548202e+00] [ 7.65180626e-03 6.48864358e-04 9.99970514e-01 8.79928305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:4.63, Z:0.88 [[ 9.95029735e-01 -9.92919820e-02 -7.54507869e-03 1.47085496e+02] [ 9.92839756e-02 9.95058114e-01 -1.42931797e-03 4.63155699e+00] [ 7.64971158e-03 6.73108469e-04 9.99970514e-01 8.78849013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:4.64, Z:0.88 [[ 9.95238045e-01 -9.71818370e-02 -7.54480862e-03 1.47113133e+02] [ 9.71737597e-02 9.95266403e-01 -1.43074215e-03 4.63868448e+00] [ 7.64813669e-03 6.90771600e-04 9.99970514e-01 8.78412529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.14, Y:4.65, Z:0.88 [[ 9.95366529e-01 -9.58569372e-02 -7.54453876e-03 1.47139615e+02] [ 9.58488115e-02 9.95394874e-01 -1.43216372e-03 4.64563417e+00] [ 7.64707804e-03 7.02392757e-04 9.99970514e-01 8.78499656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:4.65, Z:0.88 [[ 9.95316068e-01 -9.63794940e-02 -7.54442165e-03 1.47166875e+02] [ 9.63713786e-02 9.95344415e-01 -1.43278039e-03 4.65369070e+00] [ 7.64738860e-03 6.99003025e-04 9.99970514e-01 8.75406469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.19, Y:4.66, Z:0.87 [[ 9.95168841e-01 -9.78880195e-02 -7.54415982e-03 1.47193464e+02] [ 9.78799367e-02 9.95197197e-01 -1.43415773e-03 4.65973431e+00] [ 7.64831356e-03 6.88807199e-04 9.99970514e-01 8.74363008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:4.67, Z:0.87 [[ 9.95007685e-01 -9.95127821e-02 -7.54404577e-03 1.47220306e+02] [ 9.95047412e-02 9.95036054e-01 -1.43475741e-03 4.66577659e+00] [ 7.64937423e-03 6.76926328e-04 9.99970514e-01 8.73248722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.25, Y:4.67, Z:0.87 [[ 9.94839926e-01 -1.01176139e-01 -7.54387074e-03 1.47247977e+02] [ 1.01168139e-01 9.94868306e-01 -1.43567709e-03 4.67177073e+00] [ 7.65041417e-03 6.65069526e-04 9.99970514e-01 8.71742144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.28, Y:4.68, Z:0.87 [[ 9.94634076e-01 -1.03180177e-01 -7.54361024e-03 1.47275687e+02] [ 1.03172223e-01 9.94662469e-01 -1.43704457e-03 4.67793143e+00] [ 7.65162050e-03 6.51042464e-04 9.99970514e-01 8.70420113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.30, Y:4.68, Z:0.87 [[ 9.94590963e-01 -1.03594955e-01 -7.54334845e-03 1.47303528e+02] [ 1.03587003e-01 9.94619356e-01 -1.43841742e-03 4.68368919e+00] [ 7.65177317e-03 6.49244108e-04 9.99970514e-01 8.70885657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:4.69, Z:0.87 [[ 9.94596619e-01 -1.03540653e-01 -7.54308677e-03 1.47330208e+02] [ 1.03532689e-01 9.94625009e-01 -1.43978837e-03 4.68905571e+00] [ 7.65161938e-03 6.51052591e-04 9.99970514e-01 8.70437020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.36, Y:4.69, Z:0.87 [[ 9.94577883e-01 -1.03720484e-01 -7.54290811e-03 1.47358159e+02] [ 1.03712518e-01 9.94606273e-01 -1.44072377e-03 4.69456795e+00] [ 7.65165629e-03 6.50618005e-04 9.99970514e-01 8.70655765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:4.70, Z:0.87 [[ 9.94575849e-01 -1.03740006e-01 -7.54264737e-03 1.47385645e+02] [ 1.03732031e-01 9.94604236e-01 -1.44208754e-03 4.70044035e+00] [ 7.65155119e-03 6.51851315e-04 9.99970514e-01 8.69751476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:4.71, Z:0.87 [[ 9.94572373e-01 -1.03773342e-01 -7.54238521e-03 1.47412652e+02] [ 1.03765357e-01 9.94600758e-01 -1.44345740e-03 4.70717393e+00] [ 7.65145444e-03 6.52984553e-04 9.99970514e-01 8.67639220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.525898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:147.44, Y:4.71, Z:0.86 [[ 9.94580327e-01 -1.03697108e-01 -7.54212302e-03 1.47439442e+02] [ 1.03689111e-01 9.94608707e-01 -1.44482602e-03 4.71478679e+00] [ 7.65128551e-03 6.54959500e-04 9.99970514e-01 8.63770197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.47, Y:4.72, Z:0.86 [[ 9.94751402e-01 -1.02042959e-01 -7.54204132e-03 1.47466363e+02] [ 1.02034911e-01 9.94779769e-01 -1.44525239e-03 4.72277740e+00] [ 7.65014795e-03 6.68115325e-04 9.99970514e-01 8.64437372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:4.73, Z:0.87 [[ 9.94794913e-01 -1.01617928e-01 -7.54177558e-03 1.47493405e+02] [ 1.01609857e-01 9.94823273e-01 -1.44663775e-03 4.73022231e+00] [ 7.64973820e-03 6.72789132e-04 9.99970514e-01 8.65667540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:4.74, Z:0.87 [[ 9.94799152e-01 -1.01576435e-01 -7.54150833e-03 1.47519816e+02] [ 1.01568353e-01 9.94827509e-01 -1.44802961e-03 4.73753707e+00] [ 7.64958564e-03 6.74520050e-04 9.99970514e-01 8.67002351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:4.75, Z:0.87 [[ 9.94718760e-01 -1.02360709e-01 -7.54140883e-03 1.47546393e+02] [ 1.02352646e-01 9.94747122e-01 -1.44854763e-03 4.74592799e+00] [ 7.65006910e-03 6.69014358e-04 9.99970514e-01 8.69486176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.57, Y:4.75, Z:0.87 [[ 9.94575016e-01 -1.03748085e-01 -7.54132666e-03 1.47573934e+02] [ 1.03740058e-01 9.94603389e-01 -1.44897533e-03 4.75273487e+00] [ 7.65095746e-03 6.58776993e-04 9.99970514e-01 8.71589834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:4.76, Z:0.87 [[ 9.94395779e-01 -1.05452202e-01 -7.54106140e-03 1.47600123e+02] [ 1.05444213e-01 9.94424162e-01 -1.45035451e-03 4.75903183e+00] [ 7.65195674e-03 6.47065119e-04 9.99970514e-01 8.72159557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.63, Y:4.77, Z:0.87 [[ 9.94125425e-01 -1.07971172e-01 -7.54088029e-03 1.47627483e+02] [ 1.07963248e-01 9.94153827e-01 -1.45129555e-03 4.76545400e+00] [ 7.65349308e-03 6.28631878e-04 9.99970514e-01 8.71849089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.765898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.65, Y:4.77, Z:0.87 [[ 9.93865627e-01 -1.10337006e-01 -7.54061493e-03 1.47654149e+02] [ 1.10329139e-01 9.93894044e-01 -1.45267301e-03 4.77214848e+00] [ 7.65485586e-03 6.11812214e-04 9.99970514e-01 8.70789674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.68, Y:4.78, Z:0.87 [[ 9.93671654e-01 -1.12070455e-01 -7.54043367e-03 1.47681936e+02] [ 1.12062631e-01 9.93700082e-01 -1.45361326e-03 4.77818531e+00] [ 7.65583666e-03 5.99413453e-04 9.99970514e-01 8.72210279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.71, Y:4.79, Z:0.88 [[ 9.93425299e-01 -1.14233623e-01 -7.54016799e-03 1.47708301e+02] [ 1.14225850e-01 9.93453742e-01 -1.45499009e-03 4.78558857e+00] [ 7.65701690e-03 5.84141865e-04 9.99970514e-01 8.76769339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.74, Y:4.79, Z:0.88 [[ 9.93378264e-01 -1.14641932e-01 -7.54005252e-03 1.47735751e+02] [ 1.14634167e-01 9.93406709e-01 -1.45558826e-03 4.79245272e+00] [ 7.65721021e-03 5.81602097e-04 9.99970514e-01 8.78825557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.76, Y:4.80, Z:0.88 [[ 9.93400512e-01 -1.14449002e-01 -7.53978863e-03 1.47761897e+02] [ 1.14441221e-01 9.93428953e-01 -1.45695387e-03 4.79949535e+00] [ 7.65699124e-03 5.84476103e-04 9.99970514e-01 8.79721754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.79, Y:4.81, Z:0.88 [[ 9.93434615e-01 -1.14152616e-01 -7.53967380e-03 1.47788880e+02] [ 1.14144822e-01 9.93463052e-01 -1.45754789e-03 4.80665157e+00] [ 7.65677025e-03 5.87363802e-04 9.99970514e-01 8.79860323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.81, Y:4.81, Z:0.88 [[ 9.93507534e-01 -1.13516241e-01 -7.53941016e-03 1.47814744e+02] [ 1.13508418e-01 9.93535963e-01 -1.45891033e-03 4.81341401e+00] [ 7.65628515e-03 5.93651883e-04 9.99970514e-01 8.80665600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.84, Y:4.82, Z:0.88 [[ 9.93641347e-01 -1.12338916e-01 -7.53929560e-03 1.47840868e+02] [ 1.12331055e-01 9.93669766e-01 -1.45950209e-03 4.82029471e+00] [ 7.65552898e-03 6.03324596e-04 9.99970514e-01 8.82438487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:4.83, Z:0.88 [[ 9.93936180e-01 -1.09699726e-01 -7.53918319e-03 1.47867651e+02] [ 1.09691786e-01 9.93964577e-01 -1.46008256e-03 4.83074176e+00] [ 7.65385168e-03 6.24242420e-04 9.99970514e-01 8.83522901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.89, Y:4.84, Z:0.88 [[ 9.94054859e-01 -1.08619064e-01 -7.53892748e-03 1.47894643e+02] [ 1.08611083e-01 9.94083245e-01 -1.46140166e-03 4.83905238e+00] [ 7.65305757e-03 6.33902350e-04 9.99970514e-01 8.82361574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:4.85, Z:0.88 [[ 9.94201520e-01 -1.07268389e-01 -7.53865764e-03 1.47922263e+02] [ 1.07260358e-01 9.94229891e-01 -1.46279233e-03 4.84653420e+00] [ 7.65207014e-03 6.45711237e-04 9.99970514e-01 8.83219730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:4.86, Z:0.88 [[ 9.94234551e-01 -1.06961655e-01 -7.54067500e-03 1.47947515e+02] [ 1.06953694e-01 9.94262942e-01 -1.45239898e-03 4.85563391e+00] [ 7.65276471e-03 6.37522207e-04 9.99970514e-01 8.79067994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.97, Y:4.87, Z:0.87 [[ 9.94316233e-01 -1.06199819e-01 -7.53837923e-03 1.47973167e+02] [ 1.06191747e-01 9.94344593e-01 -1.46421852e-03 4.86818950e+00] [ 7.65124637e-03 6.55382581e-04 9.99970514e-01 8.73823705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:4.88, Z:0.87 [[ 9.94342284e-01 -1.05955644e-01 -7.53812560e-03 1.47999808e+02] [ 1.05947555e-01 9.94370639e-01 -1.46552311e-03 4.87722382e+00] [ 7.65097121e-03 6.58585622e-04 9.99970514e-01 8.73346388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.03, Y:4.89, Z:0.87 [[ 9.94369535e-01 -1.05699612e-01 -7.53785685e-03 1.48025294e+02] [ 1.05691505e-01 9.94397885e-01 -1.46690412e-03 4.88556806e+00] [ 7.65068010e-03 6.61957329e-04 9.99970514e-01 8.73310433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.05, Y:4.89, Z:0.87 [[ 9.94363200e-01 -1.05759211e-01 -7.53767061e-03 1.48052557e+02] [ 1.05751099e-01 9.94391548e-01 -1.46786049e-03 4.89443752e+00] [ 7.65063571e-03 6.62469503e-04 9.99970514e-01 8.74249344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.08, Y:4.90, Z:0.87 [[ 9.94409559e-01 -1.05322437e-01 -7.53739301e-03 1.48078321e+02] [ 1.05314302e-01 9.94437901e-01 -1.46928456e-03 4.90290301e+00] [ 7.65021791e-03 6.67275326e-04 9.99970514e-01 8.74511651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:4.91, Z:0.88 [[ 9.94399573e-01 -1.05416700e-01 -7.53720108e-03 1.48104775e+02] [ 1.05408561e-01 9.94427913e-01 -1.47026845e-03 4.91220775e+00] [ 7.65019399e-03 6.67548804e-04 9.99970514e-01 8.75399229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.13, Y:4.92, Z:0.87 [[ 9.94390078e-01 -1.05506243e-01 -7.53692335e-03 1.48130090e+02] [ 1.05498095e-01 9.94418416e-01 -1.47169081e-03 4.92407192e+00] [ 7.65012794e-03 6.68303683e-04 9.99970514e-01 8.74308573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.16, Y:4.93, Z:0.87 [[ 9.94339351e-01 -1.05983261e-01 -7.53680225e-03 1.48156164e+02] [ 1.05975122e-01 9.94367691e-01 -1.47231072e-03 4.93172493e+00] [ 7.65039294e-03 6.65262951e-04 9.99970514e-01 8.72724833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.18, Y:4.94, Z:0.87 [[ 9.94294070e-01 -1.06407240e-01 -7.53669072e-03 1.48182874e+02] [ 1.06399109e-01 9.94322413e-01 -1.47288141e-03 4.93914043e+00] [ 7.65062574e-03 6.62580075e-04 9.99970514e-01 8.73064931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.395898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:148.21, Y:4.95, Z:0.87 [[ 9.94294586e-01 -1.06402440e-01 -7.53642477e-03 1.48208257e+02] [ 1.06394299e-01 9.94322925e-01 -1.47424096e-03 4.94748361e+00] [ 7.65050276e-03 6.63997179e-04 9.99970514e-01 8.72353853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.425898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:148.23, Y:4.96, Z:0.87 [[ 9.94400032e-01 -1.05412430e-01 -7.53630904e-03 1.48234093e+02] [ 1.05404255e-01 9.94428362e-01 -1.47483234e-03 4.95591197e+00] [ 7.64978512e-03 6.72214279e-04 9.99970514e-01 8.73786819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.26, Y:4.96, Z:0.88 [[ 9.94583823e-01 -1.03664000e-01 -7.53612808e-03 1.48260678e+02] [ 1.03655769e-01 9.94612137e-01 -1.47575644e-03 4.96462225e+00] [ 7.64850727e-03 6.86600332e-04 9.99970514e-01 8.76556568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.29, Y:4.98, Z:0.88 [[ 9.94833218e-01 -1.01242677e-01 -7.53585914e-03 1.48285907e+02] [ 1.01234367e-01 9.94861508e-01 -1.47712846e-03 4.97882019e+00] [ 7.64668463e-03 7.06608530e-04 9.99970514e-01 8.75057762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.31, Y:4.99, Z:0.88 [[ 9.94867206e-01 -1.00908159e-01 -7.53559251e-03 1.48312675e+02] [ 1.00899829e-01 9.94895491e-01 -1.47848744e-03 4.98788499e+00] [ 7.64631846e-03 7.10558671e-04 9.99970514e-01 8.75726749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:5.00, Z:0.88 [[ 9.94843510e-01 -1.01141533e-01 -7.53532218e-03 1.48338967e+02] [ 1.01133200e-01 9.94871794e-01 -1.47986393e-03 4.99660089e+00] [ 7.64635520e-03 7.10161779e-04 9.99970514e-01 8.77467985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:5.01, Z:0.88 [[ 9.94612119e-01 -1.03392241e-01 -7.53504130e-03 1.48365655e+02] [ 1.03383960e-01 9.94640419e-01 -1.48129270e-03 5.00739738e+00] [ 7.64781081e-03 6.94309265e-04 9.99970514e-01 8.81267764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.39, Y:5.01, Z:0.88 [[ 9.94358059e-01 -1.05807726e-01 -7.53495415e-03 1.48391349e+02] [ 1.05799511e-01 9.94386378e-01 -1.48173590e-03 5.01461329e+00] [ 7.64943487e-03 6.76181572e-04 9.99970514e-01 8.81467024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.635898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:148.42, Y:5.02, Z:0.88 [[ 9.93961070e-01 -1.09474274e-01 -7.53483288e-03 1.48418600e+02] [ 1.09466159e-01 9.93989418e-01 -1.48235233e-03 5.02241476e+00] [ 7.65182359e-03 6.48591300e-04 9.99970514e-01 8.79910454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.44, Y:5.03, Z:0.88 [[ 9.93554032e-01 -1.13108864e-01 -7.53455229e-03 1.48444678e+02] [ 1.13100842e-01 9.93582406e-01 -1.48377715e-03 5.02801956e+00] [ 7.65402694e-03 6.22048562e-04 9.99970514e-01 8.80805544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.47, Y:5.03, Z:0.88 [[ 9.93126167e-01 -1.16806039e-01 -7.53436035e-03 1.48471451e+02] [ 1.16798115e-01 9.93154568e-01 -1.48475115e-03 5.03403920e+00] [ 7.65621230e-03 5.94546127e-04 9.99970514e-01 8.81557618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.50, Y:5.04, Z:0.89 [[ 9.92326361e-01 -1.23416486e-01 -7.53423828e-03 1.48498822e+02] [ 1.23408747e-01 9.92354813e-01 -1.48537030e-03 5.03969519e+00] [ 7.65995680e-03 5.44181192e-04 9.99970514e-01 8.85126948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.52, Y:5.05, Z:0.89 [[ 9.92054569e-01 -1.25582527e-01 -7.53397638e-03 1.48524809e+02] [ 1.25574840e-01 9.92083035e-01 -1.48669753e-03 5.04500994e+00] [ 7.66103338e-03 5.28807201e-04 9.99970514e-01 8.86344227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.55, Y:5.05, Z:0.89 [[ 9.91822989e-01 -1.27398585e-01 -7.53385426e-03 1.48551940e+02] [ 1.27390945e-01 9.91851468e-01 -1.48731609e-03 5.05057757e+00] [ 7.66194638e-03 5.15409475e-04 9.99970514e-01 8.85803042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.58, Y:5.06, Z:0.88 [[ 9.91626433e-01 -1.28919601e-01 -7.53357324e-03 1.48579277e+02] [ 1.28911994e-01 9.91654921e-01 -1.48873816e-03 5.05576048e+00] [ 7.66263250e-03 5.05104156e-04 9.99970514e-01 8.84485305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.61, Y:5.06, Z:0.88 [[ 9.91466777e-01 -1.30141771e-01 -7.53328726e-03 1.48605702e+02] [ 1.30134189e-01 9.91495271e-01 -1.49018386e-03 5.06084708e+00] [ 7.66315386e-03 4.97129559e-04 9.99970514e-01 8.83755002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.63, Y:5.07, Z:0.88 [[ 9.91324565e-01 -1.31220644e-01 -7.53316308e-03 1.48632220e+02] [ 1.31213088e-01 9.91353067e-01 -1.49081136e-03 5.06648064e+00] [ 7.66364955e-03 4.89428329e-04 9.99970514e-01 8.83083360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.66, Y:5.07, Z:0.88 [[ 9.91101947e-01 -1.32891627e-01 -7.53303997e-03 1.48659875e+02] [ 1.32884114e-01 9.91130460e-01 -1.49143320e-03 5.07311740e+00] [ 7.66442435e-03 4.77141003e-04 9.99970514e-01 8.82611418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.69, Y:5.08, Z:0.88 [[ 9.91055190e-01 -1.33239891e-01 -7.53275888e-03 1.48686564e+02] [ 1.33232378e-01 9.91083702e-01 -1.49285151e-03 5.07927405e+00] [ 7.66450193e-03 4.75890857e-04 9.99970514e-01 8.81543684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.71, Y:5.09, Z:0.88 [[ 9.91090756e-01 -1.32975081e-01 -7.53263667e-03 1.48713208e+02] [ 1.32967555e-01 9.91119266e-01 -1.49346793e-03 5.08512525e+00] [ 7.66433534e-03 4.78565979e-04 9.99970514e-01 8.80392487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.74, Y:5.09, Z:0.88 [[ 9.91156265e-01 -1.32485922e-01 -7.53251824e-03 1.48740462e+02] [ 1.32478378e-01 9.91184769e-01 -1.49406498e-03 5.09146086e+00] [ 7.66405993e-03 4.82956066e-04 9.99970514e-01 8.79223594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.025898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:148.77, Y:5.10, Z:0.88 [[ 9.91416119e-01 -1.30527175e-01 -7.53224350e-03 1.48767163e+02] [ 1.30519564e-01 9.91444606e-01 -1.49544881e-03 5.10048960e+00] [ 7.66299890e-03 4.99506922e-04 9.99970514e-01 8.76700570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.79, Y:5.11, Z:0.88 [[ 9.91567728e-01 -1.29370440e-01 -7.53196757e-03 1.48793800e+02] [ 1.29362785e-01 9.91596203e-01 -1.49683724e-03 5.10721888e+00] [ 7.66231694e-03 5.09859200e-04 9.99970514e-01 8.79841770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.82, Y:5.11, Z:0.88 [[ 9.91736672e-01 -1.28068917e-01 -7.53169400e-03 1.48821033e+02] [ 1.28061215e-01 9.91765134e-01 -1.49821253e-03 5.11456115e+00] [ 7.66154596e-03 5.21314425e-04 9.99970514e-01 8.80712335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.85, Y:5.12, Z:0.88 [[ 9.91932144e-01 -1.26546036e-01 -7.53140783e-03 1.48847075e+02] [ 1.26538279e-01 9.91960591e-01 -1.49964973e-03 5.12193928e+00] [ 7.66063449e-03 5.34539385e-04 9.99970514e-01 8.80139437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.87, Y:5.13, Z:0.88 [[ 9.92136648e-01 -1.24932594e-01 -7.53121112e-03 1.48872853e+02] [ 1.24924783e-01 9.92165080e-01 -1.50063692e-03 5.12929602e+00] [ 7.65968315e-03 5.48001971e-04 9.99970514e-01 8.79462023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:5.14, Z:0.88 [[ 9.92273193e-01 -1.23843421e-01 -7.53109203e-03 1.48899431e+02] [ 1.23835575e-01 9.92301616e-01 -1.50123434e-03 5.13713061e+00] [ 7.65903279e-03 5.57017479e-04 9.99970514e-01 8.79388237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.93, Y:5.15, Z:0.88 [[ 9.92351531e-01 -1.23214146e-01 -7.53082144e-03 1.48926306e+02] [ 1.23206271e-01 9.92379946e-01 -1.50259055e-03 5.14671972e+00] [ 7.65857658e-03 5.63253601e-04 9.99970514e-01 8.80447022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.95, Y:5.15, Z:0.88 [[ 9.92262735e-01 -1.23927223e-01 -7.53053982e-03 1.48953418e+02] [ 1.23919358e-01 9.92291152e-01 -1.50400060e-03 5.15344771e+00] [ 7.65887465e-03 5.59184088e-04 9.99970514e-01 8.81777030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.98, Y:5.16, Z:0.88 [[ 9.92100854e-01 -1.25216563e-01 -7.53045261e-03 1.48980154e+02] [ 1.25208732e-01 9.92129281e-01 -1.50443713e-03 5.15957250e+00] [ 7.65956298e-03 5.49674943e-04 9.99970514e-01 8.83287021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.295898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:149.01, Y:5.17, Z:0.88 [[ 9.91875699e-01 -1.26987764e-01 -7.53033624e-03 1.49007888e+02] [ 1.26979979e-01 9.91904138e-01 -1.50501937e-03 5.16562854e+00] [ 7.66049073e-03 5.36590196e-04 9.99970514e-01 8.81780442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.04, Y:5.17, Z:0.88 [[ 9.91667924e-01 -1.28600257e-01 -7.53005900e-03 1.49035072e+02] [ 1.28592508e-01 9.91696374e-01 -1.50640523e-03 5.17057594e+00] [ 7.66125630e-03 5.25544573e-04 9.99970514e-01 8.82476748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.06, Y:5.18, Z:0.88 [[ 9.91656233e-01 -1.28690397e-01 -7.52976873e-03 1.49062687e+02] [ 1.28682639e-01 9.91684680e-01 -1.50785473e-03 5.17730776e+00] [ 7.66120272e-03 5.26323028e-04 9.99970514e-01 8.79436759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.09, Y:5.18, Z:0.88 [[ 9.91631208e-01 -1.28883098e-01 -7.52951354e-03 1.49090559e+02] [ 1.28875337e-01 9.91659654e-01 -1.50912795e-03 5.18307256e+00] [ 7.66121588e-03 5.26129783e-04 9.99970514e-01 8.79655467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.12, Y:5.19, Z:0.88 [[ 9.91777986e-01 -1.27748728e-01 -7.52922000e-03 1.49117251e+02] [ 1.27740922e-01 9.91806420e-01 -1.51059104e-03 5.18986715e+00] [ 7.66050482e-03 5.36381432e-04 9.99970514e-01 8.80560744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44589822700001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:149.14, Y:5.20, Z:0.88 [[ 9.92019105e-01 -1.25862664e-01 -7.52892655e-03 1.49143677e+02] [ 1.25854794e-01 9.92047521e-01 -1.51205222e-03 5.19716039e+00] [ 7.65936384e-03 5.52433190e-04 9.99970514e-01 8.80977887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47589822700002 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:149.17, Y:5.20, Z:0.88 [[ 9.92273879e-01 -1.23838064e-01 -7.52883585e-03 1.49170948e+02] [ 1.23830133e-01 9.92302278e-01 -1.51250370e-03 5.20381761e+00] [ 7.65818649e-03 5.68521174e-04 9.99970514e-01 8.83659924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.505898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:149.20, Y:5.21, Z:0.89 [[ 9.92509618e-01 -1.21934310e-01 -7.52874613e-03 1.49198479e+02] [ 1.21926321e-01 9.92538001e-01 -1.51295014e-03 5.20991794e+00] [ 7.65704717e-03 5.83665255e-04 9.99970514e-01 8.86009685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.23, Y:5.22, Z:0.89 [[ 9.92702328e-01 -1.20355351e-01 -7.52846801e-03 1.49226065e+02] [ 1.20347306e-01 9.92730695e-01 -1.51433284e-03 5.21548926e+00] [ 7.65599934e-03 5.97250893e-04 9.99970514e-01 8.87215405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.25, Y:5.22, Z:0.88 [[ 9.92910528e-01 -1.18625505e-01 -7.52818184e-03 1.49253844e+02] [ 1.18617400e-01 9.92938878e-01 -1.51575412e-03 5.22131847e+00] [ 7.65483153e-03 6.12034869e-04 9.99970514e-01 8.82389906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.28, Y:5.23, Z:0.88 [[ 9.92907605e-01 -1.18649982e-01 -7.52789713e-03 1.49279903e+02] [ 1.18641866e-01 9.92935952e-01 -1.51716681e-03 5.22681350e+00] [ 7.65473152e-03 6.13282704e-04 9.99970514e-01 8.81513739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:5.23, Z:0.88 [[ 9.92882860e-01 -1.18856886e-01 -7.52770073e-03 1.49306472e+02] [ 1.18848769e-01 9.92911207e-01 -1.51814066e-03 5.23227897e+00] [ 7.65477989e-03 6.12677877e-04 9.99970514e-01 8.82001114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:5.24, Z:0.88 [[ 9.92835876e-01 -1.19248728e-01 -7.52750484e-03 1.49333864e+02] [ 1.19240615e-01 9.92864224e-01 -1.51911131e-03 5.23805790e+00] [ 7.65494235e-03 6.10643899e-04 9.99970514e-01 8.84036036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:5.24, Z:0.89 [[ 9.92923192e-01 -1.18519511e-01 -7.52736664e-03 1.49362081e+02] [ 1.18511372e-01 9.92951532e-01 -1.51979582e-03 5.24409319e+00] [ 7.65443569e-03 6.16961970e-04 9.99970514e-01 8.87734898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.39, Y:5.25, Z:0.89 [[ 9.93046202e-01 -1.17484397e-01 -7.52712244e-03 1.49388716e+02] [ 1.17476220e-01 9.93074531e-01 -1.52100433e-03 5.24996010e+00] [ 7.65368786e-03 6.26169682e-04 9.99970514e-01 8.89042489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.42, Y:5.26, Z:0.89 [[ 9.93258580e-01 -1.15675141e-01 -7.52700163e-03 1.49416241e+02] [ 1.15666908e-01 9.93286893e-01 -1.52160194e-03 5.25631561e+00] [ 7.65248358e-03 6.40719180e-04 9.99970514e-01 8.89112951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.44, Y:5.26, Z:0.89 [[ 9.93523665e-01 -1.13375814e-01 -7.52672535e-03 1.49443012e+02] [ 1.13367505e-01 9.93551956e-01 -1.52296733e-03 5.26321087e+00] [ 7.65086036e-03 6.59818010e-04 9.99970514e-01 8.88465726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.47, Y:5.27, Z:0.89 [[ 9.93841781e-01 -1.10552556e-01 -7.52645136e-03 1.49469672e+02] [ 1.10544156e-01 9.93870045e-01 -1.52432021e-03 5.27097750e+00] [ 7.64883204e-03 6.82927899e-04 9.99970514e-01 8.88177413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.50, Y:5.28, Z:0.89 [[ 9.94194442e-01 -1.07334841e-01 -7.52617574e-03 1.49495762e+02] [ 1.07326340e-01 9.94222676e-01 -1.52567983e-03 5.27874822e+00] [ 7.64645318e-03 7.09065514e-04 9.99970514e-01 8.88000135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.865898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:149.52, Y:5.29, Z:0.89 [[ 9.94865239e-01 -1.00928267e-01 -7.52605621e-03 1.49522008e+02] [ 1.00919579e-01 9.94893416e-01 -1.52626923e-03 5.28950257e+00] [ 7.64166748e-03 7.58905777e-04 9.99970514e-01 8.86931460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.55, Y:5.30, Z:0.89 [[ 9.95089915e-01 -9.86885143e-02 -7.52578294e-03 1.49550013e+02] [ 9.86797533e-02 9.95118070e-01 -1.52761548e-03 5.29703226e+00] [ 7.63980070e-03 7.77472359e-04 9.99970514e-01 8.89095202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.58, Y:5.31, Z:0.89 [[ 9.95282907e-01 -9.67228114e-02 -7.52553277e-03 1.49576975e+02] [ 9.67139856e-02 9.95311041e-01 -1.52884694e-03 5.30535751e+00] [ 7.63812022e-03 7.93810957e-04 9.99970514e-01 8.88634110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.60, Y:5.31, Z:0.89 [[ 9.95364095e-01 -9.58837120e-02 -7.52544364e-03 1.49604632e+02] [ 9.58748592e-02 9.95392221e-01 -1.52928551e-03 5.31427363e+00] [ 7.63740163e-03 8.00695041e-04 9.99970514e-01 8.90452431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.63, Y:5.32, Z:0.89 [[ 9.95427091e-01 -9.52273642e-02 -7.52693691e-03 1.49630874e+02] [ 9.52185477e-02 9.95455228e-01 -1.52194195e-03 5.32249231e+00] [ 7.63765922e-03 7.98278252e-04 9.99970514e-01 8.89589847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.66, Y:5.33, Z:0.89 [[ 9.95404128e-01 -9.54672397e-02 -7.52514428e-03 1.49659663e+02] [ 9.54583641e-02 9.95432247e-01 -1.53075446e-03 5.33129489e+00] [ 7.63690818e-03 8.05381349e-04 9.99970514e-01 8.90360940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.69, Y:5.34, Z:0.89 [[ 9.95247253e-01 -9.70890264e-02 -7.52510932e-03 1.49687406e+02] [ 9.70801954e-02 9.95275385e-01 -1.53092629e-03 5.34294022e+00] [ 7.63819222e-03 7.93111105e-04 9.99970514e-01 8.89677983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.72, Y:5.35, Z:0.89 [[ 9.95124700e-01 -9.83372027e-02 -7.52509150e-03 1.49715483e+02] [ 9.83284064e-02 9.95152843e-01 -1.53101388e-03 5.35242241e+00] [ 7.63917182e-03 7.83619473e-04 9.99970514e-01 8.88271113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.74, Y:5.36, Z:0.89 [[ 9.94980730e-01 -9.97833680e-02 -7.52507367e-03 1.49742408e+02] [ 9.97746119e-02 9.95008886e-01 -1.53110151e-03 5.36218052e+00] [ 7.64029363e-03 7.72605194e-04 9.99970514e-01 8.86646621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.77, Y:5.37, Z:0.89 [[ 9.94570418e-01 -1.03793337e-01 -7.52502360e-03 1.49770536e+02] [ 1.03784693e-01 9.94598609e-01 -1.53134755e-03 5.37426113e+00] [ 7.64332168e-03 7.42050708e-04 9.99970514e-01 8.85594978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.80, Y:5.38, Z:0.89 [[ 9.94325695e-01 -1.06112142e-01 -7.52498898e-03 1.49799779e+02] [ 1.06103562e-01 9.94353905e-01 -1.53151765e-03 5.38194301e+00] [ 7.64501480e-03 7.24399218e-04 9.99970514e-01 8.87596982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:5.39, Z:0.89 [[ 9.93948179e-01 -1.09591933e-01 -7.52498898e-03 1.49827815e+02] [ 1.09583452e-01 9.93976419e-01 -1.53151765e-03 5.38969901e+00] [ 7.64750358e-03 6.97634910e-04 9.99970514e-01 8.91088654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:5.40, Z:0.89 [[ 9.93484021e-01 -1.13722800e-01 -7.52497094e-03 1.49856369e+02] [ 1.13714436e-01 9.93512295e-01 -1.53160628e-03 5.39730381e+00] [ 7.65032971e-03 6.65928536e-04 9.99970514e-01 8.93759952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.255898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:149.89, Y:5.40, Z:0.89 [[ 9.92933817e-01 -1.18430615e-01 -7.52495316e-03 1.49885585e+02] [ 1.18422384e-01 9.92962131e-01 -1.53169367e-03 5.40486905e+00] [ 7.65339294e-03 6.29747545e-04 9.99970514e-01 8.92179994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.92, Y:5.41, Z:0.89 [[ 9.92294336e-01 -1.23674270e-01 -7.52495316e-03 1.49916094e+02] [ 1.23666188e-01 9.92322693e-01 -1.53169367e-03 5.40976056e+00] [ 7.65661288e-03 5.89308675e-04 9.99970514e-01 8.93958652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.95, Y:5.41, Z:0.89 [[ 9.91029238e-01 -1.33433217e-01 -7.52497132e-03 1.49945372e+02] [ 1.33425416e-01 9.91057674e-01 -1.53160443e-03 5.41251368e+00] [ 7.66204748e-03 5.13842342e-04 9.99970514e-01 8.90144846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.97, Y:5.42, Z:0.89 [[ 9.90472545e-01 -1.37504593e-01 -7.52493440e-03 1.49973401e+02] [ 1.37496907e-01 9.90501012e-01 -1.53178581e-03 5.41631075e+00] [ 7.66408272e-03 4.82536584e-04 9.99970514e-01 8.91383380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.00, Y:5.42, Z:0.89 [[ 9.90025423e-01 -1.40687681e-01 -7.52588896e-03 1.50000287e+02] [ 1.40680122e-01 9.90053923e-01 -1.52709874e-03 5.41955848e+00] [ 7.66587988e-03 4.53123596e-04 9.99970514e-01 8.92469592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.03, Y:5.42, Z:0.89 [[ 9.89666228e-01 -1.43192658e-01 -7.52457691e-03 1.50027942e+02] [ 1.43185123e-01 9.89694735e-01 -1.53353658e-03 5.42232179e+00] [ 7.66662533e-03 4.40281893e-04 9.99970514e-01 8.94738074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.06, Y:5.42, Z:0.90 [[ 9.89457304e-01 -1.44629283e-01 -7.52427621e-03 1.50055117e+02] [ 1.44621778e-01 9.89485819e-01 -1.53501052e-03 5.42446151e+00] [ 7.66717208e-03 4.30653166e-04 9.99970514e-01 8.97264837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.08, Y:5.43, Z:0.90 [[ 9.89314088e-01 -1.45605710e-01 -7.52414582e-03 1.50082671e+02] [ 1.45598229e-01 9.89342609e-01 -1.53564942e-03 5.42629110e+00] [ 7.66755738e-03 4.23737305e-04 9.99970514e-01 8.97458861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:5.42, Z:0.89 [[ 9.89369793e-01 -1.45226728e-01 -7.52402284e-03 1.50111461e+02] [ 1.45219231e-01 9.89398310e-01 -1.53625169e-03 5.42477315e+00] [ 7.66736029e-03 4.27288206e-04 9.99970514e-01 8.91703108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:5.43, Z:0.89 [[ 9.89609099e-01 -1.43586990e-01 -7.52372562e-03 1.50139192e+02] [ 1.43579435e-01 9.89637601e-01 -1.53770598e-03 5.42727520e+00] [ 7.66655634e-03 4.41475553e-04 9.99970514e-01 8.87790639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.17, Y:5.43, Z:0.89 [[ 9.89961757e-01 -1.41135096e-01 -7.52363318e-03 1.50167686e+02] [ 1.41127467e-01 9.89990238e-01 -1.53815810e-03 5.42995299e+00] [ 7.66541150e-03 4.60926406e-04 9.99970514e-01 8.85714813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:5.43, Z:0.89 [[ 9.90447461e-01 -1.37685241e-01 -7.52333476e-03 1.50194629e+02] [ 1.37677501e-01 9.90475914e-01 -1.53961635e-03 5.43290368e+00] [ 7.66366432e-03 4.89115177e-04 9.99970514e-01 8.85624679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:5.44, Z:0.89 [[ 9.90958396e-01 -1.33958423e-01 -7.52320533e-03 1.50222011e+02] [ 1.33950572e-01 9.90986817e-01 -1.54024855e-03 5.43646368e+00] [ 7.66172657e-03 5.18584577e-04 9.99970514e-01 8.87133069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.25, Y:5.44, Z:0.89 [[ 9.91438921e-01 -1.30354409e-01 -7.52290740e-03 1.50249561e+02] [ 1.30346443e-01 9.91467311e-01 -1.54170232e-03 5.44043518e+00] [ 7.65968446e-03 5.47919461e-04 9.99970514e-01 8.88623193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.28, Y:5.44, Z:0.89 [[ 9.92126429e-01 -1.25014227e-01 -7.52281498e-03 1.50276634e+02] [ 1.25006105e-01 9.92154774e-01 -1.54215315e-03 5.44244444e+00] [ 7.65658788e-03 5.89613102e-04 9.99970514e-01 8.89514234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.30, Y:5.45, Z:0.89 [[ 9.92299961e-01 -1.23629272e-01 -7.52261270e-03 1.50304095e+02] [ 1.23621103e-01 9.92328293e-01 -1.54313922e-03 5.44656029e+00] [ 7.65567860e-03 6.01303305e-04 9.99970514e-01 8.89402181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:5.45, Z:0.89 [[ 9.92425299e-01 -1.22619089e-01 -7.52232460e-03 1.50331472e+02] [ 1.22610881e-01 9.92453619e-01 -1.54454238e-03 5.45043294e+00] [ 7.65494865e-03 6.10524089e-04 9.99970514e-01 8.89039063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.36, Y:5.45, Z:0.89 [[ 9.92493062e-01 -1.22069407e-01 -7.52203451e-03 1.50359293e+02] [ 1.22061173e-01 9.92521375e-01 -1.54595383e-03 5.45465176e+00] [ 7.65449370e-03 6.16200095e-04 9.99970514e-01 8.87874800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.39, Y:5.46, Z:0.89 [[ 9.92507995e-01 -1.21947949e-01 -7.52174110e-03 1.50387019e+02] [ 1.21939701e-01 9.92536304e-01 -1.54738008e-03 5.45960813e+00] [ 7.65430094e-03 6.18588246e-04 9.99970514e-01 8.88073349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.41, Y:5.46, Z:0.89 [[ 9.92601161e-01 -1.21187215e-01 -7.52288792e-03 1.50414674e+02] [ 1.21178987e-01 9.92629476e-01 -1.54180867e-03 5.46407924e+00] [ 7.65428779e-03 6.18785141e-04 9.99970514e-01 8.85778840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:5.47, Z:0.89 [[ 9.92767078e-01 -1.19820525e-01 -7.52139767e-03 1.50442786e+02] [ 1.19812203e-01 9.92795365e-01 -1.54904463e-03 5.46833512e+00] [ 7.65281608e-03 6.36685283e-04 9.99970514e-01 8.90366687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.47, Y:5.47, Z:0.89 [[ 9.92869797e-01 -1.18966374e-01 -7.52114884e-03 1.50469808e+02] [ 1.18958019e-01 9.92898075e-01 -1.55025183e-03 5.47356159e+00] [ 7.65216204e-03 6.44497251e-04 9.99970514e-01 8.93633615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.50, Y:5.48, Z:0.89 [[ 9.93023528e-01 -1.17676289e-01 -7.52084741e-03 1.50496680e+02] [ 1.17667886e-01 9.93051792e-01 -1.55171279e-03 5.47916261e+00] [ 7.65119080e-03 6.55925096e-04 9.99970514e-01 8.94789232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.52, Y:5.48, Z:0.90 [[ 9.93151712e-01 -1.16589516e-01 -7.52071700e-03 1.50524255e+02] [ 1.16581077e-01 9.93179965e-01 -1.55234460e-03 5.48446137e+00] [ 7.65041255e-03 6.64940412e-04 9.99970514e-01 8.95406295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97589822700002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.55, Y:5.49, Z:0.89 [[ 9.93279276e-01 -1.15497722e-01 -7.52041766e-03 1.50551122e+02] [ 1.15489241e-01 9.93307516e-01 -1.55379339e-03 5.48961551e+00] [ 7.64954698e-03 6.74823441e-04 9.99970514e-01 8.94434932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.58, Y:5.49, Z:0.89 [[ 9.93383566e-01 -1.14597286e-01 -7.52021130e-03 1.50577338e+02] [ 1.14588772e-01 9.93411796e-01 -1.55479154e-03 5.49417336e+00] [ 7.64884150e-03 6.82772580e-04 9.99970514e-01 8.94774690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.61, Y:5.50, Z:0.90 [[ 9.93524975e-01 -1.13364774e-01 -7.52008406e-03 1.50605110e+02] [ 1.13356221e-01 9.93553193e-01 -1.55540672e-03 5.49857765e+00] [ 7.64793186e-03 6.92887116e-04 9.99970514e-01 8.96267907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.63, Y:5.50, Z:0.90 [[ 9.93480909e-01 -1.13750319e-01 -7.51980038e-03 1.50632604e+02] [ 1.13741766e-01 9.93509128e-01 -1.55677701e-03 5.50405657e+00] [ 7.64807419e-03 6.91312859e-04 9.99970514e-01 8.97381510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:5.51, Z:0.90 [[ 9.93354371e-01 -1.14850124e-01 -7.51950909e-03 1.50659564e+02] [ 1.14841592e-01 9.93382595e-01 -1.55818271e-03 5.50975953e+00] [ 7.64870693e-03 6.84275213e-04 9.99970514e-01 8.98795907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.69, Y:5.51, Z:0.90 [[ 9.92873165e-01 -1.18938383e-01 -7.51921780e-03 1.50687086e+02] [ 1.18929957e-01 9.92901422e-01 -1.55958711e-03 5.51353069e+00] [ 7.65133681e-03 6.54211938e-04 9.99970514e-01 8.99452094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.71, Y:5.52, Z:0.90 [[ 9.92513055e-01 -1.21906936e-01 -7.51892620e-03 1.50714678e+02] [ 1.21898584e-01 9.92541333e-01 -1.56099168e-03 5.51686242e+00] [ 7.65314075e-03 6.32758166e-04 9.99970514e-01 8.98804535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.74, Y:5.52, Z:0.90 [[ 9.92153363e-01 -1.24800542e-01 -7.51863149e-03 1.50741910e+02] [ 1.24792261e-01 9.92181662e-01 -1.56240988e-03 5.51974813e+00] [ 7.65483788e-03 6.11883187e-04 9.99970514e-01 8.97230030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.77, Y:5.52, Z:0.89 [[ 9.91851626e-01 -1.27176349e-01 -7.51850335e-03 1.50770296e+02] [ 1.27168132e-01 9.91879944e-01 -1.56302624e-03 5.52247603e+00] [ 7.65623265e-03 5.94176097e-04 9.99970514e-01 8.94217051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.80, Y:5.53, Z:0.89 [[ 9.91827523e-01 -1.27364209e-01 -7.51820677e-03 1.50798129e+02] [ 1.27355987e-01 9.91855839e-01 -1.56445149e-03 5.52844249e+00] [ 7.65623241e-03 5.94177398e-04 9.99970514e-01 8.94435782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.83, Y:5.53, Z:0.89 [[ 9.91638580e-01 -1.28827042e-01 -7.51791020e-03 1.50826103e+02] [ 1.28818851e-01 9.91666906e-01 -1.56587538e-03 5.53187894e+00] [ 7.65698984e-03 5.84333892e-04 9.99970514e-01 8.92579039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.85, Y:5.53, Z:0.89 [[ 9.91743562e-01 -1.28016366e-01 -7.51781810e-03 1.50852795e+02] [ 1.28008148e-01 9.91771879e-01 -1.56631742e-03 5.53399794e+00] [ 7.65647485e-03 5.91043245e-04 9.99970514e-01 8.91824640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.88, Y:5.54, Z:0.89 [[ 9.91851744e-01 -1.27175481e-01 -7.51769059e-03 1.50880728e+02] [ 1.27167234e-01 9.91880053e-01 -1.56692917e-03 5.53935897e+00] [ 7.65592231e-03 5.98157513e-04 9.99970514e-01 8.94011125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:5.54, Z:0.89 [[ 9.91996289e-01 -1.26043055e-01 -7.51739158e-03 1.50907250e+02] [ 1.26034765e-01 9.92024585e-01 -1.56836239e-03 5.54486953e+00] [ 7.65511845e-03 6.08356989e-04 9.99970514e-01 8.94590898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.93, Y:5.55, Z:0.90 [[ 9.92090436e-01 -1.25299867e-01 -7.51726175e-03 1.50934122e+02] [ 1.25291552e-01 9.92118725e-01 -1.56898439e-03 5.55074031e+00] [ 7.65460969e-03 6.14725022e-04 9.99970514e-01 8.95319860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.96, Y:5.56, Z:0.89 [[ 9.92159401e-01 -1.24752630e-01 -7.51696949e-03 1.50960399e+02] [ 1.24744288e-01 9.92187682e-01 -1.57038338e-03 5.55650026e+00] [ 7.65415399e-03 6.20371624e-04 9.99970514e-01 8.94905027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:5.56, Z:0.89 [[ 9.92122262e-01 -1.25047646e-01 -7.51684274e-03 1.50987783e+02] [ 1.25039308e-01 9.92150545e-01 -1.57098984e-03 5.56260689e+00] [ 7.65428820e-03 6.18713183e-04 9.99970514e-01 8.93153822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.02, Y:5.57, Z:0.89 [[ 9.91822316e-01 -1.27404845e-01 -7.51655421e-03 1.51015845e+02] [ 1.27396564e-01 9.91850615e-01 -1.57236914e-03 5.56953643e+00] [ 7.65562636e-03 6.01927625e-04 9.99970514e-01 8.90919859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.04, Y:5.58, Z:0.89 [[ 9.91665294e-01 -1.28621346e-01 -7.51629621e-03 1.51042518e+02] [ 1.28613090e-01 9.91693600e-01 -1.57360147e-03 5.57590997e+00] [ 7.65626159e-03 5.93791876e-04 9.99970514e-01 8.91822717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.07, Y:5.58, Z:0.89 [[ 9.91513059e-01 -1.29789680e-01 -7.51620453e-03 1.51069566e+02] [ 1.29781454e-01 9.91541374e-01 -1.57403923e-03 5.58250371e+00] [ 7.65692182e-03 5.85216499e-04 9.99970514e-01 8.94107364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.10, Y:5.59, Z:0.90 [[ 9.91447554e-01 -1.30289126e-01 -7.51611480e-03 1.51097537e+02] [ 1.30280912e-01 9.91475872e-01 -1.57446758e-03 5.58949304e+00] [ 7.65718249e-03 5.81795741e-04 9.99970514e-01 8.98554556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.12, Y:5.60, Z:0.90 [[ 9.91436198e-01 -1.30375521e-01 -7.51585302e-03 1.51124498e+02] [ 1.30367300e-01 9.91464515e-01 -1.57571622e-03 5.59724935e+00] [ 7.65713640e-03 5.82400634e-04 9.99970514e-01 9.01389607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.15, Y:5.61, Z:0.90 [[ 9.91513721e-01 -1.29784656e-01 -7.51555382e-03 1.51151164e+02] [ 1.29776407e-01 9.91542030e-01 -1.57714201e-03 5.60516847e+00] [ 7.65667632e-03 5.88416378e-04 9.99970514e-01 9.01971342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.18, Y:5.61, Z:0.90 [[ 9.91777364e-01 -1.27754375e-01 -7.51525188e-03 1.51177610e+02] [ 1.27746058e-01 9.91805653e-01 -1.57857947e-03 5.61457014e+00] [ 7.65533973e-03 6.05555587e-04 9.99970514e-01 8.98962468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:5.62, Z:0.90 [[ 9.91774819e-01 -1.27774140e-01 -7.51515782e-03 1.51204565e+02] [ 1.27765820e-01 9.91803106e-01 -1.57902714e-03 5.62159261e+00] [ 7.65531571e-03 6.05859051e-04 9.99970514e-01 8.98067520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:5.63, Z:0.90 [[ 9.91737256e-01 -1.28065380e-01 -7.51485284e-03 1.51231635e+02] [ 1.28057057e-01 9.91765543e-01 -1.58047727e-03 5.62733571e+00] [ 7.65537653e-03 6.05088255e-04 9.99970514e-01 8.97988952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.26, Y:5.63, Z:0.90 [[ 9.91658090e-01 -1.28676975e-01 -7.51454847e-03 1.51258550e+02] [ 1.28668659e-01 9.91686379e-01 -1.58192311e-03 5.63287953e+00] [ 7.65563244e-03 6.01839980e-04 9.99970514e-01 8.99165281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:5.64, Z:0.90 [[ 9.91360319e-01 -1.30951332e-01 -7.51445384e-03 1.51286426e+02] [ 1.30943077e-01 9.91388625e-01 -1.58237250e-03 5.63642984e+00] [ 7.65695785e-03 5.84735594e-04 9.99970514e-01 9.03435738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.31, Y:5.64, Z:0.90 [[ 9.91209999e-01 -1.32084352e-01 -7.51416554e-03 1.51314061e+02] [ 1.32076119e-01 9.91238312e-01 -1.58374035e-03 5.64150143e+00] [ 7.65751608e-03 5.77377446e-04 9.99970514e-01 9.04104486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.34, Y:5.65, Z:0.90 [[ 9.91151737e-01 -1.32520849e-01 -7.51387605e-03 1.51340781e+02] [ 1.32512618e-01 9.91180051e-01 -1.58511260e-03 5.64691651e+00] [ 7.65766452e-03 5.75403717e-04 9.99970514e-01 9.04163156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.37, Y:5.65, Z:0.90 [[ 9.91242887e-01 -1.31837333e-01 -7.51374967e-03 1.51367813e+02] [ 1.31829078e-01 9.91271194e-01 -1.58571143e-03 5.65259395e+00] [ 7.65721958e-03 5.81294488e-04 9.99970514e-01 9.03218881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.905898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:151.39, Y:5.66, Z:0.90 [[ 9.91465810e-01 -1.30150285e-01 -7.51344044e-03 1.51394000e+02] [ 1.30141970e-01 9.91494099e-01 -1.58717528e-03 5.65940724e+00] [ 7.65610318e-03 5.95816081e-04 9.99970514e-01 8.99694559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.42, Y:5.67, Z:0.90 [[ 9.91757299e-01 -1.27910167e-01 -7.51322894e-03 1.51421469e+02] [ 1.27901781e-01 9.91785568e-01 -1.58817586e-03 5.66533745e+00] [ 7.65465587e-03 6.14129637e-04 9.99970514e-01 9.01508579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.45, Y:5.67, Z:0.90 [[ 9.92309589e-01 -1.23552564e-01 -7.51292856e-03 1.51449016e+02] [ 1.23544043e-01 9.92337817e-01 -1.58959554e-03 5.67253855e+00] [ 7.65176173e-03 6.49193328e-04 9.99970514e-01 9.00747641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:5.68, Z:0.90 [[ 9.92482166e-01 -1.22158550e-01 -7.51262373e-03 1.51476292e+02] [ 1.22149979e-01 9.92510378e-01 -1.59103488e-03 5.67902931e+00] [ 7.65071554e-03 6.61406914e-04 9.99970514e-01 9.00711645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:5.69, Z:0.90 [[ 9.92607821e-01 -1.21133312e-01 -7.51231485e-03 1.51502127e+02] [ 1.21124701e-01 9.92636021e-01 -1.59249198e-03 5.68509082e+00] [ 7.64989815e-03 6.70793102e-04 9.99970514e-01 9.00342940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.53, Y:5.69, Z:0.90 [[ 9.92633429e-01 -1.20923297e-01 -7.51218101e-03 1.51529641e+02] [ 1.20914675e-01 9.92661626e-01 -1.59312308e-03 5.69184090e+00] [ 7.64969951e-03 6.73054294e-04 9.99970514e-01 9.01674375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.56, Y:5.70, Z:0.90 [[ 9.92620535e-01 -1.21029108e-01 -7.51189142e-03 1.51556317e+02] [ 1.21020480e-01 9.92648730e-01 -1.59448739e-03 5.69856864e+00] [ 7.64964887e-03 6.73628225e-04 9.99970514e-01 9.02490467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:5.71, Z:0.90 [[ 9.92544701e-01 -1.21649468e-01 -7.51160027e-03 1.51582059e+02] [ 1.21640846e-01 9.92572898e-01 -1.59585781e-03 5.70503045e+00] [ 7.64994610e-03 6.70242801e-04 9.99970514e-01 9.02046339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.61, Y:5.71, Z:0.90 [[ 9.92351149e-01 -1.23218404e-01 -7.51147337e-03 1.51608705e+02] [ 1.23209822e-01 9.92379358e-01 -1.59645491e-03 5.71304390e+00] [ 7.65094375e-03 6.58756562e-04 9.99970514e-01 9.01984923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.64, Y:5.72, Z:0.90 [[ 9.92207776e-01 -1.24367648e-01 -7.51117590e-03 1.51635764e+02] [ 1.24359089e-01 9.92235992e-01 -1.59785327e-03 5.72007237e+00] [ 7.65158032e-03 6.51319445e-04 9.99970514e-01 9.02527963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:5.73, Z:0.90 [[ 9.92117256e-01 -1.25087720e-01 -7.51087134e-03 1.51662129e+02] [ 1.25079171e-01 9.92145475e-01 -1.59928360e-03 5.72651152e+00] [ 7.65192775e-03 6.47223293e-04 9.99970514e-01 9.02113703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.235898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:151.69, Y:5.73, Z:0.90 [[ 9.92035945e-01 -1.25730955e-01 -7.51073843e-03 1.51688877e+02] [ 1.25722419e-01 9.92064168e-01 -1.59990753e-03 5.73378511e+00] [ 7.65229237e-03 6.42897574e-04 9.99970514e-01 9.00696118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:5.74, Z:0.90 [[ 9.91970570e-01 -1.26245722e-01 -7.51044325e-03 1.51716226e+02] [ 1.26237190e-01 9.91998794e-01 -1.60129199e-03 5.74010809e+00] [ 7.65250691e-03 6.40337272e-04 9.99970514e-01 9.02530312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:5.75, Z:0.90 [[ 9.91892315e-01 -1.26859107e-01 -7.51014677e-03 1.51743523e+02] [ 1.26850582e-01 9.91920542e-01 -1.60268129e-03 5.74682989e+00] [ 7.65278357e-03 6.37020765e-04 9.99970514e-01 9.01856104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:5.75, Z:0.90 [[ 9.91612599e-01 -1.29027344e-01 -7.50983967e-03 1.51771102e+02] [ 1.29018870e-01 9.91640841e-01 -1.60411902e-03 5.75290073e+00] [ 7.65403894e-03 6.21753604e-04 9.99970514e-01 8.99095764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:5.76, Z:0.90 [[ 9.91357609e-01 -1.30972111e-01 -7.50974478e-03 1.51798940e+02] [ 1.30963690e-01 9.91385867e-01 -1.60456313e-03 5.75868621e+00] [ 7.65520786e-03 6.07191986e-04 9.99970514e-01 9.00438113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.83, Y:5.76, Z:0.90 [[ 9.91107644e-01 -1.32850464e-01 -7.50948734e-03 1.51826114e+02] [ 1.32842087e-01 9.91135915e-01 -1.60576706e-03 5.76386904e+00] [ 7.65624950e-03 5.93912032e-04 9.99970514e-01 9.03259033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:5.77, Z:0.90 [[ 9.90909313e-01 -1.34321799e-01 -7.50917753e-03 1.51853539e+02] [ 1.34313453e-01 9.90937593e-01 -1.60721452e-03 5.76869953e+00] [ 7.65701026e-03 5.84020274e-04 9.99970514e-01 9.04261855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:5.77, Z:0.91 [[ 9.90765988e-01 -1.35374928e-01 -7.50908113e-03 1.51881560e+02] [ 1.35366608e-01 9.90794276e-01 -1.60766482e-03 5.77355820e+00] [ 7.65759211e-03 5.76340779e-04 9.99970514e-01 9.05243737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.91, Y:5.78, Z:0.90 [[ 9.90713866e-01 -1.35755859e-01 -7.50877119e-03 1.51908914e+02] [ 1.35747539e-01 9.90742154e-01 -1.60911112e-03 5.77622995e+00] [ 7.65770241e-03 5.74871486e-04 9.99970514e-01 9.03947227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:5.78, Z:0.90 [[ 9.90725843e-01 -1.35668434e-01 -7.50863673e-03 1.51936210e+02] [ 1.35660107e-01 9.90754129e-01 -1.60973829e-03 5.78138180e+00] [ 7.65760352e-03 5.76186856e-04 9.99970514e-01 9.03818252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.535898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:151.96, Y:5.79, Z:0.90 [[ 9.90787168e-01 -1.35219864e-01 -7.50833178e-03 1.51963451e+02] [ 1.35211514e-01 9.90815447e-01 -1.61115943e-03 5.78783363e+00] [ 7.65723187e-03 5.81103178e-04 9.99970514e-01 9.02584238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:5.79, Z:0.91 [[ 9.90915004e-01 -1.34279872e-01 -7.50802540e-03 1.51990986e+02] [ 1.34271484e-01 9.90943272e-01 -1.61258590e-03 5.79450416e+00] [ 7.65656508e-03 5.89821852e-04 9.99970514e-01 9.05683420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:5.80, Z:0.91 [[ 9.91111194e-01 -1.32824078e-01 -7.50772008e-03 1.52018179e+02] [ 1.32815638e-01 9.91139446e-01 -1.61400612e-03 5.80233653e+00] [ 7.65557640e-03 6.02516892e-04 9.99970514e-01 9.06792676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:5.81, Z:0.91 [[ 9.91357399e-01 -1.30973836e-01 -7.50740840e-03 1.52043906e+02] [ 1.30965333e-01 9.91385632e-01 -1.61545457e-03 5.81026820e+00] [ 7.65431911e-03 6.18282602e-04 9.99970514e-01 9.06747158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:5.82, Z:0.90 [[ 9.91961084e-01 -1.26320423e-01 -7.50719295e-03 1.52070044e+02] [ 1.26311779e-01 9.91989275e-01 -1.61645519e-03 5.82125473e+00] [ 7.65124619e-03 6.55213746e-04 9.99970514e-01 9.02487268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:5.83, Z:0.90 [[ 9.92082735e-01 -1.25361437e-01 -7.50709770e-03 1.52097184e+02] [ 1.25352763e-01 9.92110916e-01 -1.61689742e-03 5.82982212e+00] [ 7.65057016e-03 6.63060579e-04 9.99970514e-01 9.01181471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:5.84, Z:0.90 [[ 9.92060153e-01 -1.25540039e-01 -7.50680138e-03 1.52123887e+02] [ 1.25531359e-01 9.92088332e-01 -1.61827198e-03 5.83749090e+00] [ 7.65056799e-03 6.63084163e-04 9.99970514e-01 9.01993630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.15, Y:5.85, Z:0.90 [[ 9.91859017e-01 -1.27119390e-01 -7.50670916e-03 1.52150861e+02] [ 1.27110752e-01 9.91887210e-01 -1.61869968e-03 5.84549814e+00] [ 7.65157691e-03 6.51338424e-04 9.99970514e-01 9.04877732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:5.86, Z:0.91 [[ 9.91130548e-01 -1.32679639e-01 -7.50661781e-03 1.52178403e+02] [ 1.32671156e-01 9.91158788e-01 -1.61912317e-03 5.85560897e+00] [ 7.65507489e-03 6.08850774e-04 9.99970514e-01 9.10843011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:5.86, Z:0.91 [[ 9.90647703e-01 -1.36237962e-01 -7.50635659e-03 1.52204066e+02] [ 1.36229572e-01 9.90675970e-01 -1.62033330e-03 5.86261635e+00] [ 7.65711801e-03 5.82591716e-04 9.99970514e-01 9.10403809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:5.87, Z:0.91 [[ 9.90127112e-01 -1.39971277e-01 -7.50622619e-03 1.52231222e+02] [ 1.39962989e-01 9.90155409e-01 -1.62093715e-03 5.86892283e+00] [ 7.65921511e-03 5.54339958e-04 9.99970514e-01 9.07300059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.26, Y:5.87, Z:0.90 [[ 9.89670106e-01 -1.43166834e-01 -7.50592608e-03 1.52258288e+02] [ 1.43158626e-01 9.89698427e-01 -1.62232566e-03 5.87435622e+00] [ 7.66086646e-03 5.31029146e-04 9.99970514e-01 9.02301189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.29, Y:5.88, Z:0.90 [[ 9.89316445e-01 -1.45590641e-01 -7.50583259e-03 1.52286985e+02] [ 1.45582499e-01 9.89344784e-01 -1.62275806e-03 5.87936735e+00] [ 7.66211472e-03 5.12703367e-04 9.99970514e-01 9.01290589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:5.88, Z:0.90 [[ 9.89216358e-01 -1.46269145e-01 -7.50555941e-03 1.52313651e+02] [ 1.46261014e-01 9.89244701e-01 -1.62402063e-03 5.88320570e+00] [ 7.66237898e-03 5.08737046e-04 9.99970514e-01 9.01177507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.34, Y:5.89, Z:0.91 [[ 9.89370702e-01 -1.45221498e-01 -7.50542296e-03 1.52342777e+02] [ 1.45213332e-01 9.89399034e-01 -1.62465098e-03 5.88588416e+00] [ 7.66179247e-03 5.17494603e-04 9.99970514e-01 9.07499390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.985898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:152.37, Y:5.89, Z:0.91 [[ 9.89503391e-01 -1.44314626e-01 -7.50515341e-03 1.52369898e+02] [ 1.44306424e-01 9.89531714e-01 -1.62589521e-03 5.89107801e+00] [ 7.66122778e-03 5.25786968e-04 9.99970514e-01 9.07515744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.40, Y:5.90, Z:0.91 [[ 9.89689707e-01 -1.43031327e-01 -7.50484624e-03 1.52397104e+02] [ 1.43023078e-01 9.89718016e-01 -1.62731185e-03 5.89519612e+00] [ 7.66043810e-03 5.37167573e-04 9.99970514e-01 9.08086828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:5.90, Z:0.91 [[ 9.89867863e-01 -1.41793135e-01 -7.50471322e-03 1.52424636e+02] [ 1.41784847e-01 9.89896160e-01 -1.62792506e-03 5.90049353e+00] [ 7.65971539e-03 5.47376086e-04 9.99970514e-01 9.06471570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:5.91, Z:0.91 [[ 9.90082434e-01 -1.40287054e-01 -7.50440472e-03 1.52452133e+02] [ 1.40278711e-01 9.90110715e-01 -1.62934593e-03 5.90562585e+00] [ 7.65876766e-03 5.60478560e-04 9.99970514e-01 9.06054002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:5.91, Z:0.91 [[ 9.90350049e-01 -1.38385218e-01 -7.50408651e-03 1.52479410e+02] [ 1.38376810e-01 9.90378311e-01 -1.63081018e-03 5.91011715e+00] [ 7.65756454e-03 5.76681384e-04 9.99970514e-01 9.07185176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:5.91, Z:0.92 [[ 9.90948070e-01 -1.34035862e-01 -7.50398790e-03 1.52507198e+02] [ 1.34027326e-01 9.90976294e-01 -1.63126378e-03 5.91440422e+00] [ 7.65492196e-03 6.10758262e-04 9.99970514e-01 9.15137406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.53, Y:5.92, Z:0.92 [[ 9.91282410e-01 -1.31540394e-01 -7.50389134e-03 1.52534209e+02] [ 1.31531784e-01 9.91310611e-01 -1.63170782e-03 5.92109765e+00] [ 7.65332260e-03 6.30483044e-04 9.99970514e-01 9.16632081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:5.93, Z:0.92 [[ 9.91258274e-01 -1.31722168e-01 -7.50359013e-03 1.52561983e+02] [ 1.31713554e-01 9.91286474e-01 -1.63309179e-03 5.92732839e+00] [ 7.65332179e-03 6.30491231e-04 9.99970514e-01 9.16850812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:5.93, Z:0.91 [[ 9.91593047e-01 -1.29177897e-01 -7.50329042e-03 1.52588318e+02] [ 1.29169200e-01 9.91621221e-01 -1.63446767e-03 5.93439931e+00] [ 7.65155911e-03 6.51532759e-04 9.99970514e-01 9.14320100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:5.94, Z:0.91 [[ 9.91878145e-01 -1.26970265e-01 -7.50316011e-03 1.52616153e+02] [ 1.26961501e-01 9.91906298e-01 -1.63506566e-03 5.94220241e+00] [ 7.65003649e-03 6.69173425e-04 9.99970514e-01 9.10312345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:5.95, Z:0.91 [[ 9.92039911e-01 -1.25700125e-01 -7.50289223e-03 1.52643687e+02] [ 1.25691315e-01 9.92068050e-01 -1.63629395e-03 5.95000062e+00] [ 7.64906202e-03 6.80220520e-04 9.99970514e-01 9.06719213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:5.96, Z:0.91 [[ 9.92095268e-01 -1.25262483e-01 -7.50262327e-03 1.52670128e+02] [ 1.25253651e-01 9.92123400e-01 -1.63752624e-03 5.95785318e+00] [ 7.64864871e-03 6.84851079e-04 9.99970514e-01 9.05724829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:5.97, Z:0.91 [[ 9.91828050e-01 -1.27361037e-01 -7.50231569e-03 1.52697149e+02] [ 1.27352255e-01 9.91856198e-01 -1.63893422e-03 5.96724666e+00] [ 7.64995468e-03 6.70104114e-04 9.99970514e-01 9.08302427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:5.97, Z:0.91 [[ 9.91505825e-01 -1.29845747e-01 -7.50204410e-03 1.52723396e+02] [ 1.29837025e-01 9.91533992e-01 -1.64017643e-03 5.97356309e+00] [ 7.65150167e-03 6.52201399e-04 9.99970514e-01 9.08702847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:5.98, Z:0.91 [[ 9.91010416e-01 -1.33574249e-01 -7.50173602e-03 1.52750313e+02] [ 1.33565623e-01 9.91038612e-01 -1.64158430e-03 5.97883884e+00] [ 7.65378344e-03 6.24853100e-04 9.99970514e-01 9.07833321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:5.98, Z:0.91 [[ 9.90426534e-01 -1.37836888e-01 -7.50160391e-03 1.52778339e+02] [ 1.37828379e-01 9.90454765e-01 -1.64218778e-03 5.98385430e+00] [ 7.65635339e-03 5.92532445e-04 9.99970514e-01 9.05720686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:5.99, Z:0.90 [[ 9.89786209e-01 -1.42362181e-01 -7.50132491e-03 1.52805686e+02] [ 1.42353791e-01 9.89814476e-01 -1.64346127e-03 5.98848162e+00] [ 7.65888671e-03 5.58833265e-04 9.99970514e-01 9.04611636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:5.99, Z:0.91 [[ 9.88780909e-01 -1.49184610e-01 -7.50102482e-03 1.52833598e+02] [ 1.49176405e-01 9.88809231e-01 -1.64482977e-03 5.99239356e+00] [ 7.66246587e-03 5.07400353e-04 9.99970514e-01 9.05016538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:6.00, Z:0.91 [[ 9.88510644e-01 -1.50965044e-01 -7.50074110e-03 1.52861071e+02] [ 1.50956881e-01 9.88538978e-01 -1.64612255e-03 5.99757393e+00] [ 7.66328191e-03 4.94921186e-04 9.99970514e-01 9.05724831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:6.00, Z:0.91 [[ 9.88310607e-01 -1.52269128e-01 -7.50043767e-03 1.52888514e+02] [ 1.52260991e-01 9.88338948e-01 -1.64750396e-03 6.00361732e+00] [ 7.66383867e-03 4.86221563e-04 9.99970514e-01 9.06328224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:6.01, Z:0.90 [[ 9.88206902e-01 -1.52940731e-01 -7.50012822e-03 1.52915360e+02] [ 1.52932603e-01 9.88235245e-01 -1.64891152e-03 6.00936295e+00] [ 7.66407678e-03 4.82451616e-04 9.99970514e-01 9.04874002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:6.01, Z:0.91 [[ 9.88069017e-01 -1.53829023e-01 -7.49991443e-03 1.52942450e+02] [ 1.53820913e-01 9.88097366e-01 -1.64988337e-03 6.01480692e+00] [ 7.66444564e-03 4.76554953e-04 9.99970514e-01 9.05157851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.97, Y:6.02, Z:0.90 [[ 9.87972385e-01 -1.54448446e-01 -7.49959209e-03 1.52969738e+02] [ 1.54440343e-01 9.88000736e-01 -1.65134724e-03 6.02013875e+00] [ 7.66465052e-03 4.73245900e-04 9.99970514e-01 9.02552630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:6.02, Z:0.90 [[ 9.87778930e-01 -1.55680903e-01 -7.49949200e-03 1.52998158e+02] [ 1.55672832e-01 9.87807289e-01 -1.65180170e-03 6.02304269e+00] [ 7.66520684e-03 4.64147761e-04 9.99970514e-01 9.03327599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:6.03, Z:0.91 [[ 9.87637157e-01 -1.56577803e-01 -7.49918912e-03 1.53026315e+02] [ 1.56569747e-01 9.87665521e-01 -1.65317563e-03 6.02768972e+00] [ 7.66554113e-03 4.58591534e-04 9.99970514e-01 9.05327639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:6.03, Z:0.91 [[ 9.87487144e-01 -1.57521132e-01 -7.49892233e-03 1.53055037e+02] [ 1.57513094e-01 9.87515513e-01 -1.65438491e-03 6.03310632e+00] [ 7.66590272e-03 4.52505366e-04 9.99970514e-01 9.07652817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:6.04, Z:0.91 [[ 9.87444264e-01 -1.57789723e-01 -7.49864715e-03 1.53082867e+02] [ 1.57781683e-01 9.87472632e-01 -1.65563125e-03 6.03853708e+00] [ 7.66595044e-03 4.51694413e-04 9.99970514e-01 9.09012925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.795898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.11, Y:6.04, Z:0.91 [[ 9.87551947e-01 -1.57114378e-01 -7.49833159e-03 1.53108926e+02] [ 1.57106308e-01 9.87580307e-01 -1.65705919e-03 6.04369562e+00] [ 7.66555243e-03 4.58396834e-04 9.99970514e-01 9.08482714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:6.05, Z:0.91 [[ 9.87725477e-01 -1.56019738e-01 -7.49819430e-03 1.53136152e+02] [ 1.56011632e-01 9.87753827e-01 -1.65768017e-03 6.04942879e+00] [ 7.66500095e-03 4.67527410e-04 9.99970514e-01 9.09834424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:6.06, Z:0.91 [[ 9.88420621e-01 -1.51553482e-01 -7.49786740e-03 1.53164329e+02] [ 1.51545237e-01 9.88448931e-01 -1.65915748e-03 6.05567992e+00] [ 7.66271011e-03 5.03679377e-04 9.99970514e-01 9.12733882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:6.06, Z:0.91 [[ 9.88824962e-01 -1.48892514e-01 -7.49758344e-03 1.53191320e+02] [ 1.48884183e-01 9.88853246e-01 -1.66043970e-03 6.06238102e+00] [ 7.66123676e-03 5.25612635e-04 9.99970514e-01 9.14814458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:6.07, Z:0.92 [[ 9.89191551e-01 -1.46437231e-01 -7.49748297e-03 1.53217636e+02] [ 1.46428826e-01 9.89219814e-01 -1.66089320e-03 6.06946542e+00] [ 7.65987531e-03 5.45093891e-04 9.99970514e-01 9.16397996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:6.08, Z:0.92 [[ 9.89447363e-01 -1.44698672e-01 -7.49734936e-03 1.53244737e+02] [ 1.44690213e-01 9.89475609e-01 -1.66149613e-03 6.07708424e+00] [ 7.65886061e-03 5.59169888e-04 9.99970514e-01 9.17315096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97589822700002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.27, Y:6.09, Z:0.92 [[ 9.89629957e-01 -1.43444560e-01 -7.49702993e-03 1.53272043e+02] [ 1.43436055e-01 9.89658190e-01 -1.66293620e-03 6.08517428e+00] [ 7.65803622e-03 5.70347082e-04 9.99970514e-01 9.15057110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:6.09, Z:0.91 [[ 9.89861432e-01 -1.41838445e-01 -7.49671047e-03 1.53297364e+02] [ 1.41829882e-01 9.89889648e-01 -1.66437512e-03 6.09481138e+00] [ 7.65698846e-03 5.84243176e-04 9.99970514e-01 9.14414817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:6.10, Z:0.92 [[ 9.89851517e-01 -1.41907631e-01 -7.49657174e-03 1.53324324e+02] [ 1.41899066e-01 9.89879732e-01 -1.66499975e-03 6.10328722e+00] [ 7.65698059e-03 5.84346002e-04 9.99970514e-01 9.15403800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:6.11, Z:0.92 [[ 9.89844031e-01 -1.41959857e-01 -7.49625588e-03 1.53351530e+02] [ 1.41951283e-01 9.89872242e-01 -1.66642059e-03 6.11175721e+00] [ 7.65690045e-03 5.85393339e-04 9.99970514e-01 9.16781267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.095898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:153.38, Y:6.12, Z:0.92 [[ 9.89829529e-01 -1.42060952e-01 -7.49593947e-03 1.53377052e+02] [ 1.42052371e-01 9.89857738e-01 -1.66784267e-03 6.12037836e+00] [ 7.65684901e-03 5.86063951e-04 9.99970514e-01 9.16224800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.40, Y:6.13, Z:0.92 [[ 9.89844012e-01 -1.41960013e-01 -7.49580163e-03 1.53402600e+02] [ 1.41951424e-01 9.89872219e-01 -1.66846195e-03 6.12788804e+00] [ 7.65674067e-03 5.87477356e-04 9.99970514e-01 9.17278367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:6.14, Z:0.92 [[ 9.89841821e-01 -1.41975294e-01 -7.49566455e-03 1.53429827e+02] [ 1.41966700e-01 9.89870027e-01 -1.66907754e-03 6.13630612e+00] [ 7.65670145e-03 5.87987995e-04 9.99970514e-01 9.16088866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:6.15, Z:0.91 [[ 9.90071013e-01 -1.40368117e-01 -7.49535323e-03 1.53455702e+02] [ 1.40359467e-01 9.90099202e-01 -1.67047443e-03 6.14675238e+00] [ 7.65562460e-03 6.01844528e-04 9.99970514e-01 9.13603676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:6.16, Z:0.91 [[ 9.90320898e-01 -1.38594156e-01 -7.49525652e-03 1.53482270e+02] [ 1.38585452e-01 9.90349070e-01 -1.67090828e-03 6.15533034e+00] [ 7.65449844e-03 6.16001868e-04 9.99970514e-01 9.14682494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:6.16, Z:0.92 [[ 9.90516596e-01 -1.37188539e-01 -7.49516068e-03 1.53509232e+02] [ 1.37179792e-01 9.90544755e-01 -1.67133805e-03 6.16476092e+00] [ 7.65358052e-03 6.27303493e-04 9.99970514e-01 9.16758705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:6.17, Z:0.92 [[ 9.90740281e-01 -1.35563722e-01 -7.49485374e-03 1.53534838e+02] [ 1.35554919e-01 9.90768422e-01 -1.67271336e-03 6.17428765e+00] [ 7.65242366e-03 6.41260217e-04 9.99970514e-01 9.17382636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:6.19, Z:0.92 [[ 9.91161528e-01 -1.32448687e-01 -7.49472046e-03 1.53560092e+02] [ 1.32439791e-01 9.91189640e-01 -1.67331032e-03 6.18948757e+00] [ 7.65031702e-03 6.65921603e-04 9.99970514e-01 9.17057665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.59, Y:6.20, Z:0.92 [[ 9.91137541e-01 -1.32628083e-01 -7.49441830e-03 1.53587823e+02] [ 1.32619182e-01 9.91165651e-01 -1.67466251e-03 6.19587540e+00] [ 7.65031728e-03 6.65917259e-04 9.99970514e-01 9.17276391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:6.21, Z:0.92 [[ 9.91426020e-01 -1.30454151e-01 -7.49411496e-03 1.53614093e+02] [ 1.30445178e-01 9.91454107e-01 -1.67601889e-03 6.21171429e+00] [ 7.64871467e-03 6.84077583e-04 9.99970514e-01 9.20100159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.64, Y:6.22, Z:0.92 [[ 9.91413739e-01 -1.30547462e-01 -7.49384970e-03 1.53640316e+02] [ 1.30538483e-01 9.91441825e-01 -1.67720406e-03 6.22243816e+00] [ 7.64867076e-03 6.84567382e-04 9.99970514e-01 9.22338438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.67, Y:6.23, Z:0.92 [[ 9.91323990e-01 -1.31227257e-01 -7.49354580e-03 1.53667910e+02] [ 1.31218287e-01 9.91352079e-01 -1.67856077e-03 6.23318826e+00] [ 7.64901513e-03 6.80707323e-04 9.99970514e-01 9.23460827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:6.24, Z:0.92 [[ 9.91167386e-01 -1.32404926e-01 -7.49328068e-03 1.53695583e+02] [ 1.32395980e-01 9.91195482e-01 -1.67974347e-03 6.24354181e+00] [ 7.64971226e-03 6.72826711e-04 9.99970514e-01 9.21744880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.72, Y:6.25, Z:0.92 [[ 9.90949722e-01 -1.34024248e-01 -7.49324127e-03 1.53722512e+02] [ 1.34015347e-01 9.90977833e-01 -1.67991924e-03 6.25368324e+00] [ 7.65078591e-03 6.60506172e-04 9.99970514e-01 9.18598162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:6.26, Z:0.92 [[ 9.90629313e-01 -1.36372347e-01 -7.49316480e-03 1.53750458e+02] [ 1.36363510e-01 9.90657443e-01 -1.68026029e-03 6.26307558e+00] [ 7.65230052e-03 6.42720844e-04 9.99970514e-01 9.16739275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:6.27, Z:0.92 [[ 9.89777484e-01 -1.42423264e-01 -7.49307532e-03 1.53778930e+02] [ 1.42414596e-01 9.89805667e-01 -1.68065923e-03 6.27474024e+00] [ 7.65605338e-03 5.96355368e-04 9.99970514e-01 9.17360303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.81, Y:6.28, Z:0.92 [[ 9.89247040e-01 -1.46062137e-01 -7.49307532e-03 1.53806586e+02] [ 1.46053572e-01 9.89275255e-01 -1.68065923e-03 6.28249080e+00] [ 7.65819467e-03 5.68196746e-04 9.99970514e-01 9.17466413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.84, Y:6.29, Z:0.92 [[ 9.88675994e-01 -1.49878729e-01 -7.49301495e-03 1.53835742e+02] [ 1.49870272e-01 9.88704241e-01 -1.68092833e-03 6.28984754e+00] [ 7.66031106e-03 5.38913298e-04 9.99970514e-01 9.18633081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:6.30, Z:0.92 [[ 9.88178021e-01 -1.53127573e-01 -7.49297478e-03 1.53864011e+02] [ 1.53119207e-01 9.88206295e-01 -1.68110734e-03 6.29658016e+00] [ 7.66202874e-03 5.13914967e-04 9.99970514e-01 9.17683000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:6.30, Z:0.92 [[ 9.87734873e-01 -1.55960499e-01 -7.49291496e-03 1.53892350e+02] [ 1.55952212e-01 9.87763170e-01 -1.68137392e-03 6.30355844e+00] [ 7.66345336e-03 4.92214993e-04 9.99970514e-01 9.16254901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:6.31, Z:0.91 [[ 9.87414923e-01 -1.57973509e-01 -7.49263398e-03 1.53919366e+02] [ 1.57965271e-01 9.87443235e-01 -1.68262513e-03 6.31041322e+00] [ 7.66436093e-03 4.77873209e-04 9.99970514e-01 9.14783920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.95, Y:6.32, Z:0.92 [[ 9.86974057e-01 -1.60704923e-01 -7.49253420e-03 1.53947601e+02] [ 1.60696759e-01 9.87002391e-01 -1.68306930e-03 6.31785067e+00] [ 7.66562669e-03 4.57119774e-04 9.99970514e-01 9.19294520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.98, Y:6.32, Z:0.92 [[ 9.86852124e-01 -1.61452008e-01 -7.49224965e-03 1.53975210e+02] [ 1.61443856e-01 9.86880461e-01 -1.68433506e-03 6.32370558e+00] [ 7.66589406e-03 4.52611956e-04 9.99970514e-01 9.19426317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.00, Y:6.33, Z:0.92 [[ 9.86722866e-01 -1.62240112e-01 -7.49214887e-03 1.54003755e+02] [ 1.62231980e-01 9.86751208e-01 -1.68478323e-03 6.32956903e+00] [ 7.66622636e-03 4.46947998e-04 9.99970514e-01 9.18939931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.03, Y:6.33, Z:0.91 [[ 9.86581920e-01 -1.63095022e-01 -7.49185489e-03 1.54031302e+02] [ 1.63086905e-01 9.86610267e-01 -1.68608947e-03 6.33473591e+00] [ 7.66653375e-03 4.41641961e-04 9.99970514e-01 9.14743099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.06, Y:6.34, Z:0.91 [[ 9.86444411e-01 -1.63924671e-01 -7.49175057e-03 1.54057667e+02] [ 1.63916573e-01 9.86472763e-01 -1.68655287e-03 6.34082612e+00] [ 7.66687551e-03 4.35668571e-04 9.99970514e-01 9.14113225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.09, Y:6.35, Z:0.92 [[ 9.86193372e-01 -1.65428313e-01 -7.49044527e-03 1.54085585e+02] [ 1.65420215e-01 9.86221724e-01 -1.69234760e-03 6.34694774e+00] [ 7.66720205e-03 4.29910914e-04 9.99970514e-01 9.18329445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:6.35, Z:0.92 [[ 9.85995196e-01 -1.66605382e-01 -7.49135415e-03 1.54112388e+02] [ 1.66597349e-01 9.86023566e-01 -1.68831469e-03 6.35229183e+00] [ 7.66793405e-03 4.16630437e-04 9.99970514e-01 9.21004918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.14, Y:6.36, Z:0.92 [[ 9.85874152e-01 -1.67320169e-01 -7.49120074e-03 1.54139624e+02] [ 1.67312151e-01 9.85902526e-01 -1.68899514e-03 6.35684888e+00] [ 7.66819669e-03 4.11767743e-04 9.99970514e-01 9.23896351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.965898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:154.17, Y:6.36, Z:0.92 [[ 9.85848669e-01 -1.67470265e-01 -7.49086468e-03 1.54166508e+02] [ 1.67462240e-01 9.85877041e-01 -1.69048430e-03 6.36164152e+00] [ 7.66817736e-03 4.12124724e-04 9.99970514e-01 9.22814160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:6.36, Z:0.92 [[ 9.86290879e-01 -1.64845963e-01 -7.49071859e-03 1.54194515e+02] [ 1.64837858e-01 9.86319229e-01 -1.69113139e-03 6.36483540e+00] [ 7.66701596e-03 4.33193466e-04 9.99970514e-01 9.24439039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.22, Y:6.37, Z:0.92 [[ 9.86588558e-01 -1.63054933e-01 -7.49039021e-03 1.54220742e+02] [ 1.63046765e-01 9.86616890e-01 -1.69258460e-03 6.37109586e+00] [ 7.66612976e-03 4.48600709e-04 9.99970514e-01 9.24631332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.25, Y:6.38, Z:0.92 [[ 9.86557984e-01 -1.63239828e-01 -7.49024774e-03 1.54248450e+02] [ 1.63231660e-01 9.86586316e-01 -1.69321483e-03 6.37755616e+00] [ 7.66617602e-03 4.47809031e-04 9.99970514e-01 9.24849925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.085898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.28, Y:6.39, Z:0.92 [[ 9.86843940e-01 -1.61502134e-01 -7.48993015e-03 1.54275687e+02] [ 1.61493906e-01 9.86872255e-01 -1.69461853e-03 6.38507305e+00] [ 7.66528876e-03 4.62745955e-04 9.99970514e-01 9.24799191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.30, Y:6.39, Z:0.93 [[ 9.87205722e-01 -1.59275763e-01 -7.48960250e-03 1.54301616e+02] [ 1.59267460e-01 9.87234015e-01 -1.69606537e-03 6.39173519e+00] [ 7.66413245e-03 4.81515474e-04 9.99970514e-01 9.26471903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:6.40, Z:0.93 [[ 9.87574743e-01 -1.56971444e-01 -7.48945979e-03 1.54328909e+02] [ 1.56963070e-01 9.87603015e-01 -1.69669532e-03 6.39913347e+00] [ 7.66294579e-03 5.00044839e-04 9.99970514e-01 9.26745393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.36, Y:6.41, Z:0.92 [[ 9.88348647e-01 -1.52022578e-01 -7.48913569e-03 1.54355246e+02] [ 1.52014052e-01 9.88376874e-01 -1.69812469e-03 6.40708769e+00] [ 7.66024181e-03 5.39885375e-04 9.99970514e-01 9.23163563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.38, Y:6.41, Z:0.92 [[ 9.88612297e-01 -1.50298503e-01 -7.48903512e-03 1.54381713e+02] [ 1.50289925e-01 9.88640508e-01 -1.69856809e-03 6.41462107e+00] [ 7.65925573e-03 5.53698783e-04 9.99970514e-01 9.23476880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.41, Y:6.42, Z:0.92 [[ 9.88737194e-01 -1.49474682e-01 -7.48872060e-03 1.54410354e+02] [ 1.49466070e-01 9.88765394e-01 -1.69995366e-03 6.42279500e+00] [ 7.65868780e-03 5.61497772e-04 9.99970514e-01 9.24980075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:6.43, Z:0.93 [[ 9.88723726e-01 -1.49563743e-01 -7.48868037e-03 1.54438783e+02] [ 1.49555132e-01 9.88751926e-01 -1.70013084e-03 6.43027866e+00] [ 7.65872508e-03 5.60989115e-04 9.99970514e-01 9.26014154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.47, Y:6.44, Z:0.93 [[ 9.88565572e-01 -1.50605547e-01 -7.48864024e-03 1.54466867e+02] [ 1.50596964e-01 9.88593781e-01 -1.70030760e-03 6.43686132e+00] [ 7.65929892e-03 5.53099067e-04 9.99970514e-01 9.27115121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.50, Y:6.44, Z:0.93 [[ 9.88329897e-01 -1.52144456e-01 -7.48858025e-03 1.54496268e+02] [ 1.52135916e-01 9.88358119e-01 -1.70057178e-03 6.44307436e+00] [ 7.66013165e-03 5.41443923e-04 9.99970514e-01 9.27169227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.52, Y:6.45, Z:0.93 [[ 9.87877734e-01 -1.55053230e-01 -7.48853982e-03 1.54523922e+02] [ 1.55044772e-01 9.87905980e-01 -1.70074978e-03 6.44706185e+00] [ 7.66168002e-03 5.19073889e-04 9.99970514e-01 9.25464769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:6.45, Z:0.92 [[ 9.87675685e-01 -1.56335104e-01 -7.48843915e-03 1.54551396e+02] [ 1.56326678e-01 9.87703941e-01 -1.70119290e-03 6.45227315e+00] [ 7.66231703e-03 5.09584049e-04 9.99970514e-01 9.23860835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.58, Y:6.46, Z:0.92 [[ 9.87671383e-01 -1.56362293e-01 -7.48812241e-03 1.54578926e+02] [ 1.56353858e-01 9.87699637e-01 -1.70258596e-03 6.45715267e+00] [ 7.66223603e-03 5.10798606e-04 9.99970514e-01 9.22619276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.61, Y:6.46, Z:0.92 [[ 9.87742835e-01 -1.55910300e-01 -7.48802390e-03 1.54606467e+02] [ 1.55901848e-01 9.87771084e-01 -1.70301912e-03 6.46144397e+00] [ 7.66197170e-03 5.14748172e-04 9.99970514e-01 9.21702060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:6.46, Z:0.92 [[ 9.88005584e-01 -1.54236507e-01 -7.48771181e-03 1.54634245e+02] [ 1.54227998e-01 9.88033815e-01 -1.70439018e-03 6.46349733e+00] [ 7.66099165e-03 5.29132219e-04 9.99970514e-01 9.24175661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.505898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:154.66, Y:6.47, Z:0.92 [[ 9.88137988e-01 -1.53385962e-01 -7.48756245e-03 1.54661761e+02] [ 1.53377423e-01 9.88166210e-01 -1.70504609e-03 6.46902996e+00] [ 7.66048634e-03 5.36397782e-04 9.99970514e-01 9.23133861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.69, Y:6.47, Z:0.93 [[ 9.88349917e-01 -1.52014413e-01 -7.48723769e-03 1.54689088e+02] [ 1.52005824e-01 9.88378125e-01 -1.70647097e-03 6.47347621e+00] [ 7.65963013e-03 5.48486703e-04 9.99970514e-01 9.26658200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.72, Y:6.48, Z:0.93 [[ 9.88625778e-01 -1.50209911e-01 -7.48691042e-03 1.54715378e+02] [ 1.50201260e-01 9.88653966e-01 -1.70790562e-03 6.47872937e+00] [ 7.65850803e-03 5.63936146e-04 9.99970514e-01 9.26030904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:6.48, Z:0.93 [[ 9.88875858e-01 -1.48554655e-01 -7.48676824e-03 1.54742849e+02] [ 1.48545952e-01 9.88904030e-01 -1.70852865e-03 6.48471866e+00] [ 7.65750517e-03 5.77393624e-04 9.99970514e-01 9.26640929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.77, Y:6.49, Z:0.93 [[ 9.89110132e-01 -1.46986731e-01 -7.48644900e-03 1.54769874e+02] [ 1.46977973e-01 9.89138287e-01 -1.70992637e-03 6.49111157e+00] [ 7.65646983e-03 5.90962398e-04 9.99970514e-01 9.26551248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.80, Y:6.50, Z:0.93 [[ 9.89557199e-01 -1.43946195e-01 -7.48612822e-03 1.54797113e+02] [ 1.43937339e-01 9.89585324e-01 -1.71132959e-03 6.49891611e+00] [ 7.65450201e-03 6.15925138e-04 9.99970514e-01 9.25174873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:6.51, Z:0.93 [[ 9.89612345e-01 -1.43566593e-01 -7.48602905e-03 1.54823890e+02] [ 1.43557723e-01 9.89640465e-01 -1.71176328e-03 6.50714775e+00] [ 7.65422930e-03 6.19304786e-04 9.99970514e-01 9.25023776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:6.51, Z:0.93 [[ 9.89640745e-01 -1.43370706e-01 -7.48572714e-03 1.54849729e+02] [ 1.43361821e-01 9.89668861e-01 -1.71308259e-03 6.51469568e+00] [ 7.65399691e-03 6.22168856e-04 9.99970514e-01 9.25129807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:6.52, Z:0.93 [[ 9.89585353e-01 -1.43752546e-01 -7.48559570e-03 1.54878157e+02] [ 1.43743668e-01 9.89613471e-01 -1.71365671e-03 6.52205039e+00] [ 7.65418886e-03 6.19802597e-04 9.99970514e-01 9.28081307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.91, Y:6.53, Z:0.93 [[ 9.89374427e-01 -1.45197141e-01 -7.48555343e-03 1.54905748e+02] [ 1.45188302e-01 9.89402557e-01 -1.71384134e-03 6.52920116e+00] [ 7.65507057e-03 6.08815995e-04 9.99970514e-01 9.29738959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:6.54, Z:0.94 [[ 9.88667042e-01 -1.49938146e-01 -7.48549029e-03 1.54932627e+02] [ 1.49929441e-01 9.88695213e-01 -1.71411707e-03 6.53509736e+00] [ 7.65787996e-03 5.72395683e-04 9.99970514e-01 9.35995425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:6.54, Z:0.94 [[ 9.88223035e-01 -1.52837176e-01 -7.48538741e-03 1.54960689e+02] [ 1.52828550e-01 9.88251231e-01 -1.71456623e-03 6.54044259e+00] [ 7.65949278e-03 5.50392946e-04 9.99970514e-01 9.37939022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:6.54, Z:0.94 [[ 9.87804391e-01 -1.55519963e-01 -7.48510101e-03 1.54988476e+02] [ 1.55511403e-01 9.87832607e-01 -1.71581562e-03 6.54466830e+00] [ 7.66087043e-03 5.30871638e-04 9.99970514e-01 9.36589642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.02, Y:6.55, Z:0.94 [[ 9.87467271e-01 -1.57646293e-01 -7.48570646e-03 1.55015808e+02] [ 1.57637814e-01 9.87495511e-01 -1.71317558e-03 6.54854910e+00] [ 7.66217730e-03 5.11674409e-04 9.99970514e-01 9.35139280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.04, Y:6.55, Z:0.93 [[ 9.87278740e-01 -1.58822762e-01 -7.48466944e-03 1.55042653e+02] [ 1.58814283e-01 9.87306980e-01 -1.71769425e-03 6.55242503e+00] [ 7.66247533e-03 5.07170600e-04 9.99970514e-01 9.32311144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:6.56, Z:0.93 [[ 9.87261037e-01 -1.58932773e-01 -7.48452566e-03 1.55070707e+02] [ 1.58924293e-01 9.87289277e-01 -1.71832055e-03 6.55511442e+00] [ 7.66248937e-03 5.06957981e-04 9.99970514e-01 9.30938228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:6.56, Z:0.93 [[ 9.87314970e-01 -1.58597407e-01 -7.48419598e-03 1.55098201e+02] [ 1.58588906e-01 9.87343203e-01 -1.71975527e-03 6.55996291e+00] [ 7.66221876e-03 5.11029676e-04 9.99970514e-01 9.31794050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.13, Y:6.56, Z:0.93 [[ 9.87366422e-01 -1.58276788e-01 -7.48385582e-03 1.55125233e+02] [ 1.58268266e-01 9.87394649e-01 -1.72123425e-03 6.56445941e+00] [ 7.66195062e-03 5.15032013e-04 9.99970514e-01 9.31275575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.15, Y:6.57, Z:0.93 [[ 9.87429118e-01 -1.57885185e-01 -7.48370843e-03 1.55152368e+02] [ 1.57876648e-01 9.87457340e-01 -1.72187488e-03 6.56858907e+00] [ 7.66170135e-03 5.18726594e-04 9.99970514e-01 9.30892521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.18, Y:6.57, Z:0.93 [[ 9.87449008e-01 -1.57760743e-01 -7.48356486e-03 1.55180589e+02] [ 1.57752198e-01 9.87477229e-01 -1.72249860e-03 6.57277147e+00] [ 7.66159255e-03 5.20330730e-04 9.99970514e-01 9.30703046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.21, Y:6.57, Z:0.93 [[ 9.87199209e-01 -1.59316423e-01 -7.48323763e-03 1.55208797e+02] [ 1.59307911e-01 9.87227440e-01 -1.72391908e-03 6.57440043e+00] [ 7.66230614e-03 5.09712594e-04 9.99970514e-01 9.32371248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.24, Y:6.58, Z:0.93 [[ 9.86872217e-01 -1.61329567e-01 -7.48313624e-03 1.55236700e+02] [ 1.61321110e-01 9.86900464e-01 -1.72435907e-03 6.57746082e+00] [ 7.66330073e-03 4.94534220e-04 9.99970514e-01 9.32965009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.26, Y:6.58, Z:0.93 [[ 9.86412116e-01 -1.64119303e-01 -7.48281305e-03 1.55263879e+02] [ 1.64110915e-01 9.86440383e-01 -1.72576042e-03 6.58032824e+00] [ 7.66457956e-03 4.74299693e-04 9.99970514e-01 9.33360234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.29, Y:6.58, Z:0.93 [[ 9.85880420e-01 -1.67283610e-01 -7.48267223e-03 1.55291226e+02] [ 1.67275308e-01 9.85908713e-01 -1.72637074e-03 6.58252240e+00] [ 7.66602529e-03 4.50328811e-04 9.99970514e-01 9.33651893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.32, Y:6.58, Z:0.93 [[ 9.85317555e-01 -1.70567661e-01 -7.48253468e-03 1.55319208e+02] [ 1.70559448e-01 9.85345874e-01 -1.72696673e-03 6.58442275e+00] [ 7.66744935e-03 4.25393645e-04 9.99970514e-01 9.33740188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.35, Y:6.59, Z:0.93 [[ 9.84783505e-01 -1.73624491e-01 -7.48221896e-03 1.55346978e+02] [ 1.73616357e-01 9.84811847e-01 -1.72833352e-03 6.58565155e+00] [ 7.66865890e-03 4.02998742e-04 9.99970514e-01 9.32893104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.38, Y:6.58, Z:0.93 [[ 9.83924170e-01 -1.78429947e-01 -7.48208145e-03 1.55377432e+02] [ 1.78421946e-01 9.83952550e-01 -1.72892863e-03 6.58026066e+00] [ 7.67050576e-03 3.66167135e-04 9.99970514e-01 9.28733714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.41, Y:6.58, Z:0.93 [[ 9.83733473e-01 -1.79478347e-01 -7.48179727e-03 1.55406791e+02] [ 1.79470367e-01 9.83761858e-01 -1.73015750e-03 6.58033879e+00] [ 7.67083260e-03 3.59252937e-04 9.99970514e-01 9.26549737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.44, Y:6.58, Z:0.92 [[ 9.83779727e-01 -1.79224652e-01 -7.48151093e-03 1.55435103e+02] [ 1.79216656e-01 9.83808108e-01 -1.73139482e-03 6.58021942e+00] [ 7.67067974e-03 3.62499758e-04 9.99970514e-01 9.24448532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.46, Y:6.58, Z:0.93 [[ 9.84000564e-01 -1.78008199e-01 -7.48140937e-03 1.55463865e+02] [ 1.78000164e-01 9.84028934e-01 -1.73183357e-03 6.58071208e+00] [ 7.67020385e-03 3.72433113e-04 9.99970514e-01 9.25180222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.49, Y:6.58, Z:0.93 [[ 9.84389630e-01 -1.75843938e-01 -7.48108036e-03 1.55492543e+02] [ 1.75835830e-01 9.84417979e-01 -1.73325363e-03 6.58143089e+00] [ 7.66929215e-03 3.90754932e-04 9.99970514e-01 9.25849658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.52, Y:6.58, Z:0.93 [[ 9.84805286e-01 -1.73500960e-01 -7.48097835e-03 1.55521114e+02] [ 1.73492781e-01 9.84833615e-01 -1.73369378e-03 6.58249412e+00] [ 7.66831649e-03 4.09455058e-04 9.99970514e-01 9.29505333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.55, Y:6.58, Z:0.93 [[ 9.85308095e-01 -1.70622385e-01 -7.48064265e-03 1.55549648e+02] [ 1.70614112e-01 9.85336396e-01 -1.73514107e-03 6.58370761e+00] [ 7.66700338e-03 4.33345338e-04 9.99970514e-01 9.31265577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.58, Y:6.58, Z:0.93 [[ 9.86403300e-01 -1.64172381e-01 -7.48053867e-03 1.55579695e+02] [ 1.64163920e-01 9.86431546e-01 -1.73558925e-03 6.57928185e+00] [ 7.66397515e-03 4.83956406e-04 9.99970514e-01 9.32596772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:6.58, Z:0.93 [[ 9.86819078e-01 -1.61654525e-01 -7.47806929e-03 1.55608568e+02] [ 1.61645912e-01 9.86847278e-01 -1.74622256e-03 6.58083793e+00] [ 7.66199710e-03 5.14406406e-04 9.99970514e-01 9.34423216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.64, Y:6.58, Z:0.93 [[ 9.87152494e-01 -1.59605768e-01 -7.48014641e-03 1.55636673e+02] [ 1.59597163e-01 9.87180696e-01 -1.73727914e-03 6.58311972e+00] [ 7.66153592e-03 5.21149284e-04 9.99970514e-01 9.34914328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.66, Y:6.59, Z:0.93 [[ 9.87405932e-01 -1.58030304e-01 -7.47981415e-03 1.55663453e+02] [ 1.58021644e-01 9.87434118e-01 -1.73870851e-03 6.58558170e+00] [ 7.66059232e-03 5.34838568e-04 9.99970514e-01 9.33966618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:6.59, Z:0.93 [[ 9.87562873e-01 -1.57046577e-01 -7.47966971e-03 1.55691927e+02] [ 1.57037884e-01 9.87591048e-01 -1.73932964e-03 6.58880272e+00] [ 7.66001062e-03 5.43105878e-04 9.99970514e-01 9.33975621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:6.59, Z:0.93 [[ 9.87665458e-01 -1.56400138e-01 -7.47935108e-03 1.55720308e+02] [ 1.56391416e-01 9.87693624e-01 -1.74069874e-03 6.58956250e+00] [ 7.65955289e-03 5.49521705e-04 9.99970514e-01 9.32304375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.75, Y:6.59, Z:0.93 [[ 9.87649815e-01 -1.56498894e-01 -7.47920763e-03 1.55748195e+02] [ 1.56490170e-01 9.87677981e-01 -1.74131488e-03 6.59423881e+00] [ 7.65956254e-03 5.49386844e-04 9.99970514e-01 9.31568060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.78, Y:6.60, Z:0.93 [[ 9.87631231e-01 -1.56616149e-01 -7.47889112e-03 1.55775259e+02] [ 1.56607418e-01 9.87659395e-01 -1.74267320e-03 6.59952448e+00] [ 7.65952784e-03 5.49868649e-04 9.99970514e-01 9.32075061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.80, Y:6.61, Z:0.93 [[ 9.87668401e-01 -1.56381586e-01 -7.47857001e-03 1.55802867e+02] [ 1.56372839e-01 9.87696559e-01 -1.74405013e-03 6.60527228e+00] [ 7.65929520e-03 5.53097982e-04 9.99970514e-01 9.32788710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.83, Y:6.61, Z:0.94 [[ 9.87721058e-01 -1.56048658e-01 -7.47847036e-03 1.55830198e+02] [ 1.56039898e-01 9.87749213e-01 -1.74447734e-03 6.61103242e+00] [ 7.65907656e-03 5.56117253e-04 9.99970514e-01 9.35058604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.86, Y:6.62, Z:0.94 [[ 9.87768769e-01 -1.55746387e-01 -7.47814664e-03 1.55857445e+02] [ 1.55737608e-01 9.87796917e-01 -1.74586394e-03 6.61709454e+00] [ 7.65880220e-03 5.59881205e-04 9.99970514e-01 9.36426383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.825898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:155.88, Y:6.62, Z:0.93 [[ 9.87641427e-01 -1.56551880e-01 -7.47804568e-03 1.55884891e+02] [ 1.56543120e-01 9.87669581e-01 -1.74629629e-03 6.62452788e+00] [ 7.65922421e-03 5.54077956e-04 9.99970514e-01 9.34447795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.855898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:155.91, Y:6.63, Z:0.93 [[ 9.87611553e-01 -1.56740242e-01 -7.47771285e-03 1.55912581e+02] [ 1.56731478e-01 9.87639706e-01 -1.74772030e-03 6.63116985e+00] [ 7.65922423e-03 5.54075777e-04 9.99970514e-01 9.34666523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.94, Y:6.64, Z:0.93 [[ 9.87550452e-01 -1.57124769e-01 -7.47737926e-03 1.55939825e+02] [ 1.57116005e-01 9.87578605e-01 -1.74914637e-03 6.63560611e+00] [ 7.65933400e-03 5.52554331e-04 9.99970514e-01 9.32318911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.915898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:155.97, Y:6.64, Z:0.93 [[ 9.87484607e-01 -1.57538062e-01 -7.47727570e-03 1.55966602e+02] [ 1.57529306e-01 9.87512763e-01 -1.74958896e-03 6.64128369e+00] [ 7.65953204e-03 5.49802112e-04 9.99970514e-01 9.29391174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:6.65, Z:0.93 [[ 9.87460842e-01 -1.57687118e-01 -7.47389979e-03 1.55995759e+02] [ 1.57678258e-01 9.87488965e-01 -1.76400803e-03 6.64648684e+00] [ 7.65855491e-03 5.63417353e-04 9.99970514e-01 9.32054439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.02, Y:6.65, Z:0.93 [[ 9.87406372e-01 -1.58027694e-01 -7.47692786e-03 1.56023190e+02] [ 1.58018941e-01 9.87434528e-01 -1.75107846e-03 6.65217584e+00] [ 7.65969563e-03 5.47529807e-04 9.99970514e-01 9.33783248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:6.66, Z:0.93 [[ 9.87375996e-01 -1.58217394e-01 -7.47659235e-03 1.56050877e+02] [ 1.58208635e-01 9.87404150e-01 -1.75250983e-03 6.65883780e+00] [ 7.65969586e-03 5.47524663e-04 9.99970514e-01 9.34001973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.08, Y:6.66, Z:0.93 [[ 9.87331410e-01 -1.58495402e-01 -7.47625539e-03 1.56077867e+02] [ 1.58486640e-01 9.87359564e-01 -1.75394614e-03 6.66450917e+00] [ 7.65974466e-03 5.46839520e-04 9.99970514e-01 9.33978997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.11, Y:6.67, Z:0.94 [[ 9.87225810e-01 -1.59151839e-01 -7.47615079e-03 1.56105121e+02] [ 1.59143093e-01 9.87253968e-01 -1.75439189e-03 6.67020123e+00] [ 7.66007423e-03 5.42203197e-04 9.99970514e-01 9.36296169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:6.67, Z:0.94 [[ 9.86972501e-01 -1.60715257e-01 -7.47581689e-03 1.56133202e+02] [ 1.60706545e-01 9.87000671e-01 -1.75581354e-03 6.67433852e+00] [ 7.66082231e-03 5.31526977e-04 9.99970514e-01 9.39333457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:6.68, Z:0.94 [[ 9.86770396e-01 -1.61951532e-01 -7.47571281e-03 1.56161024e+02] [ 1.61942851e-01 9.86798575e-01 -1.75625656e-03 6.67964512e+00] [ 7.66145119e-03 5.22383731e-04 9.99970514e-01 9.42198047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:6.68, Z:0.94 [[ 9.86546530e-01 -1.63309717e-01 -7.47537831e-03 1.56188258e+02] [ 1.63301065e-01 9.86574717e-01 -1.75767918e-03 6.68459606e+00] [ 7.66206534e-03 5.13295052e-04 9.99970514e-01 9.44432284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:6.69, Z:0.95 [[ 9.86363731e-01 -1.64410200e-01 -7.47504036e-03 1.56215055e+02] [ 1.64401568e-01 9.86391925e-01 -1.75911526e-03 6.68952105e+00] [ 7.66253594e-03 5.06219133e-04 9.99970514e-01 9.45874176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:6.69, Z:0.95 [[ 9.86178408e-01 -1.65518197e-01 -7.47489347e-03 1.56242193e+02] [ 1.65509593e-01 9.86206610e-01 -1.75973921e-03 6.69477334e+00] [ 7.66305821e-03 4.98250244e-04 9.99970514e-01 9.45238383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.27, Y:6.70, Z:0.94 [[ 9.86026764e-01 -1.66419202e-01 -7.47456859e-03 1.56269895e+02] [ 1.66410612e-01 9.86054971e-01 -1.76111805e-03 6.69967644e+00] [ 7.66341938e-03 4.92662001e-04 9.99970514e-01 9.44378304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:6.70, Z:0.94 [[ 9.85849626e-01 -1.67465371e-01 -7.47423507e-03 1.56297071e+02] [ 1.67456801e-01 9.85877839e-01 -1.76253240e-03 6.70491862e+00] [ 7.66384586e-03 4.85980415e-04 9.99970514e-01 9.43691800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.32, Y:6.71, Z:0.94 [[ 9.85759017e-01 -1.67997918e-01 -7.47390319e-03 1.56324137e+02] [ 1.67989353e-01 9.85787232e-01 -1.76393860e-03 6.70971268e+00] [ 7.66401634e-03 4.83282218e-04 9.99970514e-01 9.43523321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:6.71, Z:0.94 [[ 9.85398985e-01 -1.70096982e-01 -7.47375922e-03 1.56351832e+02] [ 1.70088472e-01 9.85427216e-01 -1.76454836e-03 6.71376623e+00] [ 7.66499010e-03 4.67583878e-04 9.99970514e-01 9.43132644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.38, Y:6.72, Z:0.94 [[ 9.85162658e-01 -1.71460448e-01 -7.47342678e-03 1.56379108e+02] [ 1.71451966e-01 9.85190898e-01 -1.76595526e-03 6.71879218e+00] [ 7.66554351e-03 4.58419465e-04 9.99970514e-01 9.42294987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:6.72, Z:0.94 [[ 9.84919413e-01 -1.72852255e-01 -7.47309515e-03 1.56406830e+02] [ 1.72843803e-01 9.84947662e-01 -1.76735753e-03 6.72396094e+00] [ 7.66609932e-03 4.49026552e-04 9.99970514e-01 9.41577094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:6.73, Z:0.94 [[ 9.84802766e-01 -1.73515617e-01 -7.47275527e-03 1.56433239e+02] [ 1.73507173e-01 9.84831017e-01 -1.76879341e-03 6.72896199e+00] [ 7.66631446e-03 4.45336001e-04 9.99970514e-01 9.40056340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:6.73, Z:0.94 [[ 9.84805790e-01 -1.73498459e-01 -7.47260762e-03 1.56459507e+02] [ 1.73490009e-01 9.84834040e-01 -1.76941696e-03 6.73439703e+00] [ 7.66626947e-03 4.46109301e-04 9.99970514e-01 9.38710591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:6.74, Z:0.94 [[ 9.84915103e-01 -1.72876839e-01 -7.47246846e-03 1.56487179e+02] [ 1.72868367e-01 9.84943346e-01 -1.77000448e-03 6.74013543e+00] [ 7.66595087e-03 4.51550728e-04 9.99970514e-01 9.37512018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:6.74, Z:0.94 [[ 9.85553779e-01 -1.69197861e-01 -7.47213391e-03 1.56515079e+02] [ 1.69189273e-01 9.85581986e-01 -1.77141565e-03 6.74454517e+00] [ 7.66412032e-03 4.81620481e-04 9.99970514e-01 9.36577938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:6.75, Z:0.94 [[ 9.85866891e-01 -1.67363811e-01 -7.47179363e-03 1.56542254e+02] [ 1.67355160e-01 9.85895079e-01 -1.77284979e-03 6.74947066e+00] [ 7.66311547e-03 4.97350696e-04 9.99970514e-01 9.36311339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.575898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.57, Y:6.76, Z:0.94 [[ 9.86053649e-01 -1.66259960e-01 -7.47168800e-03 1.56569296e+02] [ 1.66251274e-01 9.86081827e-01 -1.77329487e-03 6.75547168e+00] [ 7.66252369e-03 5.06386222e-04 9.99970514e-01 9.36034344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:6.76, Z:0.94 [[ 9.86342506e-01 -1.64537657e-01 -7.47136018e-03 1.56597459e+02] [ 1.64528912e-01 9.86370665e-01 -1.77467500e-03 6.75924515e+00] [ 7.66153137e-03 5.21182629e-04 9.99970514e-01 9.38171930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:6.76, Z:0.94 [[ 9.86656199e-01 -1.62646021e-01 -7.47103244e-03 1.56624075e+02] [ 1.62637211e-01 9.86684338e-01 -1.77605363e-03 6.76306584e+00] [ 7.66041875e-03 5.37286448e-04 9.99970514e-01 9.38645415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:6.77, Z:0.94 [[ 9.87014270e-01 -1.60458776e-01 -7.47080803e-03 1.56651239e+02] [ 1.60449897e-01 9.87042387e-01 -1.77699708e-03 6.76648757e+00] [ 7.65913897e-03 5.55231102e-04 9.99970514e-01 9.38174471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.68, Y:6.77, Z:0.94 [[ 9.87338890e-01 -1.58449061e-01 -7.47066746e-03 1.56679073e+02] [ 1.58440120e-01 9.87366988e-01 -1.77758786e-03 6.77007332e+00] [ 7.65794756e-03 5.71428169e-04 9.99970514e-01 9.39615492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.71, Y:6.77, Z:0.94 [[ 9.87641477e-01 -1.56551930e-01 -7.47034120e-03 1.56707069e+02] [ 1.56542925e-01 9.87669554e-01 -1.77895791e-03 6.77442082e+00] [ 7.65672786e-03 5.87543557e-04 9.99970514e-01 9.41083426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.73, Y:6.78, Z:0.95 [[ 9.88110764e-01 -1.53562092e-01 -7.47001278e-03 1.56734771e+02] [ 1.53552991e-01 9.88138811e-01 -1.78033591e-03 6.77664766e+00] [ 7.65480165e-03 6.12126272e-04 9.99970514e-01 9.45537503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:6.78, Z:0.95 [[ 9.88203790e-01 -1.52962313e-01 -7.46991103e-03 1.56761243e+02] [ 1.52953193e-01 9.88231830e-01 -1.78076274e-03 6.78024547e+00] [ 7.65439343e-03 6.17209753e-04 9.99970514e-01 9.49024457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.79, Y:6.78, Z:0.95 [[ 9.88241119e-01 -1.52720966e-01 -7.46977025e-03 1.56788867e+02] [ 1.52711834e-01 9.88269155e-01 -1.78135309e-03 6.78316367e+00] [ 7.65419349e-03 6.19684062e-04 9.99970514e-01 9.51148386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.82, Y:6.79, Z:0.95 [[ 9.88217341e-01 -1.52874767e-01 -7.46944832e-03 1.56816788e+02] [ 1.52865630e-01 9.88245375e-01 -1.78270194e-03 6.78564347e+00] [ 7.65417790e-03 6.19875053e-04 9.99970514e-01 9.51530075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.84, Y:6.79, Z:0.95 [[ 9.88166124e-01 -1.53205492e-01 -7.46912588e-03 1.56843747e+02] [ 1.53196353e-01 9.88194158e-01 -1.78405190e-03 6.78844185e+00] [ 7.65427311e-03 6.18696803e-04 9.99970514e-01 9.51013406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.87, Y:6.79, Z:0.95 [[ 9.88034722e-01 -1.54050648e-01 -7.46898576e-03 1.56872303e+02] [ 1.54041529e-01 9.88062762e-01 -1.78463829e-03 6.78787222e+00] [ 7.65475139e-03 6.12750612e-04 9.99970514e-01 9.49867068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.90, Y:6.79, Z:0.95 [[ 9.87982230e-01 -1.54386954e-01 -7.46866719e-03 1.56899153e+02] [ 1.54377834e-01 9.88010271e-01 -1.78597050e-03 6.79130704e+00] [ 7.65485044e-03 6.11510451e-04 9.99970514e-01 9.49857669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.93, Y:6.80, Z:0.95 [[ 9.87918713e-01 -1.54792890e-01 -7.46844935e-03 1.56926880e+02] [ 1.54783775e-01 9.87946755e-01 -1.78688098e-03 6.79505604e+00] [ 7.65502677e-03 6.09298376e-04 9.99970514e-01 9.50010389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.95, Y:6.80, Z:0.95 [[ 9.87841213e-01 -1.55286718e-01 -7.46813228e-03 1.56954624e+02] [ 1.55277608e-01 9.87869256e-01 -1.78820519e-03 6.79897459e+00] [ 7.65522279e-03 6.06829075e-04 9.99970514e-01 9.50084550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.98, Y:6.80, Z:0.95 [[ 9.87867577e-01 -1.55118927e-01 -7.46781706e-03 1.56981614e+02] [ 1.55109802e-01 9.87895615e-01 -1.78952065e-03 6.80278196e+00] [ 7.65501225e-03 6.09477804e-04 9.99970514e-01 9.48409305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.01, Y:6.81, Z:0.95 [[ 9.87976157e-01 -1.54425864e-01 -7.46760144e-03 1.57008551e+02] [ 1.54416712e-01 9.88004187e-01 -1.79041995e-03 6.80689940e+00] [ 7.65450864e-03 6.15769762e-04 9.99970514e-01 9.46094604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:6.81, Z:0.94 [[ 9.88091218e-01 -1.53687937e-01 -7.46746491e-03 1.57036463e+02] [ 1.53678761e-01 9.88119239e-01 -1.79098920e-03 6.81110187e+00] [ 7.65399918e-03 6.22069943e-04 9.99970514e-01 9.43519026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.07, Y:6.81, Z:0.94 [[ 9.88157057e-01 -1.53264063e-01 -7.46715478e-03 1.57065327e+02] [ 1.53254864e-01 9.88185071e-01 -1.79228131e-03 6.81121923e+00] [ 7.65362319e-03 6.26677631e-04 9.99970514e-01 9.38496320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.09, Y:6.81, Z:0.94 [[ 9.87996525e-01 -1.54295531e-01 -7.46700995e-03 1.57093496e+02] [ 1.54286357e-01 9.88024547e-01 -1.79288448e-03 6.81428016e+00] [ 7.65422319e-03 6.19305872e-04 9.99970514e-01 9.37440170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.12, Y:6.82, Z:0.94 [[ 9.87758353e-01 -1.55812978e-01 -7.46670304e-03 1.57121500e+02] [ 1.55803837e-01 9.87786386e-01 -1.79416174e-03 6.81701458e+00] [ 7.65506130e-03 6.08857258e-04 9.99970514e-01 9.39216999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.15, Y:6.82, Z:0.94 [[ 9.87432204e-01 -1.57866705e-01 -7.46637946e-03 1.57149657e+02] [ 1.57857613e-01 9.87460252e-01 -1.79550729e-03 6.82070918e+00] [ 7.65620377e-03 5.94316877e-04 9.99970514e-01 9.41055851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.18, Y:6.82, Z:0.94 [[ 9.87143502e-01 -1.59662030e-01 -7.46605358e-03 1.57176627e+02] [ 1.59652979e-01 9.87171564e-01 -1.79686136e-03 6.82407505e+00] [ 7.65716632e-03 5.81782324e-04 9.99970514e-01 9.42335577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.20, Y:6.83, Z:0.94 [[ 9.86846397e-01 -1.61488231e-01 -7.46591180e-03 1.57204081e+02] [ 1.61479227e-01 9.86874474e-01 -1.79745023e-03 6.82829705e+00] [ 7.65818485e-03 5.68217617e-04 9.99970514e-01 9.42778514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:6.83, Z:0.94 [[ 9.86608762e-01 -1.62933776e-01 -7.46558606e-03 1.57231649e+02] [ 1.62924803e-01 9.86636850e-01 -1.79880219e-03 6.83230760e+00] [ 7.65890794e-03 5.58384867e-04 9.99970514e-01 9.42399184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.26, Y:6.83, Z:0.94 [[ 9.86349151e-01 -1.64498095e-01 -7.46525520e-03 1.57259954e+02] [ 1.64489156e-01 9.86377249e-01 -1.80017426e-03 6.83359517e+00] [ 7.65968312e-03 5.47646822e-04 9.99970514e-01 9.42100580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.29, Y:6.84, Z:0.94 [[ 9.86367700e-01 -1.64386848e-01 -7.46492034e-03 1.57287392e+02] [ 1.64377896e-01 9.86395794e-01 -1.80156177e-03 6.83709102e+00] [ 7.65951908e-03 5.49934438e-04 9.99970514e-01 9.43701945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.32, Y:6.84, Z:0.95 [[ 9.86435535e-01 -1.63979300e-01 -7.46481640e-03 1.57315219e+02] [ 1.63970333e-01 9.86463625e-01 -1.80199233e-03 6.84126133e+00] [ 7.65925929e-03 5.53540833e-04 9.99970514e-01 9.45155983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.415898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:157.34, Y:6.85, Z:0.94 [[ 9.86504344e-01 -1.63564844e-01 -7.46471329e-03 1.57342800e+02] [ 1.63555862e-01 9.86532428e-01 -1.80241935e-03 6.84715939e+00] [ 7.65899417e-03 5.57196898e-04 9.99970514e-01 9.44515299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.37, Y:6.85, Z:0.95 [[ 9.86672145e-01 -1.62549566e-01 -7.46438224e-03 1.57369222e+02] [ 1.62540545e-01 9.86700217e-01 -1.80378929e-03 6.85121206e+00] [ 7.65831274e-03 5.66483894e-04 9.99970514e-01 9.46703887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.40, Y:6.86, Z:0.95 [[ 9.86814267e-01 -1.61684531e-01 -7.46423823e-03 1.57397065e+02] [ 1.61675480e-01 9.86842330e-01 -1.80438502e-03 6.85702404e+00] [ 7.65776739e-03 5.73808575e-04 9.99970514e-01 9.46440374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:6.86, Z:0.95 [[ 9.87109746e-01 -1.59870694e-01 -7.46391051e-03 1.57424607e+02] [ 1.59861582e-01 9.87137789e-01 -1.80573966e-03 6.86201913e+00] [ 7.65659296e-03 5.89270677e-04 9.99970514e-01 9.47046183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:6.87, Z:0.95 [[ 9.87263640e-01 -1.58917588e-01 -7.46358305e-03 1.57452542e+02] [ 1.58908439e-01 9.87291670e-01 -1.80709211e-03 6.86754875e+00] [ 7.65591210e-03 5.98050003e-04 9.99970514e-01 9.48736072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.48, Y:6.87, Z:0.95 [[ 9.87402375e-01 -1.58053312e-01 -7.46325686e-03 1.57478988e+02] [ 1.58044128e-01 9.87430394e-01 -1.80843825e-03 6.87303277e+00] [ 7.65527632e-03 6.06132301e-04 9.99970514e-01 9.50712106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.51, Y:6.88, Z:0.95 [[ 9.87524509e-01 -1.57288422e-01 -7.46303577e-03 1.57505523e+02] [ 1.57279210e-01 9.87552518e-01 -1.80935018e-03 6.87887268e+00] [ 7.65472961e-03 6.12997280e-04 9.99970514e-01 9.51919599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.53, Y:6.89, Z:0.95 [[ 9.87570260e-01 -1.57000910e-01 -7.46289548e-03 1.57532614e+02] [ 1.56991685e-01 9.87598266e-01 -1.80992867e-03 6.88528342e+00] [ 7.65450308e-03 6.15819186e-04 9.99970514e-01 9.52600782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.56, Y:6.89, Z:0.95 [[ 9.87554601e-01 -1.57099398e-01 -7.46257212e-03 1.57558707e+02] [ 1.57090166e-01 9.87582604e-01 -1.81126092e-03 6.89084007e+00] [ 7.65445441e-03 6.16422360e-04 9.99970514e-01 9.51811372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:6.90, Z:0.95 [[ 9.87369920e-01 -1.58255973e-01 -7.46243156e-03 1.57586194e+02] [ 1.58246769e-01 9.87397933e-01 -1.81183986e-03 6.89634655e+00] [ 7.65512397e-03 6.08050488e-04 9.99970514e-01 9.50596807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.61, Y:6.90, Z:0.95 [[ 9.87117079e-01 -1.59825499e-01 -7.46210703e-03 1.57612638e+02] [ 1.59816330e-01 9.87145102e-01 -1.81317544e-03 6.90105541e+00] [ 7.65597408e-03 5.97249884e-04 9.99970514e-01 9.50027883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.64, Y:6.90, Z:0.95 [[ 9.86587192e-01 -1.63064506e-01 -7.46188622e-03 1.57640597e+02] [ 1.63055421e-01 9.86615243e-01 -1.81408372e-03 6.90433133e+00] [ 7.65782335e-03 5.73050766e-04 9.99970514e-01 9.48683850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.67, Y:6.91, Z:0.95 [[ 9.86466957e-01 -1.63790320e-01 -7.46154719e-03 1.57666926e+02] [ 1.63781246e-01 9.86495011e-01 -1.81547712e-03 6.90975035e+00] [ 7.65813666e-03 5.68846693e-04 9.99970514e-01 9.47721473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.805898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.69, Y:6.92, Z:0.95 [[ 9.86453904e-01 -1.63868920e-01 -7.46139936e-03 1.57693965e+02] [ 1.63859844e-01 9.86481958e-01 -1.81608446e-03 6.91656122e+00] [ 7.65813565e-03 5.68859869e-04 9.99970514e-01 9.46562196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.72, Y:6.92, Z:0.95 [[ 9.86635385e-01 -1.62772691e-01 -7.46105858e-03 1.57719950e+02] [ 1.62763573e-01 9.86663426e-01 -1.81748344e-03 6.92253378e+00] [ 7.65739029e-03 5.78804921e-04 9.99970514e-01 9.46846677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.75, Y:6.93, Z:0.95 [[ 9.86605688e-01 -1.62952604e-01 -7.46091064e-03 1.57747603e+02] [ 1.62943487e-01 9.86633729e-01 -1.81809053e-03 6.92944195e+00] [ 7.65744867e-03 5.78031667e-04 9.99970514e-01 9.47065489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.77, Y:6.94, Z:0.95 [[ 9.86903456e-01 -1.61139404e-01 -7.46057886e-03 1.57773657e+02] [ 1.61130225e-01 9.86931477e-01 -1.81945099e-03 6.93610321e+00] [ 7.65626536e-03 5.93497727e-04 9.99970514e-01 9.45688454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.80, Y:6.94, Z:0.95 [[ 9.87185382e-01 -1.59403153e-01 -7.46035276e-03 1.57801072e+02] [ 1.59393918e-01 9.87213384e-01 -1.82037761e-03 6.94349153e+00] [ 7.65513402e-03 6.07915311e-04 9.99970514e-01 9.46786898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.83, Y:6.95, Z:0.95 [[ 9.87625559e-01 -1.56652813e-01 -7.46001586e-03 1.57826963e+02] [ 1.56643489e-01 9.87653532e-01 -1.82175719e-03 6.95183622e+00] [ 7.65329440e-03 6.30651048e-04 9.99970514e-01 9.46045583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.85, Y:6.96, Z:0.95 [[ 9.87726045e-01 -1.56017978e-01 -7.45986969e-03 1.57853171e+02] [ 1.56008632e-01 9.87754011e-01 -1.82235553e-03 6.95952909e+00] [ 7.65283643e-03 6.36183953e-04 9.99970514e-01 9.45008787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.88, Y:6.97, Z:0.94 [[ 9.87724179e-01 -1.56029801e-01 -7.45972470e-03 1.57880345e+02] [ 1.56020451e-01 9.87752143e-01 -1.82294886e-03 6.96754804e+00] [ 7.65279340e-03 6.36701059e-04 9.99970514e-01 9.44712880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.91, Y:6.98, Z:0.94 [[ 9.87658260e-01 -1.56446536e-01 -7.45939198e-03 1.57907612e+02] [ 1.56437187e-01 9.87686225e-01 -1.82430933e-03 6.97564252e+00] [ 7.65294557e-03 6.34867878e-04 9.99970514e-01 9.44170326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.93, Y:6.98, Z:0.95 [[ 9.87487052e-01 -1.57523602e-01 -7.45906058e-03 1.57934179e+02] [ 1.57514274e-01 9.87515023e-01 -1.82566330e-03 6.98366126e+00] [ 7.65351944e-03 6.27910363e-04 9.99970514e-01 9.45876519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.96, Y:6.99, Z:0.95 [[ 9.87270414e-01 -1.58875727e-01 -7.45871595e-03 1.57959988e+02] [ 1.58866426e-01 9.87298395e-01 -1.82707020e-03 6.99161287e+00] [ 7.65425539e-03 6.18872804e-04 9.99970514e-01 9.45792633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.99, Y:7.00, Z:0.95 [[ 9.86750133e-01 -1.62075736e-01 -7.45856567e-03 1.57986228e+02] [ 1.62066522e-01 9.86778142e-01 -1.82768347e-03 7.00168157e+00] [ 7.65617272e-03 5.94683110e-04 9.99970514e-01 9.46071974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.01, Y:7.01, Z:0.95 [[ 9.86592274e-01 -1.63033921e-01 -7.45822974e-03 1.58012434e+02] [ 1.63024724e-01 9.86620289e-01 -1.82905326e-03 7.00930870e+00] [ 7.65663851e-03 5.88653976e-04 9.99970514e-01 9.45185158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.04, Y:7.02, Z:0.95 [[ 9.86482715e-01 -1.63695540e-01 -7.45808345e-03 1.58038060e+02] [ 1.63686357e-01 9.86510734e-01 -1.82964957e-03 7.01650261e+00] [ 7.65698486e-03 5.84131167e-04 9.99970514e-01 9.45297715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.06, Y:7.02, Z:0.95 [[ 9.86384766e-01 -1.64284732e-01 -7.45794114e-03 1.58064891e+02] [ 1.64275561e-01 9.86412789e-01 -1.83022948e-03 7.02396440e+00] [ 7.65728728e-03 5.80153017e-04 9.99970514e-01 9.47879970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:7.03, Z:0.95 [[ 9.86409187e-01 -1.64138051e-01 -7.45759042e-03 1.58091947e+02] [ 1.64128865e-01 9.86437206e-01 -1.83165745e-03 7.03126002e+00] [ 7.65708933e-03 5.82757890e-04 9.99970514e-01 9.49455470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.12, Y:7.04, Z:0.95 [[ 9.86509080e-01 -1.63536606e-01 -7.45748131e-03 1.58117792e+02] [ 1.63527400e-01 9.86537092e-01 -1.83210156e-03 7.03841631e+00] [ 7.65669759e-03 5.87882297e-04 9.99970514e-01 9.51327499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.14, Y:7.05, Z:0.95 [[ 9.86713935e-01 -1.62296027e-01 -7.45725435e-03 1.58144402e+02] [ 1.62286779e-01 9.86741933e-01 -1.83302489e-03 7.04534702e+00] [ 7.65587823e-03 5.98457418e-04 9.99970514e-01 9.52891147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.17, Y:7.05, Z:0.95 [[ 9.86734477e-01 -1.62171094e-01 -7.45710435e-03 1.58170406e+02] [ 1.62161838e-01 9.86762472e-01 -1.83363493e-03 7.05137638e+00] [ 7.65575330e-03 6.00053053e-04 9.99970514e-01 9.52484481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.375898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:158.20, Y:7.06, Z:0.95 [[ 9.86626080e-01 -1.62829276e-01 -7.45695562e-03 1.58197087e+02] [ 1.62820033e-01 9.86654079e-01 -1.83423959e-03 7.05834356e+00] [ 7.65610358e-03 5.95566850e-04 9.99970514e-01 9.50836133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.22, Y:7.06, Z:0.95 [[ 9.86467539e-01 -1.63787035e-01 -7.45661550e-03 1.58223254e+02] [ 1.63777810e-01 9.86495545e-01 -1.83562120e-03 7.06358460e+00] [ 7.65656892e-03 5.89552573e-04 9.99970514e-01 9.52861151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.435898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:158.25, Y:7.07, Z:0.95 [[ 9.86100822e-01 -1.65980633e-01 -7.45638339e-03 1.58250881e+02] [ 1.65971463e-01 9.86128846e-01 -1.83656358e-03 7.07064421e+00] [ 7.65778873e-03 5.73489996e-04 9.99970514e-01 9.51087797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.465898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:158.28, Y:7.08, Z:0.95 [[ 9.85708737e-01 -1.68293476e-01 -7.45604071e-03 1.58277886e+02] [ 1.68284361e-01 9.85736778e-01 -1.83795370e-03 7.07539424e+00] [ 7.65900917e-03 5.56951966e-04 9.99970514e-01 9.50783291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.31, Y:7.08, Z:0.95 [[ 9.84836269e-01 -1.73326086e-01 -7.45589124e-03 1.58306468e+02] [ 1.73317110e-01 9.84864356e-01 -1.83855984e-03 7.07543119e+00] [ 7.66171191e-03 5.18446893e-04 9.99970514e-01 9.51720741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.33, Y:7.08, Z:0.95 [[ 9.84426574e-01 -1.75638082e-01 -7.45555093e-03 1.58333818e+02] [ 1.75629161e-01 9.84454678e-01 -1.83993882e-03 7.07944555e+00] [ 7.66281531e-03 5.01872511e-04 9.99970514e-01 9.51217067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.36, Y:7.08, Z:0.95 [[ 9.84133285e-01 -1.77274071e-01 -7.45521110e-03 1.58361730e+02] [ 1.77265187e-01 9.84161401e-01 -1.84131475e-03 7.08369337e+00] [ 7.66354836e-03 4.90549752e-04 9.99970514e-01 9.50873204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.39, Y:7.09, Z:0.95 [[ 9.84039743e-01 -1.77792603e-01 -7.45487172e-03 1.58388322e+02] [ 1.77783724e-01 9.84067859e-01 -1.84268777e-03 7.08797907e+00] [ 7.66371591e-03 4.87923140e-04 9.99970514e-01 9.50556145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.41, Y:7.09, Z:0.95 [[ 9.84132895e-01 -1.77276257e-01 -7.45472374e-03 1.58414922e+02] [ 1.77267358e-01 9.84161006e-01 -1.84328622e-03 7.09196538e+00] [ 7.66341930e-03 4.92559422e-04 9.99970514e-01 9.49787508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.44, Y:7.10, Z:0.95 [[ 9.84259560e-01 -1.76571649e-01 -7.45457760e-03 1.58441358e+02] [ 1.76562726e-01 9.84287663e-01 -1.84387705e-03 7.09616524e+00] [ 7.66302518e-03 4.98653080e-04 9.99970514e-01 9.49308456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.47, Y:7.10, Z:0.95 [[ 9.84382384e-01 -1.75885627e-01 -7.45443270e-03 1.58468496e+02] [ 1.75876679e-01 9.84410479e-01 -1.84446266e-03 7.10118205e+00] [ 7.66263614e-03 5.04595676e-04 9.99970514e-01 9.49085946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.49, Y:7.11, Z:0.95 [[ 9.84585180e-01 -1.74746848e-01 -7.45409358e-03 1.58494805e+02] [ 1.74737857e-01 9.84613261e-01 -1.84583213e-03 7.10639877e+00] [ 7.66195274e-03 5.14866621e-04 9.99970514e-01 9.48378163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.52, Y:7.11, Z:0.95 [[ 9.85002088e-01 -1.72381340e-01 -7.45394596e-03 1.58522982e+02] [ 1.72372277e-01 9.85030146e-01 -1.84642807e-03 7.11175656e+00] [ 7.66065122e-03 5.33881867e-04 9.99970514e-01 9.46438384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.55, Y:7.12, Z:0.94 [[ 9.85188553e-01 -1.71312460e-01 -7.45364607e-03 1.58549539e+02] [ 1.71303358e-01 9.85216598e-01 -1.84763786e-03 7.11719592e+00] [ 7.65997922e-03 5.43437071e-04 9.99970514e-01 9.44901204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.58, Y:7.12, Z:0.95 [[ 9.85287697e-01 -1.70741322e-01 -7.45349765e-03 1.58576640e+02] [ 1.70732200e-01 9.85315736e-01 -1.84823642e-03 7.12292234e+00] [ 7.65961886e-03 5.48492555e-04 9.99970514e-01 9.46103960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.60, Y:7.13, Z:0.95 [[ 9.85367236e-01 -1.70281712e-01 -7.45316700e-03 1.58604076e+02] [ 1.70272566e-01 9.85395267e-01 -1.84956884e-03 7.12895691e+00] [ 7.65926323e-03 5.53434666e-04 9.99970514e-01 9.47384073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:7.14, Z:0.95 [[ 9.85455246e-01 -1.69771653e-01 -7.45283247e-03 1.58631022e+02] [ 1.69762482e-01 9.85483269e-01 -1.85091585e-03 7.13509770e+00] [ 7.65887475e-03 5.58783397e-04 9.99970514e-01 9.49265769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.66, Y:7.14, Z:0.95 [[ 9.85576329e-01 -1.69067325e-01 -7.45249499e-03 1.58659679e+02] [ 1.69058124e-01 9.85604342e-01 -1.85227366e-03 7.13995601e+00] [ 7.65837038e-03 5.65652246e-04 9.99970514e-01 9.52319567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.915898227 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:158.69, Y:7.15, Z:0.95 [[ 9.85456553e-01 -1.69764093e-01 -7.45219645e-03 1.58686641e+02] [ 1.69754903e-01 9.85484570e-01 -1.85347400e-03 7.14607171e+00] [ 7.65867795e-03 5.61471205e-04 9.99970514e-01 9.51320432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.71, Y:7.15, Z:0.95 [[ 9.85331009e-01 -1.70491268e-01 -7.45184531e-03 1.58713787e+02] [ 1.70482088e-01 9.85359030e-01 -1.85488468e-03 7.14959086e+00] [ 7.65898470e-03 5.57269245e-04 9.99970514e-01 9.53866239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.74, Y:7.15, Z:0.96 [[ 9.85041398e-01 -1.72156664e-01 -7.45169297e-03 1.58741824e+02] [ 1.72147527e-01 9.85069432e-01 -1.85549649e-03 7.15391306e+00] [ 7.65987104e-03 5.44950342e-04 9.99970514e-01 9.55361694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.77, Y:7.16, Z:0.96 [[ 9.84727644e-01 -1.73942358e-01 -7.45135355e-03 1.58769181e+02] [ 1.73933262e-01 9.84755692e-01 -1.85685852e-03 7.15766802e+00] [ 7.66074917e-03 5.32461684e-04 9.99970514e-01 9.56809416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.80, Y:7.16, Z:0.96 [[ 9.84480551e-01 -1.75335461e-01 -7.45120625e-03 1.58796939e+02] [ 1.75326400e-01 9.84508610e-01 -1.85744944e-03 7.16110154e+00] [ 7.66145346e-03 5.22229680e-04 9.99970514e-01 9.59245179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.82, Y:7.16, Z:0.96 [[ 9.84307813e-01 -1.76302623e-01 -7.45086136e-03 1.58824557e+02] [ 1.76293579e-01 9.84335877e-01 -1.85883188e-03 7.16142774e+00] [ 7.66186708e-03 5.16123731e-04 9.99970514e-01 9.61047033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.85, Y:7.17, Z:0.96 [[ 9.84265293e-01 -1.76539855e-01 -7.45071195e-03 1.58851926e+02] [ 1.76530813e-01 9.84293358e-01 -1.85943054e-03 7.16567449e+00] [ 7.66194988e-03 5.14892704e-04 9.99970514e-01 9.59702992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.88, Y:7.17, Z:0.96 [[ 9.84331215e-01 -1.76171939e-01 -7.45037271e-03 1.58878550e+02] [ 1.76162876e-01 9.84359273e-01 -1.86078882e-03 7.16913498e+00] [ 7.66166224e-03 5.19153439e-04 9.99970514e-01 9.57840449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.91, Y:7.17, Z:0.96 [[ 9.84301775e-01 -1.76336357e-01 -7.45022522e-03 1.58907036e+02] [ 1.76327295e-01 9.84329833e-01 -1.86137916e-03 7.17259016e+00] [ 7.66170777e-03 5.18480748e-04 9.99970514e-01 9.56562025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.93, Y:7.18, Z:0.96 [[ 9.84230512e-01 -1.76733691e-01 -7.44988672e-03 1.58934976e+02] [ 1.76724630e-01 9.84258571e-01 -1.86273295e-03 7.17542688e+00] [ 7.66182253e-03 5.16780135e-04 9.99970514e-01 9.56227435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.96, Y:7.18, Z:0.96 [[ 9.84090187e-01 -1.77513401e-01 -7.44954952e-03 1.58962681e+02] [ 1.77504352e-01 9.84118250e-01 -1.86408053e-03 7.17810793e+00] [ 7.66213692e-03 5.12095899e-04 9.99970514e-01 9.56662149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.99, Y:7.18, Z:0.96 [[ 9.83656454e-01 -1.79901335e-01 -7.44921588e-03 1.58992048e+02] [ 1.79892344e-01 9.83684535e-01 -1.86541288e-03 7.17541101e+00] [ 7.66326873e-03 4.94868513e-04 9.99970514e-01 9.57946455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.02, Y:7.18, Z:0.96 [[ 9.83337506e-01 -1.81636624e-01 -7.44887362e-03 1.59020675e+02] [ 1.81627672e-01 9.83365600e-01 -1.86677856e-03 7.17707718e+00] [ 7.66404144e-03 4.82751798e-04 9.99970514e-01 9.59164444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.05, Y:7.18, Z:0.96 [[ 9.83075403e-01 -1.83049913e-01 -7.44853125e-03 1.59048353e+02] [ 1.83040991e-01 9.83103507e-01 -1.86814364e-03 7.17848735e+00] [ 7.66464073e-03 4.73139517e-04 9.99970514e-01 9.59933149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.08, Y:7.18, Z:0.96 [[ 9.82877983e-01 -1.84107014e-01 -7.44838223e-03 1.59076805e+02] [ 1.84098118e-01 9.82906095e-01 -1.86873762e-03 7.18129156e+00] [ 7.66510799e-03 4.65507908e-04 9.99970514e-01 9.59579291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.10, Y:7.18, Z:0.96 [[ 9.82926078e-01 -1.83850078e-01 -7.44804140e-03 1.59103840e+02] [ 1.83841165e-01 9.82954185e-01 -1.87009505e-03 7.18449364e+00] [ 7.66490058e-03 4.68908584e-04 9.99970514e-01 9.58626721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.13, Y:7.19, Z:0.96 [[ 9.83593642e-01 -1.80244493e-01 -7.44789325e-03 1.59132544e+02] [ 1.80235472e-01 9.83621713e-01 -1.87068488e-03 7.18679846e+00] [ 7.66309017e-03 4.97619198e-04 9.99970514e-01 9.55703210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.16, Y:7.19, Z:0.95 [[ 9.84015659e-01 -1.77926152e-01 -7.44759183e-03 1.59159902e+02] [ 1.77917056e-01 9.84043707e-01 -1.87188413e-03 7.19164864e+00] [ 7.66181301e-03 5.16909680e-04 9.99970514e-01 9.53852397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.19, Y:7.20, Z:0.95 [[ 9.84381065e-01 -1.75893311e-01 -7.44724743e-03 1.59187795e+02] [ 1.75884147e-01 9.84409091e-01 -1.87325333e-03 7.19695857e+00] [ 7.66063080e-03 5.34142345e-04 9.99970514e-01 9.53329592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.22, Y:7.20, Z:0.95 [[ 9.84609173e-01 -1.74611912e-01 -7.44690373e-03 1.59215643e+02] [ 1.74602701e-01 9.84637183e-01 -1.87461864e-03 7.20236134e+00] [ 7.65982906e-03 5.45517207e-04 9.99970514e-01 9.54317520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.515898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:159.24, Y:7.21, Z:0.96 [[ 9.84689591e-01 -1.74157855e-01 -7.44656065e-03 1.59243733e+02] [ 1.74148620e-01 9.84717593e-01 -1.87598049e-03 7.20871908e+00] [ 7.65947602e-03 5.50450197e-04 9.99970514e-01 9.55456612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.27, Y:7.21, Z:0.96 [[ 9.84689713e-01 -1.74157177e-01 -7.44626179e-03 1.59271367e+02] [ 1.74147934e-01 9.84717713e-01 -1.87716598e-03 7.21320564e+00] [ 7.65938781e-03 5.51674927e-04 9.99970514e-01 9.59895796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.575898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.30, Y:7.22, Z:0.96 [[ 9.84444508e-01 -1.75537931e-01 -7.44615556e-03 1.59299686e+02] [ 1.75528724e-01 9.84472519e-01 -1.87758729e-03 7.21733904e+00] [ 7.66012331e-03 5.41366314e-04 9.99970514e-01 9.59972740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.33, Y:7.22, Z:0.96 [[ 9.84390289e-01 -1.75841746e-01 -7.44581330e-03 1.59326642e+02] [ 1.75832537e-01 9.84418300e-01 -1.87894357e-03 7.22178208e+00] [ 7.66019159e-03 5.40397559e-04 9.99970514e-01 9.59154595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.35, Y:7.23, Z:0.96 [[ 9.84329159e-01 -1.76183620e-01 -7.44566497e-03 1.59354254e+02] [ 1.76174417e-01 9.84357172e-01 -1.87953119e-03 7.22657894e+00] [ 7.66033632e-03 5.38341676e-04 9.99970514e-01 9.58040485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.38, Y:7.23, Z:0.96 [[ 9.84390880e-01 -1.75838456e-01 -7.44532654e-03 1.59381442e+02] [ 1.75829233e-01 9.84418886e-01 -1.88087085e-03 7.23048774e+00] [ 7.66004948e-03 5.42406062e-04 9.99970514e-01 9.58271918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.41, Y:7.23, Z:0.96 [[ 9.84473995e-01 -1.75372523e-01 -7.44517944e-03 1.59409858e+02] [ 1.75363282e-01 9.84501996e-01 -1.88145293e-03 7.23400872e+00] [ 7.65974916e-03 5.46630376e-04 9.99970514e-01 9.59608785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.44, Y:7.24, Z:0.96 [[ 9.84549362e-01 -1.74948933e-01 -7.44483358e-03 1.59436820e+02] [ 1.74939670e-01 9.84577354e-01 -1.88282048e-03 7.23703221e+00] [ 7.65941199e-03 5.51332972e-04 9.99970514e-01 9.60530124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.47, Y:7.24, Z:0.96 [[ 9.84873264e-01 -1.73116232e-01 -7.44468353e-03 1.59465120e+02] [ 1.73106913e-01 9.84901238e-01 -1.88341361e-03 7.23657732e+00] [ 7.65832749e-03 5.66197528e-04 9.99970514e-01 9.59636506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.49, Y:7.24, Z:0.96 [[ 9.84843161e-01 -1.73287410e-01 -7.44453472e-03 1.59492730e+02] [ 1.73278091e-01 9.84871136e-01 -1.88400162e-03 7.24373598e+00] [ 7.65838113e-03 5.65471340e-04 9.99970514e-01 9.59855406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.815898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:159.52, Y:7.25, Z:0.96 [[ 9.84972881e-01 -1.72548563e-01 -7.44420704e-03 1.59520549e+02] [ 1.72539213e-01 9.85000845e-01 -1.88529550e-03 7.24767768e+00] [ 7.65785525e-03 5.72547310e-04 9.99970514e-01 9.57975259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.55, Y:7.25, Z:0.96 [[ 9.85147354e-01 -1.71549642e-01 -7.44386108e-03 1.59549305e+02] [ 1.71540254e-01 9.85175305e-01 -1.88666048e-03 7.25028536e+00] [ 7.65716404e-03 5.81716758e-04 9.99970514e-01 9.59005476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.58, Y:7.25, Z:0.96 [[ 9.85347306e-01 -1.70397416e-01 -7.44353602e-03 1.59575934e+02] [ 1.70387986e-01 9.85375243e-01 -1.88794208e-03 7.25337999e+00] [ 7.65637657e-03 5.91989539e-04 9.99970514e-01 9.59065309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.60, Y:7.26, Z:0.96 [[ 9.85544781e-01 -1.69251529e-01 -7.44338502e-03 1.59604207e+02] [ 1.69242061e-01 9.85572706e-01 -1.88853722e-03 7.25733767e+00] [ 7.65563493e-03 6.01504176e-04 9.99970514e-01 9.58949939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.63, Y:7.26, Z:0.96 [[ 9.85763105e-01 -1.67975300e-01 -7.44303792e-03 1.59631405e+02] [ 1.67965786e-01 9.85791014e-01 -1.88990422e-03 7.26143015e+00] [ 7.65473712e-03 6.12822140e-04 9.99970514e-01 9.58338205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.965898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:159.66, Y:7.27, Z:0.96 [[ 9.86012531e-01 -1.66504931e-01 -7.44288742e-03 1.59658716e+02] [ 1.66495371e-01 9.86040424e-01 -1.89049673e-03 7.26635750e+00] [ 7.65376489e-03 6.24847165e-04 9.99970514e-01 9.56924468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.69, Y:7.27, Z:0.96 [[ 9.86239783e-01 -1.65153559e-01 -7.44253713e-03 1.59685837e+02] [ 1.65143951e-01 9.86267660e-01 -1.89187474e-03 7.26947710e+00] [ 7.65278353e-03 6.36752151e-04 9.99970514e-01 9.58156113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.71, Y:7.27, Z:0.96 [[ 9.86420118e-01 -1.64073040e-01 -7.44238543e-03 1.59713313e+02] [ 1.64063397e-01 9.86447982e-01 -1.89247132e-03 7.27371461e+00] [ 7.65202961e-03 6.45748748e-04 9.99970514e-01 9.59771241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.74, Y:7.28, Z:0.96 [[ 9.86614165e-01 -1.62902134e-01 -7.44204213e-03 1.59741672e+02] [ 1.62892447e-01 9.86642014e-01 -1.89382039e-03 7.27672900e+00] [ 7.65113882e-03 6.56217572e-04 9.99970514e-01 9.61037443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.77, Y:7.28, Z:0.96 [[ 9.86526271e-01 -1.63433580e-01 -7.44193556e-03 1.59769080e+02] [ 1.63423905e-01 9.86554124e-01 -1.89423905e-03 7.28154401e+00] [ 7.65145449e-03 6.52526414e-04 9.99970514e-01 9.62504442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.115898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:159.80, Y:7.29, Z:0.96 [[ 9.86353406e-01 -1.64473650e-01 -7.44159566e-03 1.59796794e+02] [ 1.64463995e-01 9.86381266e-01 -1.89557345e-03 7.28665299e+00] [ 7.65202243e-03 6.45830778e-04 9.99970514e-01 9.61792013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.82, Y:7.29, Z:0.97 [[ 9.86106105e-01 -1.65949916e-01 -7.44149023e-03 1.59823933e+02] [ 1.65940299e-01 9.86133978e-01 -1.89598723e-03 7.28942371e+00] [ 7.65294528e-03 6.34801474e-04 9.99970514e-01 9.66141490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.85, Y:7.29, Z:0.97 [[ 9.85917769e-01 -1.67065197e-01 -7.44134363e-03 1.59851513e+02] [ 1.67055607e-01 9.85945651e-01 -1.89656244e-03 7.29323721e+00] [ 7.65360997e-03 6.26736432e-04 9.99970514e-01 9.67774322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.88, Y:7.30, Z:0.97 [[ 9.85892328e-01 -1.67215276e-01 -7.44099868e-03 1.59879178e+02] [ 1.67205680e-01 9.85920209e-01 -1.89791484e-03 7.29539293e+00] [ 7.65359133e-03 6.26962428e-04 9.99970514e-01 9.66175373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.235898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:159.91, Y:7.30, Z:0.96 [[ 9.86038266e-01 -1.66352552e-01 -7.44084855e-03 1.59906068e+02] [ 1.66342928e-01 9.86066137e-01 -1.89850325e-03 7.30130099e+00] [ 7.65298965e-03 6.34264321e-04 9.99970514e-01 9.62401455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.265898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:159.93, Y:7.31, Z:0.96 [[ 9.86261246e-01 -1.65025422e-01 -7.44070371e-03 1.59933805e+02] [ 1.65015756e-01 9.86289103e-01 -1.89907075e-03 7.30663355e+00] [ 7.65207994e-03 6.45146536e-04 9.99970514e-01 9.62128592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.295898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.96, Y:7.31, Z:0.96 [[ 9.86513166e-01 -1.63512733e-01 -7.44037143e-03 1.59960349e+02] [ 1.63503014e-01 9.86541004e-01 -1.90037172e-03 7.31239372e+00] [ 7.65096647e-03 6.58218565e-04 9.99970514e-01 9.63506175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.99, Y:7.32, Z:0.97 [[ 9.86797868e-01 -1.61785696e-01 -7.44014504e-03 1.59987763e+02] [ 1.61775922e-01 9.86825687e-01 -1.90125761e-03 7.31863893e+00] [ 7.64972253e-03 6.72520635e-04 9.99970514e-01 9.66362387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.01, Y:7.33, Z:0.97 [[ 9.87150445e-01 -1.59620314e-01 -7.44004354e-03 1.60014838e+02] [ 1.59610476e-01 9.87178241e-01 -1.90165476e-03 7.32533822e+00] [ 7.64819182e-03 6.89710447e-04 9.99970514e-01 9.67166891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.04, Y:7.33, Z:0.97 [[ 9.87622768e-01 -1.56671374e-01 -7.43971893e-03 1.60040671e+02] [ 1.56661443e-01 9.87650531e-01 -1.90292383e-03 7.33224996e+00] [ 7.64597604e-03 7.13853790e-04 9.99970514e-01 9.66728461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.07, Y:7.34, Z:0.97 [[ 9.87628953e-01 -1.56632386e-01 -7.43957726e-03 1.60067319e+02] [ 1.56622450e-01 9.87656714e-01 -1.90347755e-03 7.33929408e+00] [ 7.64589466e-03 7.14724717e-04 9.99970514e-01 9.66612935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.09, Y:7.35, Z:0.97 [[ 9.87505972e-01 -1.57405888e-01 -7.43925877e-03 1.60094485e+02] [ 1.57395965e-01 9.87533737e-01 -1.90472148e-03 7.34659837e+00] [ 7.64633339e-03 7.10014526e-04 9.99970514e-01 9.66726177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.12, Y:7.35, Z:0.97 [[ 9.87262684e-01 -1.58924680e-01 -7.43894104e-03 1.60120664e+02] [ 1.58914790e-01 9.87290462e-01 -1.90596158e-03 7.35422431e+00] [ 7.64729987e-03 6.99526990e-04 9.99970514e-01 9.67013474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.15, Y:7.36, Z:0.97 [[ 9.86968867e-01 -1.60739291e-01 -7.43880269e-03 1.60147985e+02] [ 1.60729448e-01 9.86996661e-01 -1.90650138e-03 7.36183895e+00] [ 7.64852310e-03 6.86022857e-04 9.99970514e-01 9.67286341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.17, Y:7.37, Z:0.97 [[ 9.86619901e-01 -1.62867552e-01 -7.43848853e-03 1.60174786e+02] [ 1.62857760e-01 9.86647714e-01 -1.90772634e-03 7.36870073e+00] [ 7.64987442e-03 6.70785196e-04 9.99970514e-01 9.68258273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.20, Y:7.38, Z:0.97 [[ 9.86232477e-01 -1.65197383e-01 -7.43817416e-03 1.60202299e+02] [ 1.65187648e-01 9.86260309e-01 -1.90895125e-03 7.37542295e+00] [ 7.65132970e-03 6.53975225e-04 9.99970514e-01 9.70164517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.23, Y:7.38, Z:0.97 [[ 9.85900451e-01 -1.67167520e-01 -7.43786132e-03 1.60228916e+02] [ 1.67157831e-01 9.85928299e-01 -1.91016940e-03 7.38176571e+00] [ 7.65251624e-03 6.39940110e-04 9.99970514e-01 9.71376810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.26, Y:7.39, Z:0.97 [[ 9.85589665e-01 -1.68990216e-01 -7.43772509e-03 1.60255971e+02] [ 1.68980574e-01 9.85617530e-01 -1.91069972e-03 7.38892842e+00] [ 7.65364178e-03 6.26334844e-04 9.99970514e-01 9.71952605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.28, Y:7.40, Z:0.97 [[ 9.85386023e-01 -1.70173648e-01 -7.43739160e-03 1.60283074e+02] [ 1.70164031e-01 9.85413896e-01 -1.91199692e-03 7.39731978e+00] [ 7.65428053e-03 6.18478514e-04 9.99970514e-01 9.72562090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.685898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:160.31, Y:7.40, Z:0.97 [[ 9.85444374e-01 -1.69835438e-01 -7.43704440e-03 1.60309139e+02] [ 1.69825801e-01 9.85472240e-01 -1.91334648e-03 7.40492646e+00] [ 7.65395484e-03 6.22494498e-04 9.99970514e-01 9.71058885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.34, Y:7.41, Z:0.97 [[ 9.85521349e-01 -1.69388201e-01 -7.43689348e-03 1.60335526e+02] [ 1.69378546e-01 9.85549210e-01 -1.91393290e-03 7.41184415e+00] [ 7.65362214e-03 6.26571532e-04 9.99970514e-01 9.72850130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.36, Y:7.42, Z:0.97 [[ 9.85607758e-01 -1.68884700e-01 -7.43674343e-03 1.60361651e+02] [ 1.68875027e-01 9.85635612e-01 -1.91451577e-03 7.41964714e+00] [ 7.65325158e-03 6.31081351e-04 9.99970514e-01 9.72236941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.39, Y:7.43, Z:0.97 [[ 9.85700759e-01 -1.68341057e-01 -7.43659737e-03 1.60388471e+02] [ 1.68331364e-01 9.85728606e-01 -1.91508295e-03 7.42781128e+00] [ 7.65285384e-03 6.35886142e-04 9.99970514e-01 9.72838003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.41, Y:7.44, Z:0.97 [[ 9.85783226e-01 -1.67857477e-01 -7.43624889e-03 1.60414692e+02] [ 1.67847761e-01 9.85811065e-01 -1.91643513e-03 7.43591886e+00] [ 7.65242440e-03 6.41031883e-04 9.99970514e-01 9.73713218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.44, Y:7.44, Z:0.98 [[ 9.85860639e-01 -1.67402226e-01 -7.43609768e-03 1.60440810e+02] [ 1.67392492e-01 9.85888472e-01 -1.91702165e-03 7.44409111e+00] [ 7.65207667e-03 6.45169270e-04 9.99970514e-01 9.76776723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.47, Y:7.45, Z:0.98 [[ 9.85769113e-01 -1.67940357e-01 -7.43595040e-03 1.60467830e+02] [ 1.67930634e-01 9.85796949e-01 -1.91759277e-03 7.45181393e+00] [ 7.65237843e-03 6.41579859e-04 9.99970514e-01 9.77453113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.49, Y:7.46, Z:0.98 [[ 9.85620510e-01 -1.68810313e-01 -7.43559933e-03 1.60493455e+02] [ 1.68800605e-01 9.85648352e-01 -1.91895310e-03 7.45926529e+00] [ 7.65282530e-03 6.36225872e-04 9.99970514e-01 9.77313132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.52, Y:7.47, Z:0.98 [[ 9.85420268e-01 -1.69975320e-01 -7.43544635e-03 1.60520225e+02] [ 1.69965640e-01 9.85448120e-01 -1.91954569e-03 7.46662348e+00] [ 7.65352202e-03 6.27788835e-04 9.99970514e-01 9.76411420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.55, Y:7.47, Z:0.98 [[ 9.85307680e-01 -1.70626773e-01 -7.43509934e-03 1.60546436e+02] [ 1.70617102e-01 9.85335534e-01 -1.92088886e-03 7.47298671e+00] [ 7.65382264e-03 6.24111446e-04 9.99970514e-01 9.75697120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.57, Y:7.48, Z:0.98 [[ 9.85339409e-01 -1.70443451e-01 -7.43494826e-03 1.60573692e+02] [ 1.70433770e-01 9.85367260e-01 -1.92147343e-03 7.47858444e+00] [ 7.65365716e-03 6.26137236e-04 9.99970514e-01 9.77323559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.60, Y:7.48, Z:0.98 [[ 9.85605330e-01 -1.68898965e-01 -7.43459344e-03 1.60600496e+02] [ 1.68889230e-01 9.85633162e-01 -1.92284534e-03 7.48477618e+00] [ 7.65254843e-03 6.39543859e-04 9.99970514e-01 9.77224150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.63, Y:7.49, Z:0.98 [[ 9.85920358e-01 -1.67050222e-01 -7.43443957e-03 1.60627845e+02] [ 1.67040431e-01 9.85948170e-01 -1.92344008e-03 7.49095811e+00] [ 7.65128318e-03 6.54506746e-04 9.99970514e-01 9.76174209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.66, Y:7.50, Z:0.98 [[ 9.86207402e-01 -1.65347192e-01 -7.43409541e-03 1.60655250e+02] [ 1.65337343e-01 9.86235194e-01 -1.92476931e-03 7.49747585e+00] [ 7.65002174e-03 6.69088158e-04 9.99970514e-01 9.75391796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.68, Y:7.50, Z:0.97 [[ 9.86501734e-01 -1.63581994e-01 -7.43373726e-03 1.60681476e+02] [ 1.63572085e-01 9.86529504e-01 -1.92615157e-03 7.50335242e+00] [ 7.64868485e-03 6.84199965e-04 9.99970514e-01 9.73972495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.71, Y:7.51, Z:0.97 [[ 9.86692978e-01 -1.62424473e-01 -7.43358145e-03 1.60708424e+02] [ 1.62414527e-01 9.86720735e-01 -1.92675271e-03 7.50932309e+00] [ 7.64782074e-03 6.93791752e-04 9.99970514e-01 9.74402681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.74, Y:7.51, Z:0.98 [[ 9.86671294e-01 -1.62556158e-01 -7.43324628e-03 1.60736617e+02] [ 1.62546206e-01 9.86699049e-01 -1.92804488e-03 7.51318650e+00] [ 7.64779261e-03 6.94100556e-04 9.99970514e-01 9.75610874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.76, Y:7.52, Z:0.98 [[ 9.86465345e-01 -1.63801328e-01 -7.43289779e-03 1.60764424e+02] [ 1.63791401e-01 9.86493109e-01 -1.92938743e-03 7.51786069e+00] [ 7.64853867e-03 6.85829101e-04 9.99970514e-01 9.76024690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.79, Y:7.52, Z:0.98 [[ 9.86218744e-01 -1.65279601e-01 -7.43255014e-03 1.60792507e+02] [ 1.65269705e-01 9.86246519e-01 -1.93072573e-03 7.52209008e+00] [ 7.64943629e-03 6.75742536e-04 9.99970514e-01 9.76602330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.82, Y:7.53, Z:0.98 [[ 9.86011581e-01 -1.66511037e-01 -7.43219535e-03 1.60819340e+02] [ 1.66501166e-01 9.86039365e-01 -1.93209053e-03 7.52611664e+00] [ 7.65015158e-03 6.67594442e-04 9.99970514e-01 9.76576591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.85, Y:7.53, Z:0.98 [[ 9.85850917e-01 -1.67459649e-01 -7.43204118e-03 1.60846813e+02] [ 1.67449800e-01 9.85878709e-01 -1.93268336e-03 7.53057581e+00] [ 7.65073765e-03 6.60843853e-04 9.99970514e-01 9.77814753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.87, Y:7.54, Z:0.98 [[ 9.85862019e-01 -1.67394292e-01 -7.43168517e-03 1.60874879e+02] [ 1.67384431e-01 9.85889807e-01 -1.93405134e-03 7.53510714e+00] [ 7.65057182e-03 6.62759364e-04 9.99970514e-01 9.78258334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.90, Y:7.54, Z:0.98 [[ 9.85937048e-01 -1.66951815e-01 -7.43157454e-03 1.60902148e+02] [ 1.66941938e-01 9.85964831e-01 -1.93447635e-03 7.54008051e+00] [ 7.65023547e-03 6.66630446e-04 9.99970514e-01 9.79585983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.93, Y:7.54, Z:0.98 [[ 9.86296978e-01 -1.64812158e-01 -7.43124041e-03 1.60929950e+02] [ 1.64802211e-01 9.86324736e-01 -1.93575907e-03 7.54325350e+00] [ 7.64865286e-03 6.84548469e-04 9.99970514e-01 9.79194154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.96, Y:7.55, Z:0.98 [[ 9.86491846e-01 -1.63641743e-01 -7.43089077e-03 1.60956543e+02] [ 1.63631754e-01 9.86519588e-01 -1.93710032e-03 7.54829779e+00] [ 7.64770977e-03 6.95003980e-04 9.99970514e-01 9.77561636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:7.55, Z:0.98 [[ 9.86663502e-01 -1.62603560e-01 -7.43073868e-03 1.60983900e+02] [ 1.62593537e-01 9.86691232e-01 -1.93768356e-03 7.55354482e+00] [ 7.64691895e-03 7.03651563e-04 9.99970514e-01 9.77401147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.01, Y:7.56, Z:0.98 [[ 9.86720658e-01 -1.62256376e-01 -7.43041724e-03 1.61011170e+02] [ 1.62246334e-01 9.86748381e-01 -1.93891538e-03 7.55899727e+00] [ 7.64655357e-03 7.07609895e-04 9.99970514e-01 9.78156713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.04, Y:7.56, Z:0.98 [[ 9.86692142e-01 -1.62429711e-01 -7.43007169e-03 1.61038314e+02] [ 1.62419664e-01 9.86719863e-01 -1.94023865e-03 7.56415587e+00] [ 7.64655173e-03 7.07628480e-04 9.99970514e-01 9.78260835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.07, Y:7.57, Z:0.98 [[ 9.86600384e-01 -1.62986137e-01 -7.42972737e-03 1.61066286e+02] [ 1.62976096e-01 9.86628108e-01 -1.94155626e-03 7.56954774e+00] [ 7.64682461e-03 7.04672188e-04 9.99970514e-01 9.78962777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.09, Y:7.57, Z:0.98 [[ 9.86124413e-01 -1.65841631e-01 -7.42938501e-03 1.61093831e+02] [ 1.65831660e-01 9.86152162e-01 -1.94286543e-03 7.57236929e+00] [ 7.64871206e-03 6.83879783e-04 9.99970514e-01 9.79815792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.585898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:161.12, Y:7.58, Z:0.98 [[ 9.85710299e-01 -1.68285521e-01 -7.42904369e-03 1.61120535e+02] [ 1.68275610e-01 9.85738068e-01 -1.94416967e-03 7.57755463e+00] [ 7.65026679e-03 6.66261207e-04 9.99970514e-01 9.78189477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.15, Y:7.58, Z:0.98 [[ 9.85250818e-01 -1.70955075e-01 -7.42889504e-03 1.61148287e+02] [ 1.70945234e-01 9.85278613e-01 -1.94473753e-03 7.58179546e+00] [ 7.65199415e-03 6.46120044e-04 9.99970514e-01 9.79052326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.18, Y:7.59, Z:0.98 [[ 9.84762498e-01 -1.73745901e-01 -7.42855779e-03 1.61175717e+02] [ 1.73736130e-01 9.84790318e-01 -1.94602490e-03 7.58660451e+00] [ 7.65368564e-03 6.25763463e-04 9.99970514e-01 9.78589690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.20, Y:7.59, Z:0.98 [[ 9.84332873e-01 -1.76163609e-01 -7.42822068e-03 1.61203283e+02] [ 1.76153896e-01 9.84360713e-01 -1.94731086e-03 7.59096071e+00] [ 7.65509391e-03 6.08292085e-04 9.99970514e-01 9.78810971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.23, Y:7.60, Z:0.98 [[ 9.84302507e-01 -1.76333213e-01 -7.42788538e-03 1.61230848e+02] [ 1.76323495e-01 9.84330345e-01 -1.94858898e-03 7.59835483e+00] [ 7.65509394e-03 6.08290306e-04 9.99970514e-01 9.79029699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.26, Y:7.60, Z:0.98 [[ 9.83915114e-01 -1.78482153e-01 -7.42754942e-03 1.61258425e+02] [ 1.78472487e-01 9.83942971e-01 -1.94986876e-03 7.60253275e+00] [ 7.65630181e-03 5.92892131e-04 9.99970514e-01 9.79994204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.765898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:161.29, Y:7.60, Z:0.98 [[ 9.83453969e-01 -1.81005878e-01 -7.42721313e-03 1.61286924e+02] [ 1.80996274e-01 9.83481846e-01 -1.95114887e-03 7.60340804e+00] [ 7.65769869e-03 5.74567199e-04 9.99970514e-01 9.77819853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.32, Y:7.61, Z:0.98 [[ 9.83324006e-01 -1.81710597e-01 -7.42685980e-03 1.61315212e+02] [ 1.81701002e-01 9.83351887e-01 -1.95249287e-03 7.60627263e+00] [ 7.65800524e-03 5.70465241e-04 9.99970514e-01 9.78175189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.34, Y:7.61, Z:0.98 [[ 9.83270052e-01 -1.82002342e-01 -7.42650214e-03 1.61342778e+02] [ 1.81992745e-01 9.83297932e-01 -1.95385228e-03 7.60926267e+00] [ 7.65806989e-03 5.69594921e-04 9.99970514e-01 9.76835210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.37, Y:7.61, Z:0.98 [[ 9.83214838e-01 -1.82300391e-01 -7.42634634e-03 1.61370640e+02] [ 1.82290798e-01 9.83242719e-01 -1.95444431e-03 7.61182853e+00] [ 7.65819693e-03 5.67884041e-04 9.99970514e-01 9.77078403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.40, Y:7.61, Z:0.98 [[ 9.83236774e-01 -1.82182055e-01 -7.42601686e-03 1.61398609e+02] [ 1.82172449e-01 9.83264651e-01 -1.95569538e-03 7.61396115e+00] [ 7.65803248e-03 5.70095939e-04 9.99970514e-01 9.78064701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.43, Y:7.62, Z:0.98 [[ 9.83265282e-01 -1.82028140e-01 -7.42568885e-03 1.61426868e+02] [ 1.82018521e-01 9.83293155e-01 -1.95694003e-03 7.61642908e+00] [ 7.65784717e-03 5.72578286e-04 9.99970514e-01 9.79318919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94589822700001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:161.46, Y:7.62, Z:0.98 [[ 9.83404973e-01 -1.81271958e-01 -7.42536246e-03 1.61455976e+02] [ 1.81262308e-01 9.83432835e-01 -1.95817768e-03 7.61511303e+00] [ 7.65730796e-03 5.79743331e-04 9.99970514e-01 9.82781741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.48, Y:7.62, Z:0.99 [[ 9.83491083e-01 -1.80804191e-01 -7.42526087e-03 1.61482830e+02] [ 1.80794525e-01 9.83518939e-01 -1.95856285e-03 7.61723222e+00] [ 7.65700106e-03 5.83782587e-04 9.99970514e-01 9.85251677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.51, Y:7.62, Z:0.99 [[ 9.83592957e-01 -1.80249166e-01 -7.42512037e-03 1.61509897e+02] [ 1.80239480e-01 9.83620807e-01 -1.95909533e-03 7.61969810e+00] [ 7.65662819e-03 5.88652534e-04 9.99970514e-01 9.85577182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.54, Y:7.62, Z:0.99 [[ 9.83726559e-01 -1.79518600e-01 -7.42498065e-03 1.61537834e+02] [ 1.79508890e-01 9.83754399e-01 -1.95962475e-03 7.62215174e+00] [ 7.65614647e-03 5.94884874e-04 9.99970514e-01 9.85903552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.57, Y:7.62, Z:0.99 [[ 9.83885875e-01 -1.78643389e-01 -7.42466229e-03 1.61565709e+02] [ 1.78633645e-01 9.83913704e-01 -1.96083019e-03 7.62470599e+00] [ 7.65551632e-03 6.02938645e-04 9.99970514e-01 9.85752167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:7.63, Z:0.99 [[ 9.84045697e-01 -1.77760920e-01 -7.42432092e-03 1.61593182e+02] [ 1.77751142e-01 9.84073514e-01 -1.96212189e-03 7.62771928e+00] [ 7.65486617e-03 6.11136080e-04 9.99970514e-01 9.85441337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.125898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:161.62, Y:7.63, Z:0.99 [[ 9.84441288e-01 -1.75556923e-01 -7.42408858e-03 1.61620755e+02] [ 1.75547076e-01 9.84469081e-01 -1.96300058e-03 7.62767751e+00] [ 7.65340401e-03 6.29181782e-04 9.99970514e-01 9.85443795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.65, Y:7.63, Z:0.99 [[ 9.84508571e-01 -1.75179218e-01 -7.42395115e-03 1.61648829e+02] [ 1.75169356e-01 9.84536359e-01 -1.96352022e-03 7.63212360e+00] [ 7.65311777e-03 6.32653745e-04 9.99970514e-01 9.87818892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.68, Y:7.64, Z:0.99 [[ 9.84605653e-01 -1.74632751e-01 -7.42359716e-03 1.61675898e+02] [ 1.74622863e-01 9.84633432e-01 -1.96485763e-03 7.63669971e+00] [ 7.65265045e-03 6.38280140e-04 9.99970514e-01 9.88103107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.70, Y:7.64, Z:0.99 [[ 9.84751773e-01 -1.73806897e-01 -7.42344320e-03 1.61703731e+02] [ 1.73796982e-01 9.84779542e-01 -1.96543915e-03 7.64156068e+00] [ 7.65206188e-03 6.45297664e-04 9.99970514e-01 9.87431961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.73, Y:7.65, Z:0.99 [[ 9.84939455e-01 -1.72740176e-01 -7.42309352e-03 1.61730205e+02] [ 1.72730221e-01 9.84967209e-01 -1.96675894e-03 7.64625329e+00] [ 7.65124199e-03 6.54945888e-04 9.99970514e-01 9.86470301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.76, Y:7.65, Z:0.99 [[ 9.85104241e-01 -1.71797945e-01 -7.42294222e-03 1.61757799e+02] [ 1.71787959e-01 9.85131984e-01 -1.96732983e-03 7.65188000e+00] [ 7.65056102e-03 6.62852861e-04 9.99970514e-01 9.86236130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.78, Y:7.66, Z:0.99 [[ 9.85522326e-01 -1.69383145e-01 -7.42258663e-03 1.61784510e+02] [ 1.69373081e-01 9.85550041e-01 -1.96867052e-03 7.65809409e+00] [ 7.64879016e-03 6.82982385e-04 9.99970514e-01 9.85580083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.81, Y:7.67, Z:0.99 [[ 9.85603269e-01 -1.68911524e-01 -7.42243140e-03 1.61811146e+02] [ 1.68901442e-01 9.85630978e-01 -1.96925562e-03 7.66528674e+00] [ 7.64840828e-03 6.87245407e-04 9.99970514e-01 9.85840518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.84, Y:7.67, Z:0.99 [[ 9.85594883e-01 -1.68960468e-01 -7.42208055e-03 1.61838116e+02] [ 1.68950378e-01 9.85622588e-01 -1.97057705e-03 7.67262677e+00] [ 7.64831987e-03 6.88227342e-04 9.99970514e-01 9.86165717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.86, Y:7.68, Z:0.99 [[ 9.85523638e-01 -1.69375550e-01 -7.42171922e-03 1.61864202e+02] [ 1.69365462e-01 9.85551344e-01 -1.97193700e-03 7.67901045e+00] [ 7.64848326e-03 6.86407626e-04 9.99970514e-01 9.86608514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.89, Y:7.69, Z:0.99 [[ 9.85300714e-01 -1.70667581e-01 -7.42156197e-03 1.61890974e+02] [ 1.70657525e-01 9.85328432e-01 -1.97252864e-03 7.68633498e+00] [ 7.64932271e-03 6.76988488e-04 9.99970514e-01 9.87174187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.92, Y:7.69, Z:0.99 [[ 9.85084441e-01 -1.71911516e-01 -7.42120636e-03 1.61916564e+02] [ 1.71901484e-01 9.85112168e-01 -1.97386563e-03 7.69369649e+00] [ 7.65005092e-03 6.68707931e-04 9.99970514e-01 9.86775967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.94, Y:7.70, Z:0.99 [[ 9.84619938e-01 -1.74552304e-01 -7.42096394e-03 1.61942176e+02] [ 1.74542340e-01 9.84647689e-01 -1.97477664e-03 7.70128417e+00] [ 7.65173680e-03 6.49132038e-04 9.99970514e-01 9.85084715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.97, Y:7.71, Z:0.98 [[ 9.84310010e-01 -1.76291623e-01 -7.42081461e-03 1.61969752e+02] [ 1.76281704e-01 9.84337777e-01 -1.97533762e-03 7.70845683e+00] [ 7.65282363e-03 6.36190749e-04 9.99970514e-01 9.84642058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.00, Y:7.72, Z:0.98 [[ 9.83889841e-01 -1.78621719e-01 -7.42045930e-03 1.61996819e+02] [ 1.78611856e-01 9.83917628e-01 -1.97667145e-03 7.71511635e+00] [ 7.65419716e-03 6.19444950e-04 9.99970514e-01 9.84762275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.575898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:162.02, Y:7.72, Z:0.98 [[ 9.83484695e-01 -1.80839145e-01 -7.42010278e-03 1.62023161e+02] [ 1.80829334e-01 9.83512501e-01 -1.97800887e-03 7.72099986e+00] [ 7.65546527e-03 6.03569203e-04 9.99970514e-01 9.84293625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.05, Y:7.73, Z:0.99 [[ 9.83073265e-01 -1.83062567e-01 -7.41974718e-03 1.62050474e+02] [ 1.83052809e-01 9.83101089e-01 -1.97934184e-03 7.72647982e+00] [ 7.65670494e-03 5.87632486e-04 9.99970514e-01 9.86295007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.08, Y:7.73, Z:0.99 [[ 9.82665643e-01 -1.85238188e-01 -7.41938239e-03 1.62077452e+02] [ 1.85228481e-01 9.82693486e-01 -1.98070832e-03 7.73132600e+00] [ 7.65788156e-03 5.72093084e-04 9.99970514e-01 9.87334879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.11, Y:7.73, Z:0.99 [[ 9.81988327e-01 -1.88795873e-01 -7.41913352e-03 1.62105692e+02] [ 1.88786261e-01 9.82016202e-01 -1.98164004e-03 7.73320634e+00] [ 7.65983479e-03 5.45316917e-04 9.99970514e-01 9.86638614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.13, Y:7.74, Z:0.99 [[ 9.81798626e-01 -1.89779922e-01 -7.41878824e-03 1.62132966e+02] [ 1.89770328e-01 9.81826507e-01 -1.98293185e-03 7.73800720e+00] [ 7.66028360e-03 5.38973888e-04 9.99970514e-01 9.86221595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.16, Y:7.74, Z:0.99 [[ 9.81859729e-01 -1.89463555e-01 -7.41843848e-03 1.62159997e+02] [ 1.89453942e-01 9.81887604e-01 -1.98423950e-03 7.74332715e+00] [ 7.66001385e-03 5.42792443e-04 9.99970514e-01 9.86036288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.19, Y:7.75, Z:0.99 [[ 9.82037013e-01 -1.88542502e-01 -7.41828676e-03 1.62187003e+02] [ 1.88532858e-01 9.82064877e-01 -1.98480655e-03 7.74940837e+00] [ 7.65945927e-03 5.50562694e-04 9.99970514e-01 9.86970729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.21, Y:7.76, Z:0.99 [[ 9.82460365e-01 -1.86323927e-01 -7.41792858e-03 1.62214153e+02] [ 1.86314210e-01 9.82488204e-01 -1.98614431e-03 7.75590310e+00] [ 7.65809353e-03 5.69242559e-04 9.99970514e-01 9.88844130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.24, Y:7.76, Z:0.99 [[ 9.83630969e-01 -1.80041931e-01 -7.41757066e-03 1.62240110e+02] [ 1.80032026e-01 9.83658741e-01 -1.98748012e-03 7.76156256e+00] [ 7.65418798e-03 6.19546723e-04 9.99970514e-01 9.91926164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.27, Y:7.77, Z:0.99 [[ 9.84111698e-01 -1.77395455e-01 -7.41741505e-03 1.62266455e+02] [ 1.77385472e-01 9.84139442e-01 -1.98806067e-03 7.76905214e+00] [ 7.65244364e-03 6.40732097e-04 9.99970514e-01 9.91668415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.29, Y:7.78, Z:0.99 [[ 9.84383831e-01 -1.75879099e-01 -7.41726326e-03 1.62292874e+02] [ 1.75869069e-01 9.84411558e-01 -1.98862685e-03 7.77723044e+00] [ 7.65139758e-03 6.53104936e-04 9.99970514e-01 9.90409772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.32, Y:7.79, Z:0.99 [[ 9.84414833e-01 -1.75705509e-01 -7.41691542e-03 1.62319914e+02] [ 1.75695464e-01 9.84442555e-01 -1.98992332e-03 7.78528879e+00] [ 7.65116766e-03 6.55791637e-04 9.99970514e-01 9.89604693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.35, Y:7.79, Z:0.99 [[ 9.84224259e-01 -1.76769913e-01 -7.41656073e-03 1.62345898e+02] [ 1.76759889e-01 9.84251988e-01 -1.99124440e-03 7.79241788e+00] [ 7.65175675e-03 6.48880590e-04 9.99970514e-01 9.89825114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.37, Y:7.80, Z:0.99 [[ 9.83815755e-01 -1.79029491e-01 -7.41631861e-03 1.62373224e+02] [ 1.79019523e-01 9.83843505e-01 -1.99214575e-03 7.79877981e+00] [ 7.65314973e-03 6.32238551e-04 9.99970514e-01 9.92140586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.40, Y:7.81, Z:0.99 [[ 9.83068578e-01 -1.83087876e-01 -7.41621102e-03 1.62400295e+02] [ 1.83078020e-01 9.83096368e-01 -1.99254619e-03 7.80522644e+00] [ 7.65566117e-03 6.01064323e-04 9.99970514e-01 9.94518714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.43, Y:7.81, Z:1.00 [[ 9.82223279e-01 -1.87569816e-01 -7.41586720e-03 1.62427353e+02] [ 1.87560077e-01 9.82251110e-01 -1.99382501e-03 7.81152064e+00] [ 7.65822518e-03 5.67460721e-04 9.99970514e-01 9.96615863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.45, Y:7.82, Z:1.00 [[ 9.80756518e-01 -1.95093982e-01 -7.41552362e-03 1.62454621e+02] [ 1.95084447e-01 9.80784420e-01 -1.99510206e-03 7.81594781e+00] [ 7.66226244e-03 5.10056018e-04 9.99970514e-01 9.97613330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.48, Y:7.82, Z:1.00 [[ 9.80275421e-01 -1.97497123e-01 -7.41518010e-03 1.62480960e+02] [ 1.97487647e-01 9.80303343e-01 -1.99637799e-03 7.82138155e+00] [ 7.66340475e-03 4.92593806e-04 9.99970514e-01 9.97531736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.51, Y:7.83, Z:1.00 [[ 9.80052003e-01 -1.98602840e-01 -7.41503013e-03 1.62508354e+02] [ 1.98593392e-01 9.80079934e-01 -1.99693486e-03 7.82697395e+00] [ 7.66391918e-03 4.84524031e-04 9.99970514e-01 9.98249811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.54, Y:7.83, Z:1.00 [[ 9.80107256e-01 -1.98330003e-01 -7.41468956e-03 1.62535383e+02] [ 1.98320537e-01 9.80135180e-01 -1.99819863e-03 7.83288467e+00] [ 7.66370083e-03 4.87963767e-04 9.99970514e-01 9.98316168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:7.84, Z:1.00 [[ 9.80732073e-01 -1.95216874e-01 -7.41435042e-03 1.62562651e+02] [ 1.95207310e-01 9.80759965e-01 -1.99945621e-03 7.83952403e+00] [ 7.66202565e-03 5.13595431e-04 9.99970514e-01 9.96779533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.59, Y:7.85, Z:1.00 [[ 9.81141061e-01 -1.93150849e-01 -7.41399636e-03 1.62589454e+02] [ 1.93141216e-01 9.81168929e-01 -2.00076819e-03 7.84659594e+00] [ 7.66083295e-03 5.31087550e-04 9.99970514e-01 9.96080741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.62, Y:7.85, Z:1.00 [[ 9.81483699e-01 -1.91402157e-01 -7.41364321e-03 1.62615691e+02] [ 1.91392465e-01 9.81511547e-01 -2.00207590e-03 7.85322411e+00] [ 7.65977806e-03 5.46089410e-04 9.99970514e-01 9.97163031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.64, Y:7.86, Z:1.00 [[ 9.81724279e-01 -1.90164351e-01 -7.41348954e-03 1.62642193e+02] [ 1.90154619e-01 9.81752112e-01 -2.00264478e-03 7.86045807e+00] [ 7.65904066e-03 5.56335720e-04 9.99970514e-01 9.99328863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.295898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:162.67, Y:7.87, Z:1.00 [[ 9.81835414e-01 -1.89589722e-01 -7.41334483e-03 1.62669191e+02] [ 1.89579970e-01 9.81863240e-01 -2.00318032e-03 7.86809317e+00] [ 7.65867317e-03 5.61371683e-04 9.99970514e-01 1.00065285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:7.88, Z:1.00 [[ 9.81695271e-01 -1.90314064e-01 -7.41301571e-03 1.62696284e+02] [ 1.90304324e-01 9.81723101e-01 -2.00439751e-03 7.87541594e+00] [ 7.65899381e-03 5.56978614e-04 9.99970514e-01 1.00000296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.72, Y:7.88, Z:1.00 [[ 9.81524399e-01 -1.91193378e-01 -7.41265054e-03 1.62723131e+02] [ 1.91183652e-01 9.81552234e-01 -2.00574710e-03 7.88183910e+00] [ 7.65938926e-03 5.51512110e-04 9.99970514e-01 9.99535280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.75, Y:7.89, Z:1.00 [[ 9.81197234e-01 -1.92865350e-01 -7.41253725e-03 1.62750288e+02] [ 1.92855668e-01 9.81225085e-01 -2.00616567e-03 7.88762675e+00] [ 7.66028734e-03 5.38894381e-04 9.99970514e-01 9.97636024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.78, Y:7.89, Z:1.00 [[ 9.80820755e-01 -1.94770907e-01 -7.41217448e-03 1.62777425e+02] [ 1.94761270e-01 9.80848621e-01 -2.00750512e-03 7.89305267e+00] [ 7.66122471e-03 5.25398172e-04 9.99970514e-01 9.97870852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.80, Y:7.90, Z:1.00 [[ 9.80431923e-01 -1.96718860e-01 -7.41181089e-03 1.62804437e+02] [ 1.96709268e-01 9.80459805e-01 -2.00884661e-03 7.89834215e+00] [ 7.66216067e-03 5.11565448e-04 9.99970514e-01 9.98485237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.83, Y:7.90, Z:1.00 [[ 9.80046538e-01 -1.98629935e-01 -7.41165235e-03 1.62832209e+02] [ 1.98620393e-01 9.80074437e-01 -2.00943135e-03 7.90376054e+00] [ 7.66310423e-03 4.97230942e-04 9.99970514e-01 9.97982402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.86, Y:7.91, Z:1.00 [[ 9.79489592e-01 -2.01358418e-01 -7.41128364e-03 1.62860439e+02] [ 2.01348944e-01 9.79517514e-01 -2.01079036e-03 7.90725292e+00] [ 7.66437169e-03 4.77294098e-04 9.99970514e-01 9.96018853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.89, Y:7.91, Z:1.00 [[ 9.79478238e-01 -2.01413654e-01 -7.41091048e-03 1.62886959e+02] [ 2.01404170e-01 9.79506157e-01 -2.01216472e-03 7.91284834e+00] [ 7.66430989e-03 4.78283280e-04 9.99970514e-01 9.95607499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.91, Y:7.92, Z:1.00 [[ 9.79616979e-01 -2.00737778e-01 -7.41074794e-03 1.62913985e+02] [ 2.00728271e-01 9.79644890e-01 -2.01276315e-03 7.91909920e+00] [ 7.66393896e-03 4.84190339e-04 9.99970514e-01 9.96627252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.94, Y:7.93, Z:1.00 [[ 9.79581516e-01 -2.00910775e-01 -7.41039357e-03 1.62941511e+02] [ 2.00901263e-01 9.79609425e-01 -2.01406699e-03 7.92673531e+00] [ 7.66393915e-03 4.84185366e-04 9.99970514e-01 9.96845984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.97, Y:7.93, Z:1.00 [[ 9.79842739e-01 -1.99632911e-01 -7.41003767e-03 1.62968369e+02] [ 1.99623353e-01 9.79870632e-01 -2.01537557e-03 7.93430821e+00] [ 7.66321358e-03 4.95534552e-04 9.99970514e-01 9.97031797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.99, Y:7.94, Z:1.00 [[ 9.80251962e-01 -1.97613734e-01 -7.40966683e-03 1.62994455e+02] [ 1.97604108e-01 9.80279832e-01 -2.01673807e-03 7.94192262e+00] [ 7.66208209e-03 5.12730850e-04 9.99970514e-01 9.96712068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.02, Y:7.95, Z:1.00 [[ 9.80622743e-01 -1.95765509e-01 -7.40950595e-03 1.63021646e+02] [ 1.95755826e-01 9.80650594e-01 -2.01732895e-03 7.94977428e+00] [ 7.66105984e-03 5.27784694e-04 9.99970514e-01 9.96357409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.05, Y:7.96, Z:0.99 [[ 9.81084805e-01 -1.93436579e-01 -7.40913676e-03 1.63047376e+02] [ 1.93426820e-01 9.81112629e-01 -2.01868401e-03 7.95705402e+00] [ 7.65968497e-03 5.47374446e-04 9.99970514e-01 9.94581563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.07, Y:7.96, Z:0.99 [[ 9.81050307e-01 -1.93611478e-01 -7.40888472e-03 1.63074733e+02] [ 1.93601717e-01 9.81078130e-01 -2.01960858e-03 7.96484603e+00] [ 7.65971417e-03 5.46964816e-04 9.99970514e-01 9.94396178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.775898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:163.10, Y:7.97, Z:0.99 [[ 9.81008350e-01 -1.93823969e-01 -7.40851065e-03 1.63100502e+02] [ 1.93814203e-01 9.81036172e-01 -2.02097985e-03 7.97197380e+00] [ 7.65973127e-03 5.46723514e-04 9.99970514e-01 9.94312290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.13, Y:7.98, Z:1.00 [[ 9.80841964e-01 -1.94664218e-01 -7.40834788e-03 1.63127171e+02] [ 1.94654472e-01 9.80869792e-01 -2.02157634e-03 7.97961705e+00] [ 7.66015323e-03 5.40778865e-04 9.99970514e-01 9.95288400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.15, Y:7.99, Z:1.00 [[ 9.80759198e-01 -1.95080795e-01 -7.40797823e-03 1.63152883e+02] [ 1.95071051e-01 9.80787027e-01 -2.02293000e-03 7.98699038e+00] [ 7.66028374e-03 5.38925110e-04 9.99970514e-01 9.96644051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.18, Y:7.99, Z:1.00 [[ 9.80641781e-01 -1.95670188e-01 -7.40772647e-03 1.63179501e+02] [ 1.95660454e-01 9.80669614e-01 -2.02385153e-03 7.99457059e+00] [ 7.66053966e-03 5.35274246e-04 9.99970514e-01 9.97965382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.21, Y:8.00, Z:1.00 [[ 9.80533375e-01 -1.96212721e-01 -7.40736615e-03 1.63206681e+02] [ 1.96202991e-01 9.80561209e-01 -2.02516943e-03 8.00101696e+00] [ 7.66073991e-03 5.32398817e-04 9.99970514e-01 9.99370377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.23, Y:8.01, Z:1.00 [[ 9.80429637e-01 -1.96730433e-01 -7.40699422e-03 1.63234133e+02] [ 1.96720708e-01 9.80457473e-01 -2.02652884e-03 8.00751426e+00] [ 7.66092273e-03 5.29759785e-04 9.99970514e-01 1.00011567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.26, Y:8.01, Z:1.00 [[ 9.80330934e-01 -1.97221706e-01 -7.40661929e-03 1.63260891e+02] [ 1.97211985e-01 9.80358771e-01 -2.02789822e-03 8.01354529e+00] [ 7.66108974e-03 5.27337263e-04 9.99970514e-01 1.00038438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.985898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:163.29, Y:8.02, Z:1.00 [[ 9.80181348e-01 -1.97963807e-01 -7.40645635e-03 1.63288315e+02] [ 1.97954103e-01 9.80209191e-01 -2.02849316e-03 8.01989652e+00] [ 7.66144482e-03 5.22152739e-04 9.99970514e-01 1.00020855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:8.03, Z:1.00 [[ 9.80184890e-01 -1.97946284e-01 -7.40608078e-03 1.63315176e+02] [ 1.97936569e-01 9.80212729e-01 -2.02986343e-03 8.02564729e+00] [ 7.66133858e-03 5.23707242e-04 9.99970514e-01 1.00053585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.34, Y:8.03, Z:1.00 [[ 9.80074039e-01 -1.98494409e-01 -7.40591801e-03 1.63342205e+02] [ 1.98484705e-01 9.80101882e-01 -2.03045712e-03 8.03248965e+00] [ 7.66158857e-03 5.20036861e-04 9.99970514e-01 1.00129782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.37, Y:8.04, Z:1.00 [[ 9.79799923e-01 -1.99843110e-01 -7.40554674e-03 1.63368197e+02] [ 1.99833434e-01 9.79827776e-01 -2.03181034e-03 8.03914490e+00] [ 7.66220369e-03 5.10891777e-04 9.99970514e-01 1.00314533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.40, Y:8.05, Z:1.00 [[ 9.79468642e-01 -2.01460521e-01 -7.40529347e-03 1.63395424e+02] [ 2.01450885e-01 9.79496508e-01 -2.03273301e-03 8.04610382e+00] [ 7.66297455e-03 4.99195321e-04 9.99970514e-01 1.00333278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.42, Y:8.05, Z:1.00 [[ 9.79078151e-01 -2.03349798e-01 -7.40492074e-03 1.63422119e+02] [ 2.03340205e-01 9.79106033e-01 -2.03408988e-03 8.05221489e+00] [ 7.66383434e-03 4.85814857e-04 9.99970514e-01 1.00354707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.45, Y:8.06, Z:1.00 [[ 9.78525779e-01 -2.05991428e-01 -7.40475844e-03 1.63449189e+02] [ 2.05981906e-01 9.78553685e-01 -2.03468054e-03 8.05728068e+00] [ 7.66508041e-03 4.65741106e-04 9.99970514e-01 1.00370331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.48, Y:8.06, Z:1.00 [[ 9.77751259e-01 -2.09636946e-01 -7.40450621e-03 1.63476991e+02] [ 2.09627520e-01 9.77779197e-01 -2.03559806e-03 8.06230634e+00] [ 7.66670869e-03 4.38120289e-04 9.99970514e-01 1.00356051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.50, Y:8.07, Z:1.00 [[ 9.76867993e-01 -2.13715003e-01 -7.40414619e-03 1.63503970e+02] [ 2.13705685e-01 9.76895968e-01 -2.03690670e-03 8.06645802e+00] [ 7.66839808e-03 4.07480828e-04 9.99970514e-01 1.00317911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.53, Y:8.07, Z:1.00 [[ 9.75218155e-01 -2.21121532e-01 -7.40398932e-03 1.63532577e+02] [ 2.21112422e-01 9.75246197e-01 -2.03747676e-03 8.06658028e+00] [ 7.67124241e-03 3.49870316e-04 9.99970514e-01 1.00156973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:8.07, Z:1.00 [[ 9.74531122e-01 -2.24130047e-01 -7.40361082e-03 1.63561126e+02] [ 2.24121013e-01 9.74559190e-01 -2.03885121e-03 8.07038814e+00] [ 7.67222478e-03 3.27619201e-04 9.99970514e-01 1.00107654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.59, Y:8.07, Z:1.00 [[ 9.73988449e-01 -2.26476693e-01 -7.40323151e-03 1.63589269e+02] [ 2.26467716e-01 9.74016535e-01 -2.04022758e-03 8.07463765e+00] [ 7.67293390e-03 3.10565162e-04 9.99970514e-01 1.00070401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.62, Y:8.08, Z:1.00 [[ 9.73752378e-01 -2.27489567e-01 -7.40285249e-03 1.63616523e+02] [ 2.27480609e-01 9.73780470e-01 -2.04160188e-03 8.07859552e+00] [ 7.67319631e-03 3.04009294e-04 9.99970514e-01 9.99197506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.64, Y:8.08, Z:1.00 [[ 9.73683144e-01 -2.27785722e-01 -7.40268754e-03 1.63644427e+02] [ 2.27776768e-01 9.73711237e-01 -2.04219983e-03 8.08311215e+00] [ 7.67326400e-03 3.02295303e-04 9.99970514e-01 9.99335000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.67, Y:8.09, Z:1.00 [[ 9.73843469e-01 -2.27099326e-01 -7.40232141e-03 1.63672367e+02] [ 2.27090342e-01 9.73871552e-01 -2.04352605e-03 8.08700749e+00] [ 7.67299364e-03 3.09078796e-04 9.99970514e-01 9.99705215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.70, Y:8.09, Z:1.00 [[ 9.74377781e-01 -2.24795797e-01 -7.40195442e-03 1.63700481e+02] [ 2.24786736e-01 9.74405840e-01 -2.04485448e-03 8.08615827e+00] [ 7.67218231e-03 3.28599597e-04 9.99970514e-01 9.99659429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.73, Y:8.09, Z:1.00 [[ 9.74558442e-01 -2.24011285e-01 -7.40179460e-03 1.63728186e+02] [ 2.24002198e-01 9.74586493e-01 -2.04543282e-03 8.08993097e+00] [ 7.67188908e-03 3.35375566e-04 9.99970514e-01 1.00083150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.76, Y:8.09, Z:1.00 [[ 9.74759813e-01 -2.23133427e-01 -7.40142670e-03 1.63755380e+02] [ 2.23124304e-01 9.74787852e-01 -2.04676323e-03 8.09336146e+00] [ 7.67152212e-03 3.43664362e-04 9.99970514e-01 1.00191209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.78, Y:8.10, Z:1.00 [[ 9.74865484e-01 -2.22671302e-01 -7.40126669e-03 1.63782386e+02] [ 2.22662162e-01 9.74893517e-01 -2.04734168e-03 8.09707226e+00] [ 7.67133115e-03 3.47900695e-04 9.99970514e-01 1.00416493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.81, Y:8.10, Z:1.01 [[ 9.74813617e-01 -2.22898265e-01 -7.40110776e-03 1.63810611e+02] [ 2.22889126e-01 9.74841650e-01 -2.04791605e-03 8.10107754e+00] [ 7.67138503e-03 3.46710006e-04 9.99970514e-01 1.00612680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.84, Y:8.10, Z:1.01 [[ 9.74642899e-01 -2.23643575e-01 -7.40074496e-03 1.63838364e+02] [ 2.23634449e-01 9.74670936e-01 -2.04922630e-03 8.10456538e+00] [ 7.67158731e-03 3.42202339e-04 9.99970514e-01 1.00830552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:8.10, Z:1.01 [[ 9.74326077e-01 -2.25019844e-01 -7.40038309e-03 1.63867863e+02] [ 2.25010747e-01 9.74354124e-01 -2.05053227e-03 8.10410066e+00] [ 7.67200423e-03 3.32721332e-04 9.99970514e-01 1.00896586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.90, Y:8.11, Z:1.01 [[ 9.74205017e-01 -2.25543401e-01 -7.40001107e-03 1.63895376e+02] [ 2.25534308e-01 9.74233065e-01 -2.05187394e-03 8.10815986e+00] [ 7.67212210e-03 3.29989503e-04 9.99970514e-01 1.00831711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.92, Y:8.11, Z:1.01 [[ 9.74119888e-01 -2.25910801e-01 -7.39963887e-03 1.63922375e+02] [ 2.25901709e-01 9.74147937e-01 -2.05321532e-03 8.11161948e+00] [ 7.67218646e-03 3.28486813e-04 9.99970514e-01 1.00852286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.95, Y:8.12, Z:1.01 [[ 9.73978946e-01 -2.26517681e-01 -7.39947702e-03 1.63950335e+02] [ 2.26508602e-01 9.74007000e-01 -2.05379845e-03 8.11519289e+00] [ 7.67236407e-03 3.24311262e-04 9.99970514e-01 1.00897200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.98, Y:8.12, Z:1.01 [[ 9.73743430e-01 -2.27527987e-01 -7.39911465e-03 1.63977888e+02] [ 2.27518928e-01 9.73771490e-01 -2.05510310e-03 8.11928202e+00] [ 7.67264037e-03 3.17704516e-04 9.99970514e-01 1.01046225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.00, Y:8.12, Z:1.01 [[ 9.73446027e-01 -2.28797054e-01 -7.39874733e-03 1.64004547e+02] [ 2.28788021e-01 9.73474095e-01 -2.05642467e-03 8.12353765e+00] [ 7.67299277e-03 3.09073670e-04 9.99970514e-01 1.01228304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:8.13, Z:1.01 [[ 9.73035134e-01 -2.30538262e-01 -7.39849710e-03 1.64032687e+02] [ 2.30529272e-01 9.73063216e-01 -2.05732455e-03 8.12875441e+00] [ 7.67349741e-03 2.96278920e-04 9.99970514e-01 1.01329418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.06, Y:8.13, Z:1.01 [[ 9.72148339e-01 -2.34249599e-01 -7.39814758e-03 1.64060608e+02] [ 2.34240707e-01 9.72176452e-01 -2.05858066e-03 8.13183140e+00] [ 7.67452656e-03 2.68298455e-04 9.99970514e-01 1.01101603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.09, Y:8.14, Z:1.01 [[ 9.71758601e-01 -2.35861175e-01 -7.39778576e-03 1.64088120e+02] [ 2.35852320e-01 9.71786726e-01 -2.05988010e-03 8.13726442e+00] [ 7.67491574e-03 2.56921273e-04 9.99970514e-01 1.00899743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.12, Y:8.14, Z:1.01 [[ 9.71382550e-01 -2.37405179e-01 -7.39742101e-03 1.64115931e+02] [ 2.37396359e-01 9.71410686e-01 -2.06118915e-03 8.14328372e+00] [ 7.67527079e-03 2.46082365e-04 9.99970514e-01 1.00813653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.915898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.14, Y:8.15, Z:1.01 [[ 9.71065439e-01 -2.38698969e-01 -7.39703489e-03 1.64143670e+02] [ 2.38690175e-01 9.71093583e-01 -2.06257388e-03 8.15006236e+00] [ 7.67554737e-03 2.37294651e-04 9.99970514e-01 1.00750315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.17, Y:8.16, Z:1.01 [[ 9.70861824e-01 -2.39525798e-01 -7.39665002e-03 1.64171253e+02] [ 2.39517018e-01 9.70889972e-01 -2.06395314e-03 8.15715560e+00] [ 7.67570336e-03 2.32189759e-04 9.99970514e-01 1.00758276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:8.16, Z:1.01 [[ 9.70639115e-01 -2.40426710e-01 -7.39628771e-03 1.64197589e+02] [ 2.40417946e-01 9.70667268e-01 -2.06525071e-03 8.16466570e+00] [ 7.67587582e-03 2.26412822e-04 9.99970514e-01 1.00804732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.22, Y:8.17, Z:1.01 [[ 9.70544931e-01 -2.40806633e-01 -7.39611875e-03 1.64223596e+02] [ 2.40797875e-01 9.70573086e-01 -2.06585559e-03 8.17200327e+00] [ 7.67594553e-03 2.24035987e-04 9.99970514e-01 1.00941050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.25, Y:8.18, Z:1.01 [[ 9.70553627e-01 -2.40771589e-01 -7.39585817e-03 1.64250386e+02] [ 2.40762824e-01 9.70581780e-01 -2.06678809e-03 8.17928010e+00] [ 7.67590903e-03 2.25280976e-04 9.99970514e-01 1.01071597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.065898227 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:164.28, Y:8.19, Z:1.01 [[ 9.70636058e-01 -2.40439078e-01 -7.39547705e-03 1.64277157e+02] [ 2.40430292e-01 9.70664204e-01 -2.06815092e-03 8.18709506e+00] [ 7.67578914e-03 2.29325145e-04 9.99970514e-01 1.01024783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.30, Y:8.19, Z:1.01 [[ 9.71134124e-01 -2.38419434e-01 -7.39509073e-03 1.64303855e+02] [ 2.38410580e-01 9.71162248e-01 -2.06953135e-03 8.19377737e+00] [ 7.67524944e-03 2.46724643e-04 9.99970514e-01 1.01141670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.33, Y:8.20, Z:1.01 [[ 9.71979303e-01 -2.34950099e-01 -7.39492297e-03 1.64329287e+02] [ 2.34941140e-01 9.72007395e-01 -2.07013061e-03 8.20192398e+00] [ 7.67429721e-03 2.74752477e-04 9.99970514e-01 1.01439134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.36, Y:8.21, Z:1.01 [[ 9.72321475e-01 -2.33530012e-01 -7.39475946e-03 1.64355726e+02] [ 2.33521007e-01 9.72349552e-01 -2.07071453e-03 8.21040449e+00] [ 7.67386504e-03 2.86568533e-04 9.99970514e-01 1.01427371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.185898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:164.38, Y:8.22, Z:1.01 [[ 9.72589483e-01 -2.32411317e-01 -7.39437348e-03 1.64382401e+02] [ 2.32402269e-01 9.72617546e-01 -2.07209192e-03 8.21949322e+00] [ 7.67347501e-03 2.96825637e-04 9.99970514e-01 1.01355757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.41, Y:8.23, Z:1.01 [[ 9.72960286e-01 -2.30854090e-01 -7.39398868e-03 1.64408855e+02] [ 2.30844987e-01 9.72988331e-01 -2.07346414e-03 8.22705305e+00] [ 7.67293238e-03 3.10533041e-04 9.99970514e-01 1.01338694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.245898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:164.44, Y:8.24, Z:1.01 [[ 9.73216536e-01 -2.29771421e-01 -7.39382130e-03 1.64435342e+02] [ 2.29762282e-01 9.73244569e-01 -2.07406084e-03 8.23508864e+00] [ 7.67255633e-03 3.19689051e-04 9.99970514e-01 1.01350618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.275898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.46, Y:8.24, Z:1.01 [[ 9.73871085e-01 -2.26981161e-01 -7.39343994e-03 1.64461643e+02] [ 2.26971931e-01 9.73899089e-01 -2.07541939e-03 8.24194048e+00] [ 7.67154552e-03 3.43087592e-04 9.99970514e-01 1.01416041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.49, Y:8.25, Z:1.01 [[ 9.74110404e-01 -2.25951900e-01 -7.39327425e-03 1.64487424e+02] [ 2.25942637e-01 9.74138396e-01 -2.07600945e-03 8.24884159e+00] [ 7.67115060e-03 3.51806525e-04 9.99970514e-01 1.01430468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.51, Y:8.26, Z:1.01 [[ 9.74407839e-01 -2.24665765e-01 -7.39310985e-03 1.64514516e+02] [ 2.24656460e-01 9.74435818e-01 -2.07659475e-03 8.25589897e+00] [ 7.67065079e-03 3.62540315e-04 9.99970514e-01 1.01428635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.54, Y:8.26, Z:1.02 [[ 9.74781274e-01 -2.23039943e-01 -7.39272640e-03 1.64541466e+02] [ 2.23030581e-01 9.74809234e-01 -2.07795894e-03 8.26232754e+00] [ 7.66996580e-03 3.76751395e-04 9.99970514e-01 1.01624642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.57, Y:8.27, Z:1.02 [[ 9.75074999e-01 -2.21752332e-01 -7.39260733e-03 1.64568390e+02] [ 2.21742930e-01 9.75102945e-01 -2.07838246e-03 8.26858957e+00] [ 7.66943934e-03 3.87320364e-04 9.99970514e-01 1.01664323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.425898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:164.59, Y:8.28, Z:1.02 [[ 9.75260691e-01 -2.20934244e-01 -7.39222463e-03 1.64594886e+02] [ 2.20924808e-01 9.75288626e-01 -2.07974274e-03 8.27545849e+00] [ 7.66903899e-03 3.95165527e-04 9.99970514e-01 1.01715908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.62, Y:8.28, Z:1.02 [[ 9.75420465e-01 -2.20227779e-01 -7.39196416e-03 1.64622916e+02] [ 2.20218316e-01 9.75448391e-01 -2.08066811e-03 8.28088737e+00] [ 7.66870046e-03 4.01680359e-04 9.99970514e-01 1.01542391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.485898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:164.65, Y:8.29, Z:1.02 [[ 9.75409331e-01 -2.20277103e-01 -7.39157591e-03 1.64649524e+02] [ 2.20267631e-01 9.75437254e-01 -2.08204643e-03 8.28783657e+00] [ 7.66864566e-03 4.02722606e-04 9.99970514e-01 1.01506566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.515898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:164.68, Y:8.30, Z:1.02 [[ 9.75368524e-01 -2.20457727e-01 -7.39140763e-03 1.64677008e+02] [ 2.20448256e-01 9.75396447e-01 -2.08264367e-03 8.29571251e+00] [ 7.66868763e-03 4.01922155e-04 9.99970514e-01 1.01528485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.70, Y:8.30, Z:1.02 [[ 9.75418837e-01 -2.20235023e-01 -7.39102171e-03 1.64703456e+02] [ 2.20225535e-01 9.75446754e-01 -2.08401236e-03 8.30122476e+00] [ 7.66852065e-03 4.05093203e-04 9.99970514e-01 1.01678007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.73, Y:8.31, Z:1.02 [[ 9.75415306e-01 -2.20250667e-01 -7.39085392e-03 1.64730802e+02] [ 2.20241175e-01 9.75443222e-01 -2.08460725e-03 8.30782496e+00] [ 7.66849450e-03 4.05587464e-04 9.99970514e-01 1.01782152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.605898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.76, Y:8.32, Z:1.02 [[ 9.75461855e-01 -2.20044428e-01 -7.39048101e-03 1.64758077e+02] [ 2.20034921e-01 9.75489766e-01 -2.08592847e-03 8.31541135e+00] [ 7.66833553e-03 4.08579752e-04 9.99970514e-01 1.01840647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.78, Y:8.32, Z:1.02 [[ 9.75571406e-01 -2.19558236e-01 -7.39009618e-03 1.64783625e+02] [ 2.19548704e-01 9.75599308e-01 -2.08729097e-03 8.32267503e+00] [ 7.66805464e-03 4.13815343e-04 9.99970514e-01 1.01952174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.81, Y:8.33, Z:1.02 [[ 9.75627751e-01 -2.19307734e-01 -7.38983393e-03 1.64810693e+02] [ 2.19298188e-01 9.75655648e-01 -2.08821901e-03 8.33123283e+00] [ 7.66789580e-03 4.16747227e-04 9.99970514e-01 1.01865861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.84, Y:8.34, Z:1.02 [[ 9.75726426e-01 -2.18868313e-01 -7.38945574e-03 1.64836549e+02] [ 2.18858744e-01 9.75754315e-01 -2.08955645e-03 8.34167962e+00] [ 7.66763102e-03 4.21588449e-04 9.99970514e-01 1.01726775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.86, Y:8.35, Z:1.02 [[ 9.75698755e-01 -2.18991637e-01 -7.38933863e-03 1.64862934e+02] [ 2.18982069e-01 9.75726645e-01 -2.08997050e-03 8.35095991e+00] [ 7.66766065e-03 4.21048957e-04 9.99970514e-01 1.01812473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.89, Y:8.36, Z:1.02 [[ 9.75673397e-01 -2.19104601e-01 -7.38896228e-03 1.64888745e+02] [ 2.19095026e-01 9.75701284e-01 -2.09130023e-03 8.36016904e+00] [ 7.66763349e-03 4.21541115e-04 9.99970514e-01 1.01959535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.785898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:164.91, Y:8.37, Z:1.02 [[ 9.75420179e-01 -2.20229156e-01 -7.38879832e-03 1.64914616e+02] [ 2.20219608e-01 9.75448076e-01 -2.09187934e-03 8.36975948e+00] [ 7.66808193e-03 4.13303049e-04 9.99970514e-01 1.01984960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.94, Y:8.38, Z:1.02 [[ 9.75011654e-01 -2.22030817e-01 -7.38854495e-03 1.64941366e+02] [ 2.22021315e-01 9.75039566e-01 -2.09277389e-03 8.37915230e+00] [ 7.66878396e-03 4.00064464e-04 9.99970514e-01 1.01844704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.97, Y:8.39, Z:1.02 [[ 9.74454955e-01 -2.24461481e-01 -7.38816335e-03 1.64966858e+02] [ 2.24452038e-01 9.74482887e-01 -2.09412019e-03 8.38849725e+00] [ 7.66968807e-03 3.82337470e-04 9.99970514e-01 1.01717561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.99, Y:8.40, Z:1.02 [[ 9.73344829e-01 -2.29227537e-01 -7.38778310e-03 1.64992784e+02] [ 2.29218221e-01 9.73372804e-01 -2.09546080e-03 8.40048987e+00] [ 7.67140447e-03 3.46191433e-04 9.99970514e-01 1.01562389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.02, Y:8.41, Z:1.02 [[ 9.72694239e-01 -2.31972714e-01 -7.38766754e-03 1.65018857e+02] [ 2.31963474e-01 9.72722239e-01 -2.09586813e-03 8.41006184e+00] [ 7.67233273e-03 3.24969828e-04 9.99970514e-01 1.01587293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.935898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:165.04, Y:8.42, Z:1.02 [[ 9.72046439e-01 -2.34672429e-01 -7.38728202e-03 1.65044473e+02] [ 2.34663255e-01 9.72074461e-01 -2.09722608e-03 8.41999097e+00] [ 7.67314933e-03 3.05077497e-04 9.99970514e-01 1.01929226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.07, Y:8.43, Z:1.02 [[ 9.71544611e-01 -2.36741418e-01 -7.38716223e-03 1.65071652e+02] [ 2.36732301e-01 9.71572652e-01 -2.09764793e-03 8.42996760e+00] [ 7.67376494e-03 2.89178627e-04 9.99970514e-01 1.02074910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.10, Y:8.44, Z:1.02 [[ 9.70972397e-01 -2.39077476e-01 -7.38682397e-03 1.65097830e+02] [ 2.39068418e-01 9.71000457e-01 -2.09883844e-03 8.44103687e+00] [ 7.67439444e-03 2.71957871e-04 9.99970514e-01 1.02409408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.12, Y:8.45, Z:1.03 [[ 9.70490719e-01 -2.41025313e-01 -7.38670387e-03 1.65124272e+02] [ 2.41016308e-01 9.70518795e-01 -2.09926102e-03 8.45231517e+00] [ 7.67490999e-03 2.56997244e-04 9.99970514e-01 1.02514132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.15, Y:8.47, Z:1.02 [[ 9.69719235e-01 -2.44110729e-01 -7.38634100e-03 1.65149571e+02] [ 2.44101803e-01 9.69747337e-01 -2.10053705e-03 8.46621708e+00] [ 7.67564814e-03 2.33912021e-04 9.99970514e-01 1.02361285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.18, Y:8.48, Z:1.03 [[ 9.69334777e-01 -2.45632931e-01 -7.38595631e-03 1.65175459e+02] [ 2.45624040e-01 9.69362890e-01 -2.10188882e-03 8.47698344e+00] [ 7.67596507e-03 2.23265510e-04 9.99970514e-01 1.02667539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.115898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:165.20, Y:8.49, Z:1.03 [[ 9.68792512e-01 -2.47763027e-01 -7.38583639e-03 1.65202499e+02] [ 2.47754194e-01 9.68820644e-01 -2.10231012e-03 8.48854100e+00] [ 7.67642549e-03 2.06830353e-04 9.99970514e-01 1.02751412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.23, Y:8.50, Z:1.03 [[ 9.68422142e-01 -2.49206761e-01 -7.38550709e-03 1.65228604e+02] [ 2.49197961e-01 9.68450284e-01 -2.10346634e-03 8.49862372e+00] [ 7.67669447e-03 1.96590077e-04 9.99970514e-01 1.02791687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.175898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.25, Y:8.51, Z:1.03 [[ 9.67858221e-01 -2.51387994e-01 -7.38511383e-03 1.65254778e+02] [ 2.51379247e-01 9.67886380e-01 -2.10484614e-03 8.50986581e+00] [ 7.67708414e-03 1.80728289e-04 9.99970514e-01 1.02872382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.28, Y:8.52, Z:1.03 [[ 9.66479224e-01 -2.56638610e-01 -7.38471910e-03 1.65281143e+02] [ 2.56630005e-01 9.66507426e-01 -2.10623013e-03 8.52292881e+00] [ 7.67792582e-03 1.40487159e-04 9.99970514e-01 1.02721088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.31, Y:8.53, Z:1.03 [[ 9.65586086e-01 -2.59978811e-01 -7.38437269e-03 1.65307625e+02] [ 2.59970295e-01 9.65614315e-01 -2.10744390e-03 8.53301248e+00] [ 7.67834674e-03 1.15200960e-04 9.99970514e-01 1.02715471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.33, Y:8.54, Z:1.03 [[ 9.64474538e-01 -2.64072602e-01 -7.38424927e-03 1.65333804e+02] [ 2.64064202e-01 9.64502802e-01 -2.10787629e-03 8.54264834e+00] [ 7.67876148e-03 8.30771241e-05 9.99970514e-01 1.02546453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.36, Y:8.55, Z:1.02 [[ 9.63316094e-01 -2.68267743e-01 -7.38385254e-03 1.65360764e+02] [ 2.68259455e-01 9.63344391e-01 -2.10926509e-03 8.55127725e+00] [ 7.67904072e-03 5.11007420e-05 9.99970514e-01 1.02492178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:8.56, Z:1.03 [[ 9.62156667e-01 -2.72396831e-01 -7.38344977e-03 1.65388003e+02] [ 2.72388654e-01 9.62184996e-01 -2.11067405e-03 8.55904378e+00] [ 7.67918551e-03 1.96311621e-05 9.99970514e-01 1.02530355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.41, Y:8.57, Z:1.03 [[ 9.61152683e-01 -2.75918478e-01 -7.38332439e-03 1.65413954e+02] [ 2.75910402e-01 9.61181041e-01 -2.11111254e-03 8.56610198e+00] [ 7.67920638e-03 -8.03451549e-06 9.99970514e-01 1.02733101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.44, Y:8.58, Z:1.03 [[ 9.60050134e-01 -2.79730636e-01 -7.38315118e-03 1.65440808e+02] [ 2.79722667e-01 9.60078523e-01 -2.11171815e-03 8.57500111e+00] [ 7.67911714e-03 -3.78794498e-05 9.99970514e-01 1.02836624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.47, Y:8.58, Z:1.03 [[ 9.59958672e-01 -2.80044353e-01 -7.38303149e-03 1.65467581e+02] [ 2.80036391e-01 9.59987062e-01 -2.11213650e-03 8.58447485e+00] [ 7.67910661e-03 -3.99537431e-05 9.99970514e-01 1.02750262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.49, Y:8.59, Z:1.03 [[ 9.60106376e-01 -2.79537552e-01 -7.38263211e-03 1.65493668e+02] [ 2.79529564e-01 9.60134759e-01 -2.11353156e-03 8.59430425e+00] [ 7.67913314e-03 -3.44488090e-05 9.99970514e-01 1.02772098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.52, Y:8.60, Z:1.03 [[ 9.60433318e-01 -2.78412184e-01 -7.38222869e-03 1.65519320e+02] [ 2.78404152e-01 9.60461689e-01 -2.11493971e-03 8.60437207e+00] [ 7.67917282e-03 -2.39845521e-05 9.99970514e-01 1.02967274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.55, Y:8.62, Z:1.03 [[ 9.60730842e-01 -2.77383768e-01 -7.38210396e-03 1.65546637e+02] [ 2.77375702e-01 9.60759203e-01 -2.11537497e-03 8.61566003e+00] [ 7.67919500e-03 -1.53102907e-05 9.99970514e-01 1.02963250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.57, Y:8.63, Z:1.03 [[ 9.60918167e-01 -2.76734143e-01 -7.38175642e-03 1.65571314e+02] [ 2.76726049e-01 9.60946520e-01 -2.11658705e-03 8.62687832e+00] [ 7.67920505e-03 -8.85734013e-06 9.99970514e-01 1.03107635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.60, Y:8.64, Z:1.03 [[ 9.60886553e-01 -2.76843898e-01 -7.38158373e-03 1.65596033e+02] [ 2.76835802e-01 9.60914906e-01 -2.11718913e-03 8.64264733e+00] [ 7.67920473e-03 -9.10809444e-06 9.99970514e-01 1.02964645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.595898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:165.62, Y:8.66, Z:1.03 [[ 9.60560925e-01 -2.77971631e-01 -7.38118448e-03 1.65622215e+02] [ 2.77963558e-01 9.60589284e-01 -2.11858015e-03 8.65515997e+00] [ 7.67919189e-03 -1.66749918e-05 9.99970514e-01 1.02996814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.65, Y:8.67, Z:1.03 [[ 9.60229116e-01 -2.79115688e-01 -7.38083411e-03 1.65648626e+02] [ 2.79107640e-01 9.60257482e-01 -2.11980009e-03 8.66653925e+00] [ 7.67917063e-03 -2.45534245e-05 9.99970514e-01 1.02898043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.655898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:165.67, Y:8.68, Z:1.03 [[ 9.59677856e-01 -2.81005234e-01 -7.38043225e-03 1.65674443e+02] [ 2.80997231e-01 9.59706235e-01 -2.12119828e-03 8.67895069e+00] [ 7.67911467e-03 -3.82140049e-05 9.99970514e-01 1.02934844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.70, Y:8.69, Z:1.03 [[ 9.59328269e-01 -2.82196392e-01 -7.38024481e-03 1.65699872e+02] [ 2.82188419e-01 9.59356656e-01 -2.12185024e-03 8.69056665e+00] [ 7.67906547e-03 -4.70687005e-05 9.99970514e-01 1.02953059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.72, Y:8.71, Z:1.03 [[ 9.58533846e-01 -2.84883134e-01 -7.38012028e-03 1.65724195e+02] [ 2.84875237e-01 9.58562254e-01 -2.12228328e-03 8.70733415e+00] [ 7.67890745e-03 -6.81331566e-05 9.99970514e-01 1.02548342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:8.72, Z:1.02 [[ 9.58234446e-01 -2.85888590e-01 -7.37971512e-03 1.65750473e+02] [ 2.85880712e-01 9.58262860e-01 -2.12369119e-03 8.71893602e+00] [ 7.67884600e-03 -7.47241645e-05 9.99970514e-01 1.02433275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.78, Y:8.73, Z:1.02 [[ 9.57953224e-01 -2.86829507e-01 -7.37936253e-03 1.65775980e+02] [ 2.86821647e-01 9.57981643e-01 -2.12491567e-03 8.73015816e+00] [ 7.67878235e-03 -8.09910988e-05 9.99970514e-01 1.02425839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.805898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:165.80, Y:8.74, Z:1.02 [[ 9.57637579e-01 -2.87881596e-01 -7.37923715e-03 1.65801784e+02] [ 2.87873764e-01 9.57666006e-01 -2.12535100e-03 8.74197498e+00] [ 7.67869400e-03 -8.89727862e-05 9.99970514e-01 1.02412768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.83, Y:8.75, Z:1.02 [[ 9.57517968e-01 -2.88279189e-01 -7.37911338e-03 1.65827988e+02] [ 2.88271365e-01 9.57546396e-01 -2.12578064e-03 8.75342976e+00] [ 7.67866174e-03 -9.17139310e-05 9.99970514e-01 1.02181926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.85, Y:8.76, Z:1.02 [[ 9.57515060e-01 -2.88288856e-01 -7.37871230e-03 1.65854730e+02] [ 2.88281022e-01 9.57543486e-01 -2.12717188e-03 8.76451065e+00] [ 7.67867785e-03 -9.03436137e-05 9.99970514e-01 1.01919774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.88, Y:8.78, Z:1.02 [[ 9.58027636e-01 -2.86580895e-01 -7.37834573e-03 1.65879986e+02] [ 2.86573000e-01 9.58056045e-01 -2.12844261e-03 8.77667485e+00] [ 7.67883972e-03 -7.53278373e-05 9.99970514e-01 1.01860999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.91, Y:8.79, Z:1.02 [[ 9.58645294e-01 -2.84507931e-01 -7.37821581e-03 1.65905036e+02] [ 2.84499972e-01 9.58673685e-01 -2.12889290e-03 8.78660906e+00] [ 7.67898825e-03 -5.82490352e-05 9.99970514e-01 1.01923535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.93, Y:8.80, Z:1.02 [[ 9.59498648e-01 -2.81616600e-01 -7.37804035e-03 1.65931257e+02] [ 2.81608551e-01 9.59527013e-01 -2.12950080e-03 8.79759576e+00] [ 7.67913180e-03 -3.44661076e-05 9.99970514e-01 1.01850525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.96, Y:8.81, Z:1.02 [[ 9.60634453e-01 -2.77717514e-01 -7.37763172e-03 1.65957041e+02] [ 2.77709339e-01 9.60662783e-01 -2.13091558e-03 8.80868299e+00] [ 7.67920879e-03 -1.80630723e-06 9.99970514e-01 1.01946744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.015898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.98, Y:8.82, Z:1.02 [[ 9.61848728e-01 -2.73482358e-01 -7.37722325e-03 1.65981935e+02] [ 2.73474047e-01 9.61877018e-01 -2.13232874e-03 8.81991681e+00] [ 7.67913580e-03 3.34985841e-05 9.99970514e-01 1.02079278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.01, Y:8.83, Z:1.02 [[ 9.63200268e-01 -2.68683500e-01 -7.37704634e-03 1.66006661e+02] [ 2.68675044e-01 9.63228515e-01 -2.13294063e-03 8.83051262e+00] [ 7.67886734e-03 7.24207336e-05 9.99970514e-01 1.02120344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.03, Y:8.85, Z:1.02 [[ 9.65530568e-01 -2.60185135e-01 -7.37687069e-03 1.66030898e+02] [ 2.60176425e-01 9.65558738e-01 -2.13354793e-03 8.84708893e+00] [ 7.67791941e-03 1.40717902e-04 9.99970514e-01 1.02239856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.06, Y:8.86, Z:1.02 [[ 9.66544207e-01 -2.56393994e-01 -7.37668317e-03 1.66056671e+02] [ 2.56385169e-01 9.66572341e-01 -2.13419607e-03 8.86000932e+00] [ 7.67729298e-03 1.71522689e-04 9.99970514e-01 1.02109038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.08, Y:8.87, Z:1.02 [[ 9.67540513e-01 -2.52608286e-01 -7.37627942e-03 1.66082065e+02] [ 2.52599340e-01 9.67568609e-01 -2.13559062e-03 8.87246892e+00] [ 7.67652430e-03 2.03027130e-04 9.99970514e-01 1.02290332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.11, Y:8.88, Z:1.02 [[ 9.68208401e-01 -2.50036167e-01 -7.37615431e-03 1.66107504e+02] [ 2.50027144e-01 9.68236472e-01 -2.13602266e-03 8.88486180e+00] [ 7.67594454e-03 2.23876287e-04 9.99970514e-01 1.02227186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.13, Y:8.90, Z:1.02 [[ 9.68707189e-01 -2.48096714e-01 -7.37575681e-03 1.66133271e+02] [ 2.48087624e-01 9.68735239e-01 -2.13739436e-03 8.89713499e+00] [ 7.67543605e-03 2.40675306e-04 9.99970514e-01 1.02408904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.16, Y:8.91, Z:1.03 [[ 9.68852443e-01 -2.47528876e-01 -7.37563328e-03 1.66158279e+02] [ 2.47519766e-01 9.68880486e-01 -2.13782053e-03 8.90950850e+00] [ 7.67527947e-03 2.45617620e-04 9.99970514e-01 1.02556906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.18, Y:8.93, Z:1.02 [[ 9.68399572e-01 -2.49294750e-01 -7.37546495e-03 1.66183170e+02] [ 2.49285687e-01 9.68427630e-01 -2.13840112e-03 8.92660285e+00] [ 7.67569621e-03 2.32228878e-04 9.99970514e-01 1.02456205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.21, Y:8.94, Z:1.03 [[ 9.67846602e-01 -2.51433017e-01 -7.37511946e-03 1.66209717e+02] [ 2.51424007e-01 9.67874677e-01 -2.13959200e-03 8.93856260e+00] [ 7.67615544e-03 2.16514766e-04 9.99970514e-01 1.02510397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.24, Y:8.95, Z:1.03 [[ 9.67320430e-01 -2.53449796e-01 -7.37477439e-03 1.66236085e+02] [ 2.53440835e-01 9.67348521e-01 -2.14078074e-03 8.94968706e+00] [ 7.67655754e-03 2.01751970e-04 9.99970514e-01 1.02576776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.26, Y:8.96, Z:1.02 [[ 9.66590864e-01 -2.56218108e-01 -7.37442826e-03 1.66261976e+02] [ 2.56209218e-01 9.66618978e-01 -2.14197240e-03 8.96365869e+00] [ 7.67707443e-03 1.81014451e-04 9.99970514e-01 1.02327163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.29, Y:8.97, Z:1.02 [[ 9.66399546e-01 -2.56938788e-01 -7.37408113e-03 1.66288187e+02] [ 2.56929910e-01 9.66427663e-01 -2.14316680e-03 8.97434906e+00] [ 7.67717867e-03 1.76533422e-04 9.99970514e-01 1.02200931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.32, Y:8.98, Z:1.02 [[ 9.66352125e-01 -2.57117083e-01 -7.37395735e-03 1.66315558e+02] [ 2.57108207e-01 9.66380243e-01 -2.14359261e-03 8.98246994e+00] [ 7.67720097e-03 1.75560322e-04 9.99970514e-01 1.02222839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:8.99, Z:1.02 [[ 9.66097701e-01 -2.58071429e-01 -7.37356160e-03 1.66341879e+02] [ 2.58062571e-01 9.66125824e-01 -2.14495304e-03 8.99327497e+00] [ 7.67733938e-03 1.69393936e-04 9.99970514e-01 1.02136029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.37, Y:9.00, Z:1.02 [[ 9.65955107e-01 -2.58604656e-01 -7.37316273e-03 1.66368011e+02] [ 2.58595803e-01 9.65983232e-01 -2.14632327e-03 9.00359760e+00] [ 7.67740075e-03 1.66582989e-04 9.99970514e-01 1.01997617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.39, Y:9.01, Z:1.02 [[ 9.65908804e-01 -2.58777559e-01 -7.37275447e-03 1.66393994e+02] [ 2.58768700e-01 9.65936927e-01 -2.14772475e-03 9.01362808e+00] [ 7.67739876e-03 1.66668151e-04 9.99970514e-01 1.02021129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.525898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:166.42, Y:9.02, Z:1.02 [[ 9.65922805e-01 -2.58725295e-01 -7.37262743e-03 1.66420578e+02] [ 2.58716431e-01 9.65950927e-01 -2.14816075e-03 9.02388899e+00] [ 7.67737983e-03 1.67537594e-04 9.99970514e-01 1.01893093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.555898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:166.45, Y:9.04, Z:1.02 [[ 9.66470902e-01 -2.56670298e-01 -7.37250441e-03 1.66447789e+02] [ 2.56661371e-01 9.66499004e-01 -2.14858289e-03 9.03501031e+00] [ 7.67699557e-03 1.84305751e-04 9.99970514e-01 1.01538652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.585898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:166.47, Y:9.04, Z:1.02 [[ 9.66890496e-01 -2.55085125e-01 -7.37214982e-03 1.66473758e+02] [ 2.55076143e-01 9.66918580e-01 -2.14979884e-03 9.04452354e+00] [ 7.67665034e-03 1.98160520e-04 9.99970514e-01 1.01554437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.50, Y:9.05, Z:1.02 [[ 9.67254593e-01 -2.53701018e-01 -7.37202377e-03 1.66499227e+02] [ 2.53691992e-01 9.67282663e-01 -2.15023102e-03 9.05380386e+00] [ 7.67634658e-03 2.09597430e-04 9.99970514e-01 1.01547675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.53, Y:9.06, Z:1.01 [[ 9.67524486e-01 -2.52669794e-01 -7.37185034e-03 1.66525731e+02] [ 2.52660734e-01 9.67552545e-01 -2.15082542e-03 9.06310536e+00] [ 7.67610118e-03 2.18399144e-04 9.99970514e-01 1.01399078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.55, Y:9.07, Z:1.01 [[ 9.67599735e-01 -2.52381486e-01 -7.37145128e-03 1.66551733e+02] [ 2.52372408e-01 9.67627788e-01 -2.15219224e-03 9.07234744e+00] [ 7.67599457e-03 2.22109735e-04 9.99970514e-01 1.01433864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.58, Y:9.08, Z:1.01 [[ 9.67668052e-01 -2.52119433e-01 -7.37105430e-03 1.66578588e+02] [ 2.52110337e-01 9.67696099e-01 -2.15355101e-03 9.08041843e+00] [ 7.67589255e-03 2.25603530e-04 9.99970514e-01 1.01389035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.61, Y:9.09, Z:1.01 [[ 9.67812966e-01 -2.51562588e-01 -7.37066575e-03 1.66606170e+02] [ 2.51553465e-01 9.67841005e-01 -2.15488003e-03 9.08662739e+00] [ 7.67571974e-03 2.31404329e-04 9.99970514e-01 1.01207459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.63, Y:9.09, Z:1.01 [[ 9.67827371e-01 -2.51507169e-01 -7.37048468e-03 1.66633314e+02] [ 2.51498039e-01 9.67855408e-01 -2.15549919e-03 9.09329231e+00] [ 7.67568695e-03 2.32488664e-04 9.99970514e-01 1.01015414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.66, Y:9.10, Z:1.01 [[ 9.67907053e-01 -2.51200355e-01 -7.37008632e-03 1.66660332e+02] [ 2.51191207e-01 9.67935083e-01 -2.15686039e-03 9.10012499e+00] [ 7.67556921e-03 2.36339509e-04 9.99970514e-01 1.00991227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:9.11, Z:1.01 [[ 9.68062763e-01 -2.50599629e-01 -7.36968749e-03 1.66686724e+02] [ 2.50590453e-01 9.68090784e-01 -2.15822228e-03 9.10700546e+00] [ 7.67537624e-03 2.42521302e-04 9.99970514e-01 1.01025248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.71, Y:9.11, Z:1.01 [[ 9.68339057e-01 -2.49529880e-01 -7.36951448e-03 1.66713596e+02] [ 2.49520669e-01 9.68367067e-01 -2.15881286e-03 9.11407559e+00] [ 7.67508344e-03 2.51616629e-04 9.99970514e-01 1.01065481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.74, Y:9.12, Z:1.01 [[ 9.69287700e-01 -2.45819143e-01 -7.36911894e-03 1.66741192e+02] [ 2.45809814e-01 9.69315671e-01 -2.16016221e-03 9.12134594e+00] [ 7.67401169e-03 2.82416904e-04 9.99970514e-01 1.01057360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.77, Y:9.13, Z:1.01 [[ 9.69835727e-01 -2.43648036e-01 -7.36872306e-03 1.66768023e+02] [ 2.43638634e-01 9.69863673e-01 -2.16151179e-03 9.12935332e+00] [ 7.67330491e-03 3.01005742e-04 9.99970514e-01 1.00955997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.79, Y:9.14, Z:1.01 [[ 9.70388960e-01 -2.41435236e-01 -7.36832582e-03 1.66794943e+02] [ 2.41425760e-01 9.70416882e-01 -2.16286508e-03 9.13746576e+00] [ 7.67253961e-03 3.19916729e-04 9.99970514e-01 1.00852525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:9.15, Z:1.01 [[ 9.70778703e-01 -2.39863333e-01 -7.36820282e-03 1.66822915e+02] [ 2.39853809e-01 9.70806608e-01 -2.16328404e-03 9.14615640e+00] [ 7.67199250e-03 3.32778568e-04 9.99970514e-01 1.00648608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.85, Y:9.15, Z:1.00 [[ 9.71063268e-01 -2.38708702e-01 -7.36786435e-03 1.66850149e+02] [ 2.38699136e-01 9.71091158e-01 -2.16443620e-03 9.15482323e+00] [ 7.67153768e-03 3.43101631e-04 9.99970514e-01 1.00423005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.035898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:166.88, Y:9.16, Z:1.00 [[ 9.71158374e-01 -2.38321489e-01 -7.36751680e-03 1.66877778e+02] [ 2.38311902e-01 9.71186258e-01 -2.16561856e-03 9.16440510e+00] [ 7.67134451e-03 3.47391660e-04 9.99970514e-01 1.00287812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.90, Y:9.17, Z:1.00 [[ 9.71057549e-01 -2.38731985e-01 -7.36716244e-03 1.66902651e+02] [ 2.38722402e-01 9.71085434e-01 -2.16682338e-03 9.17469256e+00] [ 7.67143418e-03 3.45403494e-04 9.99970514e-01 1.00277213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.095898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:166.93, Y:9.18, Z:1.00 [[ 9.70700068e-01 -2.40181403e-01 -7.36688671e-03 1.66927902e+02] [ 2.40171854e-01 9.70727965e-01 -2.16776043e-03 9.18482595e+00] [ 7.67189868e-03 3.34926364e-04 9.99970514e-01 1.00480701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.95, Y:9.19, Z:1.01 [[ 9.70349172e-01 -2.41595150e-01 -7.36671608e-03 1.66954629e+02] [ 2.41585637e-01 9.70377081e-01 -2.16834014e-03 9.19447567e+00] [ 7.67235290e-03 3.24354267e-04 9.99970514e-01 1.00602627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:9.20, Z:1.01 [[ 9.69946211e-01 -2.43207907e-01 -7.36631793e-03 1.66982220e+02] [ 2.43198430e-01 9.69974132e-01 -2.16969187e-03 9.20473994e+00] [ 7.67282406e-03 3.13007450e-04 9.99970514e-01 1.00720581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.185898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:167.01, Y:9.22, Z:1.01 [[ 9.69518921e-01 -2.44905706e-01 -7.36599189e-03 1.67008611e+02] [ 2.44896270e-01 9.69546855e-01 -2.17079820e-03 9.21522175e+00] [ 7.67331514e-03 3.00725988e-04 9.99970514e-01 1.00870302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.03, Y:9.22, Z:1.01 [[ 9.69181739e-01 -2.46236675e-01 -7.36586736e-03 1.67034235e+02] [ 2.46227274e-01 9.69209686e-01 -2.17122067e-03 9.22406691e+00] [ 7.67370415e-03 2.90629986e-04 9.99970514e-01 1.00846709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.06, Y:9.23, Z:1.01 [[ 9.68665483e-01 -2.48259803e-01 -7.36559629e-03 1.67060789e+02] [ 2.48250454e-01 9.68693447e-01 -2.17213984e-03 9.23416911e+00] [ 7.67425987e-03 2.75564269e-04 9.99970514e-01 1.00676938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.09, Y:9.24, Z:1.01 [[ 9.68403537e-01 -2.49279640e-01 -7.36547439e-03 1.67086811e+02] [ 2.49270317e-01 9.68431510e-01 -2.17255313e-03 9.24306320e+00] [ 7.67453075e-03 2.67914001e-04 9.99970514e-01 1.00743576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.11, Y:9.25, Z:1.01 [[ 9.68287616e-01 -2.49729542e-01 -7.36530943e-03 1.67113176e+02] [ 2.49720228e-01 9.68315592e-01 -2.17311222e-03 9.25207983e+00] [ 7.67463428e-03 2.64930908e-04 9.99970514e-01 1.00778848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:9.26, Z:1.01 [[ 9.68290344e-01 -2.49718978e-01 -7.36492851e-03 1.67139194e+02] [ 2.49709653e-01 9.68318316e-01 -2.17440244e-03 9.26155038e+00] [ 7.67458473e-03 2.66359146e-04 9.99970514e-01 1.00747825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:9.27, Z:1.01 [[ 9.68442271e-01 -2.49129145e-01 -7.36454681e-03 1.67165392e+02] [ 2.49119793e-01 9.68470234e-01 -2.17569447e-03 9.27192738e+00] [ 7.67437328e-03 2.72380118e-04 9.99970514e-01 1.00575253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.19, Y:9.28, Z:1.00 [[ 9.68748821e-01 -2.47934450e-01 -7.36414789e-03 1.67190983e+02] [ 2.47925054e-01 9.68776769e-01 -2.17704387e-03 9.28197398e+00] [ 7.67397957e-03 2.83251922e-04 9.99970514e-01 1.00465716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.22, Y:9.30, Z:1.00 [[ 9.69493569e-01 -2.45006104e-01 -7.36402364e-03 1.67216225e+02] [ 2.44996620e-01 9.69521488e-01 -2.17746406e-03 9.29565323e+00] [ 7.67307114e-03 3.06876497e-04 9.99970514e-01 1.00362021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.24, Y:9.31, Z:1.00 [[ 9.69819119e-01 -2.43714277e-01 -7.36390081e-03 1.67242306e+02] [ 2.43704753e-01 9.69847024e-01 -2.17787939e-03 9.30680170e+00] [ 7.67263759e-03 3.17531448e-04 9.99970514e-01 1.00319963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:9.32, Z:1.00 [[ 9.70173222e-01 -2.42300843e-01 -7.36350184e-03 1.67268117e+02] [ 2.42291268e-01 9.70201109e-01 -2.17922749e-03 9.31777190e+00] [ 7.67210631e-03 3.30115958e-04 9.99970514e-01 1.00351714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.29, Y:9.33, Z:1.00 [[ 9.70438267e-01 -2.41237132e-01 -7.36309974e-03 1.67294657e+02] [ 2.41227516e-01 9.70466141e-01 -2.18058523e-03 9.32864973e+00] [ 7.67167712e-03 3.39941090e-04 9.99970514e-01 1.00426508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.32, Y:9.34, Z:1.00 [[ 9.70670765e-01 -2.40299930e-01 -7.36272435e-03 1.67319371e+02] [ 2.40290278e-01 9.70698626e-01 -2.18185201e-03 9.33915160e+00] [ 7.67128529e-03 3.48668878e-04 9.99970514e-01 1.00439512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.34, Y:9.35, Z:1.00 [[ 9.70823647e-01 -2.39681539e-01 -7.36245001e-03 1.67344816e+02] [ 2.39671862e-01 9.70851499e-01 -2.18277735e-03 9.34962751e+00] [ 7.67101707e-03 3.54519763e-04 9.99970514e-01 1.00377869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.37, Y:9.36, Z:1.00 [[ 9.70772157e-01 -2.39890007e-01 -7.36232627e-03 1.67371170e+02] [ 2.39880332e-01 9.70800010e-01 -2.18319464e-03 9.36315458e+00] [ 7.67107299e-03 3.53307301e-04 9.99970514e-01 1.00029042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.40, Y:9.37, Z:1.00 [[ 9.70608182e-01 -2.40552610e-01 -7.36198249e-03 1.67396049e+02] [ 2.40542945e-01 9.70636039e-01 -2.18435329e-03 9.37323243e+00] [ 7.67125741e-03 3.49278223e-04 9.99970514e-01 9.99854410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.42, Y:9.38, Z:1.00 [[ 9.70321423e-01 -2.41706721e-01 -7.36181138e-03 1.67422274e+02] [ 2.41697085e-01 9.70349290e-01 -2.18492983e-03 9.38340092e+00] [ 7.67164067e-03 3.40755867e-04 9.99970514e-01 9.98818482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.45, Y:9.39, Z:1.00 [[ 9.70163327e-01 -2.42340521e-01 -7.36141013e-03 1.67448834e+02] [ 2.42330893e-01 9.70191197e-01 -2.18628087e-03 9.39255246e+00] [ 7.67179975e-03 3.37152431e-04 9.99970514e-01 9.99128248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.725898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.48, Y:9.40, Z:1.00 [[ 9.69978332e-01 -2.43079919e-01 -7.36128583e-03 1.67475044e+02] [ 2.43070310e-01 9.70006208e-01 -2.18669930e-03 9.40169912e+00] [ 7.67203564e-03 3.31740914e-04 9.99970514e-01 9.98366218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.50, Y:9.41, Z:1.00 [[ 9.70019697e-01 -2.42914801e-01 -7.36116408e-03 1.67501541e+02] [ 2.42905184e-01 9.70047570e-01 -2.18710908e-03 9.40983656e+00] [ 7.67196050e-03 3.33473971e-04 9.99970514e-01 9.97876638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.53, Y:9.42, Z:1.00 [[ 9.70500300e-01 -2.40987523e-01 -7.36077559e-03 1.67527292e+02] [ 2.40977841e-01 9.70528151e-01 -2.18841577e-03 9.42136665e+00] [ 7.67122082e-03 3.50074349e-04 9.99970514e-01 9.96027269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.55, Y:9.43, Z:1.00 [[ 9.70456197e-01 -2.41165076e-01 -7.36037364e-03 1.67554601e+02] [ 2.41155388e-01 9.70484046e-01 -2.18976684e-03 9.42965600e+00] [ 7.67122047e-03 3.50079038e-04 9.99970514e-01 9.96245997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.845898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:167.58, Y:9.44, Z:1.00 [[ 9.71461156e-01 -2.37084486e-01 -7.35997278e-03 1.67579754e+02] [ 2.37074671e-01 9.71488960e-01 -2.19111333e-03 9.44402066e+00] [ 7.66961128e-03 3.83718364e-04 9.99970514e-01 9.96406818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.875898227 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:167.60, Y:9.46, Z:1.00 [[ 9.72098001e-01 -2.34459619e-01 -7.35956933e-03 1.67604928e+02] [ 2.34449719e-01 9.72125775e-01 -2.19246760e-03 9.45547413e+00] [ 7.66847216e-03 4.05844409e-04 9.99970514e-01 9.96404155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.63, Y:9.47, Z:0.99 [[ 9.72781992e-01 -2.31605381e-01 -7.35820872e-03 1.67631513e+02] [ 2.31595366e-01 9.72809724e-01 -2.19703215e-03 9.46588266e+00] [ 7.66698146e-03 4.33106270e-04 9.99970514e-01 9.94532429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.66, Y:9.48, Z:0.99 [[ 9.73377703e-01 -2.29088828e-01 -7.35902605e-03 1.67657254e+02] [ 2.29078762e-01 9.73405417e-01 -2.19429103e-03 9.47754180e+00] [ 7.66600339e-03 4.50077393e-04 9.99970514e-01 9.94314560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.68, Y:9.49, Z:0.99 [[ 9.74024404e-01 -2.26323466e-01 -7.35861685e-03 1.67682107e+02] [ 2.26313310e-01 9.74052085e-01 -2.19566244e-03 9.48949944e+00] [ 7.66460602e-03 4.73275856e-04 9.99970514e-01 9.93321300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.71, Y:9.50, Z:0.99 [[ 9.74591897e-01 -2.23867123e-01 -7.35843935e-03 1.67707686e+02] [ 2.23856893e-01 9.74619550e-01 -2.19625717e-03 9.50224928e+00] [ 7.66334862e-03 4.93217073e-04 9.99970514e-01 9.92893868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.73, Y:9.52, Z:0.99 [[ 9.75316867e-01 -2.20687264e-01 -7.35803482e-03 1.67730574e+02] [ 2.20676934e-01 9.75344483e-01 -2.19761159e-03 9.52019485e+00] [ 7.66160356e-03 5.19619085e-04 9.99970514e-01 9.93630285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.76, Y:9.53, Z:1.00 [[ 9.75347369e-01 -2.20552425e-01 -7.35785907e-03 1.67756195e+02] [ 2.20542086e-01 9.75374982e-01 -2.19819989e-03 9.53400755e+00] [ 7.66148997e-03 5.21290890e-04 9.99970514e-01 9.95963599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.78, Y:9.55, Z:1.00 [[ 9.75292748e-01 -2.20793848e-01 -7.35745965e-03 1.67780424e+02] [ 2.20783506e-01 9.75320360e-01 -2.19953594e-03 9.54720753e+00] [ 7.66152420e-03 5.20785715e-04 9.99970514e-01 9.98532051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:9.56, Z:1.00 [[ 9.75038024e-01 -2.21916025e-01 -7.35728592e-03 1.67804315e+02] [ 2.21905710e-01 9.75065647e-01 -2.20011690e-03 9.56102292e+00] [ 7.66207795e-03 5.12573877e-04 9.99970514e-01 1.00028299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.145898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:167.83, Y:9.58, Z:1.00 [[ 9.74584401e-01 -2.23899794e-01 -7.35711877e-03 1.67828737e+02] [ 2.23889532e-01 9.74612043e-01 -2.20067569e-03 9.57623169e+00] [ 7.66306739e-03 4.97562328e-04 9.99970514e-01 1.00006001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.85, Y:9.59, Z:1.00 [[ 9.74081727e-01 -2.26076686e-01 -7.35672029e-03 1.67853975e+02] [ 2.26066475e-01 9.74109388e-01 -2.20200700e-03 9.58992853e+00] [ 7.66407274e-03 4.81826957e-04 9.99970514e-01 9.98576784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.88, Y:9.61, Z:1.00 [[ 9.72879890e-01 -2.31193771e-01 -7.35934686e-03 1.67878423e+02] [ 2.31183772e-01 9.72907628e-01 -2.19323322e-03 9.60677664e+00] [ 7.66702656e-03 4.32390921e-04 9.99970514e-01 9.95229467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.90, Y:9.62, Z:1.00 [[ 9.72176735e-01 -2.34133043e-01 -7.35621494e-03 1.67904378e+02] [ 2.34123049e-01 9.72204475e-01 -2.20368800e-03 9.61760038e+00] [ 7.66770126e-03 4.20114737e-04 9.99970514e-01 9.95187268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.93, Y:9.63, Z:1.00 [[ 9.71445814e-01 -2.37147471e-01 -7.35580631e-03 1.67929940e+02] [ 2.37137553e-01 9.71473581e-01 -2.20505116e-03 9.62827975e+00] [ 7.66889380e-03 3.97749806e-04 9.99970514e-01 9.96458184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.96, Y:9.64, Z:1.00 [[ 9.70657003e-01 -2.40355739e-01 -7.35539791e-03 1.67955398e+02] [ 2.40345902e-01 9.70684799e-01 -2.20641259e-03 9.63930114e+00] [ 7.67009687e-03 3.73830085e-04 9.99970514e-01 9.97293425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.98, Y:9.65, Z:1.00 [[ 9.70612564e-01 -2.40535143e-01 -7.35498956e-03 1.67982672e+02] [ 2.40525301e-01 9.70640358e-01 -2.20777297e-03 9.64765386e+00] [ 7.67009669e-03 3.73831101e-04 9.99970514e-01 9.97512154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.355898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:168.01, Y:9.66, Z:1.00 [[ 9.69837683e-01 -2.43640675e-01 -7.35458126e-03 1.68009042e+02] [ 2.43630911e-01 9.69865505e-01 -2.20913229e-03 9.65839440e+00] [ 7.67118915e-03 3.50696405e-04 9.99970514e-01 9.97171833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.385898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:168.03, Y:9.67, Z:1.00 [[ 9.69155303e-01 -2.46341052e-01 -7.35419600e-03 1.68034646e+02] [ 2.46331357e-01 9.69183149e-01 -2.21041405e-03 9.66895175e+00] [ 7.67207857e-03 3.30665422e-04 9.99970515e-01 9.96719119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.415898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:168.06, Y:9.68, Z:1.00 [[ 9.68671269e-01 -2.48237576e-01 -7.35378400e-03 1.68059401e+02] [ 2.48227925e-01 9.68699130e-01 -2.21178388e-03 9.68045531e+00] [ 7.67265204e-03 3.17076960e-04 9.99970515e-01 9.96361885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44589822700001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.09, Y:9.69, Z:1.00 [[ 9.68804564e-01 -2.47716858e-01 -7.35360494e-03 1.68085324e+02] [ 2.47707187e-01 9.68832418e-01 -2.21237907e-03 9.69079352e+00] [ 7.67245445e-03 3.21822147e-04 9.99970515e-01 9.98209630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.475898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:168.11, Y:9.70, Z:1.00 [[ 9.69112400e-01 -2.46509809e-01 -7.35319042e-03 1.68110622e+02] [ 2.46500094e-01 9.69140239e-01 -2.21375592e-03 9.70173806e+00] [ 7.67198527e-03 3.32816182e-04 9.99970515e-01 9.99018114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:9.71, Z:1.00 [[ 9.69621338e-01 -2.44500296e-01 -7.35301029e-03 1.68136840e+02] [ 2.44490518e-01 9.69649155e-01 -2.21435407e-03 9.71213450e+00] [ 7.67125044e-03 3.49343659e-04 9.99970515e-01 9.99964383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.16, Y:9.72, Z:1.00 [[ 9.70254135e-01 -2.41976969e-01 -7.35260214e-03 1.68161977e+02] [ 2.41967108e-01 9.70281923e-01 -2.21570846e-03 9.72274236e+00] [ 7.67024736e-03 3.70712414e-04 9.99970515e-01 9.98473621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.19, Y:9.73, Z:1.00 [[ 9.71091957e-01 -2.38592442e-01 -7.35232443e-03 1.68187607e+02] [ 2.38582478e-01 9.71119708e-01 -2.21662960e-03 9.73335643e+00] [ 7.66885823e-03 3.98415396e-04 9.99970515e-01 9.96601812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.595898227 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:168.21, Y:9.75, Z:0.99 [[ 9.72828105e-01 -2.31411812e-01 -7.35192154e-03 1.68212625e+02] [ 2.31401632e-01 9.72855778e-01 -2.21796507e-03 9.74881383e+00] [ 7.66562267e-03 4.56452115e-04 9.99970515e-01 9.93600121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.625898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:168.24, Y:9.76, Z:0.99 [[ 9.73566725e-01 -2.28284443e-01 -7.35151530e-03 1.68237669e+02] [ 2.28274165e-01 9.73594361e-01 -2.21931076e-03 9.76077775e+00] [ 7.66402796e-03 4.82486100e-04 9.99970515e-01 9.92487595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.655898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.26, Y:9.77, Z:0.99 [[ 9.74127332e-01 -2.25880277e-01 -7.35123866e-03 1.68262789e+02] [ 2.25869924e-01 9.74154940e-01 -2.22022670e-03 9.77256930e+00] [ 7.66275089e-03 5.02359793e-04 9.99970515e-01 9.91536660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:9.78, Z:0.99 [[ 9.74449962e-01 -2.24484373e-01 -7.35106613e-03 1.68288510e+02] [ 2.24473976e-01 9.74477554e-01 -2.22079782e-03 9.78476891e+00] [ 7.66198334e-03 5.13933310e-04 9.99970515e-01 9.93828194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:9.80, Z:0.99 [[ 9.74615031e-01 -2.23766641e-01 -7.35064493e-03 1.68313639e+02] [ 2.23756213e-01 9.74642611e-01 -2.22219106e-03 9.79659005e+00] [ 7.66150400e-03 5.21028341e-04 9.99970515e-01 9.93556992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:9.81, Z:0.99 [[ 9.74489660e-01 -2.24312003e-01 -7.35035800e-03 1.68339209e+02] [ 2.24301584e-01 9.74517243e-01 -2.22313973e-03 9.80870814e+00] [ 7.66172754e-03 5.17729734e-04 9.99970515e-01 9.94531270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.775898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.36, Y:9.83, Z:0.99 [[ 9.74091712e-01 -2.26033880e-01 -7.34995568e-03 1.68363259e+02] [ 2.26023500e-01 9.74119310e-01 -2.22446908e-03 9.82523917e+00] [ 7.66253913e-03 5.05574190e-04 9.99970515e-01 9.91060257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.805898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.39, Y:9.84, Z:0.99 [[ 9.73930535e-01 -2.26727355e-01 -7.34983080e-03 1.68389150e+02] [ 2.26716991e-01 9.73958139e-01 -2.22488160e-03 9.83759735e+00] [ 7.66286905e-03 5.00548599e-04 9.99970515e-01 9.89702152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.835898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.41, Y:9.85, Z:0.99 [[ 9.73938162e-01 -2.26694601e-01 -7.34942458e-03 1.68414028e+02] [ 2.26684226e-01 9.73965762e-01 -2.22622265e-03 9.84958844e+00] [ 7.66276057e-03 5.02204570e-04 9.99970515e-01 9.89112799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.44, Y:9.86, Z:0.99 [[ 9.74046872e-01 -2.26227058e-01 -7.34914731e-03 1.68439810e+02] [ 2.26216663e-01 9.74074464e-01 -2.22713760e-03 9.86150297e+00] [ 7.66245551e-03 5.06836834e-04 9.99970515e-01 9.89605942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.46, Y:9.87, Z:0.99 [[ 9.74223573e-01 -2.25464911e-01 -7.34874010e-03 1.68464901e+02] [ 2.25454484e-01 9.74251153e-01 -2.22848044e-03 9.87314646e+00] [ 7.66196266e-03 5.14231766e-04 9.99970515e-01 9.90653462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.925898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.49, Y:9.89, Z:0.99 [[ 9.74474717e-01 -2.24376969e-01 -7.34856326e-03 1.68490763e+02] [ 2.24366507e-01 9.74502284e-01 -2.22906341e-03 9.88526333e+00] [ 7.66134218e-03 5.23394464e-04 9.99970515e-01 9.91380977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.955898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:168.51, Y:9.90, Z:0.99 [[ 9.74708731e-01 -2.23358218e-01 -7.34815593e-03 1.68513778e+02] [ 2.23347717e-01 9.74736284e-01 -2.23040540e-03 9.90238551e+00] [ 7.66069357e-03 5.32801769e-04 9.99970515e-01 9.89777752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.54, Y:9.92, Z:0.99 [[ 9.74470708e-01 -2.24394397e-01 -7.34797935e-03 1.68539207e+02] [ 2.24383921e-01 9.74498270e-01 -2.23098697e-03 9.91605540e+00] [ 7.66121414e-03 5.25263035e-04 9.99970515e-01 9.90107460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.56, Y:9.93, Z:0.99 [[ 9.74002930e-01 -2.26416221e-01 -7.34757573e-03 1.68563406e+02] [ 2.26405792e-01 9.74030510e-01 -2.23231547e-03 9.92872517e+00] [ 7.66219537e-03 5.10748109e-04 9.99970515e-01 9.86893599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.045898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:168.59, Y:9.94, Z:0.99 [[ 9.73360374e-01 -2.29162820e-01 -7.34739936e-03 1.68588886e+02] [ 2.29152465e-01 9.73387981e-01 -2.23289581e-03 9.94089564e+00] [ 7.66356693e-03 4.89737623e-04 9.99970515e-01 9.89036299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.075898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:168.61, Y:9.95, Z:0.99 [[ 9.72660499e-01 -2.32115434e-01 -7.34699546e-03 1.68613744e+02] [ 2.32105152e-01 9.72688134e-01 -2.23422399e-03 9.95229310e+00] [ 7.66493318e-03 4.67865921e-04 9.99970515e-01 9.89007323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.64, Y:9.97, Z:0.99 [[ 9.71021060e-01 -2.38880986e-01 -7.34681970e-03 1.68638664e+02] [ 2.38870893e-01 9.71048764e-01 -2.23480179e-03 9.96653366e+00] [ 7.66797185e-03 4.15098220e-04 9.99970515e-01 9.91170887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.66, Y:9.98, Z:0.99 [[ 9.70127583e-01 -2.42484026e-01 -7.34644009e-03 1.68664634e+02] [ 2.42474026e-01 9.70155321e-01 -2.23604899e-03 9.97773615e+00] [ 7.66939411e-03 3.87931889e-04 9.99970515e-01 9.89373594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.69, Y:9.99, Z:0.99 [[ 9.69147115e-01 -2.46373651e-01 -7.34120431e-03 1.68691309e+02] [ 2.46363633e-01 9.69174847e-01 -2.25323686e-03 9.98819665e+00] [ 7.67004876e-03 3.75112237e-04 9.99970514e-01 9.91721943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.72, Y:10.00, Z:0.99 [[ 9.68346910e-01 -2.49500097e-01 -7.34596265e-03 1.68718072e+02] [ 2.49490287e-01 9.68374716e-01 -2.23761551e-03 9.99809558e+00] [ 7.67192978e-03 3.34041741e-04 9.99970515e-01 9.92611120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.74, Y:10.01, Z:0.99 [[ 9.67675425e-01 -2.52091878e-01 -7.34554184e-03 1.68743261e+02] [ 2.52082132e-01 9.67703253e-01 -2.23899609e-03 1.00072670e+01] [ 7.67273746e-03 3.14941649e-04 9.99970515e-01 9.92525332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.77, Y:10.02, Z:0.99 [[ 9.67206358e-01 -2.53885617e-01 -7.34535835e-03 1.68769636e+02] [ 2.53875918e-01 9.67234203e-01 -2.23959789e-03 1.00163596e+01] [ 7.67328352e-03 3.01343729e-04 9.99970515e-01 9.91589880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.285898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.80, Y:10.03, Z:0.99 [[ 9.66472562e-01 -2.56664830e-01 -7.34522884e-03 1.68796433e+02] [ 2.56655207e-01 9.66500433e-01 -2.24002256e-03 1.00255322e+01] [ 7.67410186e-03 2.79729112e-04 9.99970515e-01 9.93454600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.82, Y:10.03, Z:0.99 [[ 9.66225886e-01 -2.57591907e-01 -7.34481725e-03 1.68823008e+02] [ 2.57582301e-01 9.66253763e-01 -2.24137131e-03 1.00341347e+01] [ 7.67431642e-03 2.73776049e-04 9.99970515e-01 9.94883617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.85, Y:10.04, Z:1.00 [[ 9.66097019e-01 -2.58074814e-01 -7.34440360e-03 1.68849107e+02] [ 2.58065212e-01 9.66124897e-01 -2.24272592e-03 1.00423807e+01] [ 7.67440225e-03 2.71355749e-04 9.99970515e-01 9.96206229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.88, Y:10.05, Z:1.00 [[ 9.66185543e-01 -2.57743204e-01 -7.34420962e-03 1.68875974e+02] [ 2.57733587e-01 9.66213416e-01 -2.24336097e-03 1.00509079e+01] [ 7.67428491e-03 2.74653452e-04 9.99970515e-01 9.98108527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.90, Y:10.06, Z:1.00 [[ 9.66490628e-01 -2.56596834e-01 -7.34379771e-03 1.68902878e+02] [ 2.56587173e-01 9.66518486e-01 -2.24470857e-03 1.00595314e+01] [ 7.67390135e-03 2.85165498e-04 9.99970515e-01 9.98589589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.93, Y:10.07, Z:1.00 [[ 9.66870128e-01 -2.55163138e-01 -7.34367002e-03 1.68929953e+02] [ 2.55153433e-01 9.66897970e-01 -2.24512625e-03 1.00683643e+01] [ 7.67345309e-03 2.96982888e-04 9.99970515e-01 9.98996280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.465898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:168.96, Y:10.08, Z:1.00 [[ 9.67753421e-01 -2.51792361e-01 -7.34326166e-03 1.68956321e+02] [ 2.51782549e-01 9.67781226e-01 -2.24646110e-03 1.00774729e+01] [ 7.67231251e-03 3.25115274e-04 9.99970515e-01 9.97594208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.98, Y:10.08, Z:1.00 [[ 9.68389672e-01 -2.49334155e-01 -7.34313511e-03 1.68983719e+02] [ 2.49324270e-01 9.68417451e-01 -2.24687468e-03 1.00847598e+01] [ 7.67144279e-03 3.45028438e-04 9.99970515e-01 9.97362205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.01, Y:10.09, Z:1.00 [[ 9.68989213e-01 -2.46993906e-01 -7.34272896e-03 1.69009281e+02] [ 2.46983944e-01 9.69016964e-01 -2.24820116e-03 1.00925432e+01] [ 7.67052092e-03 3.64946516e-04 9.99970515e-01 9.97515348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.04, Y:10.10, Z:1.00 [[ 9.69483595e-01 -2.45046211e-01 -7.34255330e-03 1.69035787e+02] [ 2.45036188e-01 9.69511325e-01 -2.24877472e-03 1.01005421e+01] [ 7.66974231e-03 3.80958929e-04 9.99970515e-01 9.98764994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.06, Y:10.11, Z:1.00 [[ 9.69927541e-01 -2.43283081e-01 -7.34215427e-03 1.69062276e+02] [ 2.43272998e-01 9.69955249e-01 -2.25007680e-03 1.01084947e+01] [ 7.66896669e-03 3.96263574e-04 9.99970515e-01 1.00046875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.615898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.09, Y:10.12, Z:1.00 [[ 9.70900814e-01 -2.39369395e-01 -7.34174572e-03 1.69089141e+02] [ 2.39359191e-01 9.70928478e-01 -2.25140906e-03 1.01174676e+01] [ 7.66722842e-03 4.28580574e-04 9.99970515e-01 1.00115484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.12, Y:10.13, Z:1.00 [[ 9.71339340e-01 -2.37583644e-01 -7.34161911e-03 1.69115112e+02] [ 2.37573385e-01 9.71366983e-01 -2.25182185e-03 1.01257584e+01] [ 7.66640244e-03 4.43109841e-04 9.99970515e-01 1.00043581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.14, Y:10.13, Z:1.00 [[ 9.71777024e-01 -2.35787023e-01 -7.34134256e-03 1.69141702e+02] [ 2.35776707e-01 9.71804646e-01 -2.25272308e-03 1.01344337e+01] [ 7.66551368e-03 4.58226958e-04 9.99970515e-01 9.99815031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.17, Y:10.14, Z:1.00 [[ 9.72092664e-01 -2.34482329e-01 -7.34095446e-03 1.69167995e+02] [ 2.34471966e-01 9.72120269e-01 -2.25398709e-03 1.01426867e+01] [ 7.66481076e-03 4.69836290e-04 9.99970515e-01 9.99309155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:10.15, Z:1.00 [[ 9.72211082e-01 -2.33990874e-01 -7.34054017e-03 1.69194836e+02] [ 2.33980487e-01 9.72238677e-01 -2.25533549e-03 1.01506758e+01] [ 7.66448499e-03 4.75118986e-04 9.99970515e-01 9.95942194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.22, Y:10.16, Z:1.00 [[ 9.72169705e-01 -2.34162728e-01 -7.34041169e-03 1.69222026e+02] [ 2.34152343e-01 9.72197301e-01 -2.25575357e-03 1.01592187e+01] [ 7.66454184e-03 4.74200689e-04 9.99970515e-01 9.96161012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.25, Y:10.17, Z:1.00 [[ 9.71709479e-01 -2.36065273e-01 -7.34001271e-03 1.69249527e+02] [ 2.36054932e-01 9.71737091e-01 -2.25705107e-03 1.01670559e+01] [ 7.66537398e-03 4.60551724e-04 9.99970515e-01 9.98761658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.28, Y:10.17, Z:1.00 [[ 9.71363819e-01 -2.37483600e-01 -7.33965120e-03 1.69276232e+02] [ 2.37473291e-01 9.71391444e-01 -2.25822605e-03 1.01748371e+01] [ 7.66596602e-03 4.50587961e-04 9.99970515e-01 1.00059480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.855898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:169.30, Y:10.18, Z:1.00 [[ 9.71019726e-01 -2.38886641e-01 -7.33923735e-03 1.69301681e+02] [ 2.38876362e-01 9.71047361e-01 -2.25957024e-03 1.01835048e+01] [ 7.66652821e-03 4.40916961e-04 9.99970515e-01 1.00155456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.33, Y:10.19, Z:1.00 [[ 9.70688697e-01 -2.40228208e-01 -7.33905760e-03 1.69328215e+02] [ 2.40217962e-01 9.70716345e-01 -2.26015394e-03 1.01916305e+01] [ 7.66709590e-03 4.30932426e-04 9.99970515e-01 1.00189699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.35, Y:10.20, Z:1.00 [[ 9.69947280e-01 -2.43204478e-01 -7.33864800e-03 1.69354881e+02] [ 2.43194307e-01 9.69974956e-01 -2.26148312e-03 1.02010346e+01] [ 7.66830759e-03 4.08801992e-04 9.99970515e-01 1.00026824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.38, Y:10.21, Z:1.00 [[ 9.69628644e-01 -2.44471763e-01 -7.33823928e-03 1.69382191e+02] [ 2.44461618e-01 9.69656329e-01 -2.26280858e-03 1.02089686e+01] [ 7.66876297e-03 4.00166170e-04 9.99970515e-01 1.00084352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.41, Y:10.22, Z:1.00 [[ 9.69306299e-01 -2.45746730e-01 -7.33782849e-03 1.69409561e+02] [ 2.45736611e-01 9.69333994e-01 -2.26413992e-03 1.02164154e+01] [ 7.66921157e-03 3.91471976e-04 9.99970515e-01 1.00176025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:10.22, Z:1.00 [[ 9.68950737e-01 -2.47144960e-01 -7.33741589e-03 1.69435318e+02] [ 2.47134872e-01 9.68978443e-01 -2.26547623e-03 1.02230725e+01] [ 7.66969886e-03 3.81803532e-04 9.99970515e-01 1.00226841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.46, Y:10.23, Z:1.00 [[ 9.68537813e-01 -2.48758258e-01 -7.33713461e-03 1.69461898e+02] [ 2.48748209e-01 9.68565533e-01 -2.26638683e-03 1.02303058e+01] [ 7.67027814e-03 3.69982250e-04 9.99970515e-01 1.00205855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.49, Y:10.24, Z:1.00 [[ 9.68048442e-01 -2.50655913e-01 -7.33671256e-03 1.69488987e+02] [ 2.50645908e-01 9.68076178e-01 -2.26775226e-03 1.02380922e+01] [ 7.67092217e-03 3.56377068e-04 9.99970515e-01 1.00147489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.52, Y:10.24, Z:1.00 [[ 9.66963838e-01 -2.54807996e-01 -7.33628608e-03 1.69515992e+02] [ 2.54798100e-01 9.66991613e-01 -2.26913110e-03 1.02428105e+01] [ 7.67231986e-03 3.24895966e-04 9.99970515e-01 9.98782803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.54, Y:10.25, Z:1.00 [[ 9.66404938e-01 -2.56919594e-01 -7.33610013e-03 1.69543608e+02] [ 2.56909753e-01 9.66432733e-01 -2.26973214e-03 1.02495016e+01] [ 7.67298595e-03 3.08764675e-04 9.99970515e-01 1.00122255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.57, Y:10.26, Z:1.00 [[ 9.66147241e-01 -2.57886985e-01 -7.33566485e-03 1.69569621e+02] [ 2.57877162e-01 9.66175042e-01 -2.27113805e-03 1.02562916e+01] [ 7.67323324e-03 3.02553328e-04 9.99970515e-01 1.00036840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.185898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:169.60, Y:10.27, Z:1.00 [[ 9.66106718e-01 -2.58038762e-01 -7.33536675e-03 1.69596378e+02] [ 2.58028935e-01 9.66134518e-01 -2.27210047e-03 1.02660300e+01] [ 7.67324101e-03 3.02354651e-04 9.99970515e-01 1.00212024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.215898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:169.62, Y:10.27, Z:1.00 [[ 9.66058500e-01 -2.58219236e-01 -7.33494116e-03 1.69623551e+02] [ 2.58209404e-01 9.66086298e-01 -2.27347357e-03 1.02746357e+01] [ 7.67324075e-03 3.02357678e-04 9.99970515e-01 1.00233897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.65, Y:10.28, Z:1.00 [[ 9.66608064e-01 -2.56154358e-01 -7.33451620e-03 1.69650200e+02] [ 2.56144456e-01 9.66635838e-01 -2.27484369e-03 1.02837246e+01] [ 7.67251734e-03 3.20186588e-04 9.99970515e-01 1.00113687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:10.29, Z:1.00 [[ 9.68242163e-01 -2.49906631e-01 -7.33408493e-03 1.69676940e+02] [ 2.49896540e-01 9.68269868e-01 -2.27623326e-03 1.02947328e+01] [ 7.67021924e-03 3.71182568e-04 9.99970515e-01 1.00071706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.70, Y:10.30, Z:1.00 [[ 9.68917550e-01 -2.47275146e-01 -7.33369797e-03 1.69703360e+02] [ 2.47264970e-01 9.68945224e-01 -2.27747931e-03 1.03041018e+01] [ 7.66911565e-03 3.93323067e-04 9.99970515e-01 1.00131294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.73, Y:10.31, Z:1.00 [[ 9.68872365e-01 -2.47452133e-01 -7.33356061e-03 1.69730527e+02] [ 2.47441960e-01 9.68900040e-01 -2.27792152e-03 1.03127234e+01] [ 7.66916371e-03 3.92384600e-04 9.99970515e-01 1.00153177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:10.32, Z:1.01 [[ 9.69293426e-01 -2.45797638e-01 -7.33314426e-03 1.69757436e+02] [ 2.45787407e-01 9.69321080e-01 -2.27926107e-03 1.03242611e+01] [ 7.66840830e-03 4.06878263e-04 9.99970515e-01 1.00811206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.78, Y:10.33, Z:1.01 [[ 9.69206544e-01 -2.46140010e-01 -7.33277700e-03 1.69783696e+02] [ 2.46129780e-01 9.69234198e-01 -2.28044201e-03 1.03334817e+01] [ 7.66848625e-03 4.05404526e-04 9.99970515e-01 1.01004047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.81, Y:10.34, Z:1.01 [[ 9.69078174e-01 -2.46644946e-01 -7.33235975e-03 1.69809660e+02] [ 2.46634720e-01 9.69105829e-01 -2.28178280e-03 1.03417184e+01] [ 7.66862277e-03 4.02811417e-04 9.99970515e-01 1.01029413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:10.35, Z:1.01 [[ 9.68843451e-01 -2.47565357e-01 -7.33217837e-03 1.69836238e+02] [ 2.47555153e-01 9.68871115e-01 -2.28236549e-03 1.03492973e+01] [ 7.66897046e-03 3.96136317e-04 9.99970515e-01 1.01119773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.86, Y:10.36, Z:1.01 [[ 9.68413422e-01 -2.49242289e-01 -7.32983538e-03 1.69862719e+02] [ 2.49232076e-01 9.68441082e-01 -2.28988992e-03 1.03568203e+01] [ 7.66925111e-03 3.90730046e-04 9.99970515e-01 1.01034742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.89, Y:10.36, Z:1.01 [[ 9.68069114e-01 -2.50576212e-01 -7.33166015e-03 1.69889917e+02] [ 2.50566081e-01 9.68096804e-01 -2.28403250e-03 1.03641850e+01] [ 7.67008097e-03 3.74035963e-04 9.99970515e-01 1.01113493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:10.37, Z:1.01 [[ 9.67705496e-01 -2.51976838e-01 -7.33124144e-03 1.69917478e+02] [ 2.51966737e-01 9.67733197e-01 -2.28537565e-03 1.03699928e+01] [ 7.67054745e-03 3.64341592e-04 9.99970515e-01 1.01231178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:10.38, Z:1.01 [[ 9.67706108e-01 -2.51974499e-01 -7.33080808e-03 1.69944029e+02] [ 2.51964388e-01 9.67733805e-01 -2.28676491e-03 1.03762673e+01] [ 7.67047724e-03 3.65813799e-04 9.99970515e-01 1.01275567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.97, Y:10.38, Z:1.01 [[ 9.67779527e-01 -2.51692372e-01 -7.33061960e-03 1.69971650e+02] [ 2.51682248e-01 9.67807219e-01 -2.28736895e-03 1.03831591e+01] [ 7.67033989e-03 3.68682016e-04 9.99970515e-01 1.01280692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.00, Y:10.39, Z:1.01 [[ 9.67918976e-01 -2.51155576e-01 -7.33019570e-03 1.69998630e+02] [ 2.51145426e-01 9.67946660e-01 -2.28872660e-03 1.03900334e+01] [ 7.67006489e-03 3.74356782e-04 9.99970515e-01 1.01202351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:10.40, Z:1.01 [[ 9.68158640e-01 -2.50230137e-01 -7.32976567e-03 1.70025744e+02] [ 2.50219951e-01 9.68186310e-01 -2.29010297e-03 1.03971254e+01] [ 7.66963156e-03 3.83129376e-04 9.99970515e-01 1.01157709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.05, Y:10.40, Z:1.01 [[ 9.68418325e-01 -2.49223251e-01 -7.32933361e-03 1.70053284e+02] [ 2.49213025e-01 9.68445981e-01 -2.29148491e-03 1.04045133e+01] [ 7.66915499e-03 3.92550572e-04 9.99970515e-01 1.01214232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.725898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:170.08, Y:10.41, Z:1.01 [[ 9.69019874e-01 -2.46873999e-01 -7.32890229e-03 1.70081204e+02] [ 2.46863696e-01 9.69047500e-01 -2.29286359e-03 1.04101370e+01] [ 7.66810285e-03 4.12590479e-04 9.99970515e-01 1.01443112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:10.42, Z:1.01 [[ 9.69409185e-01 -2.45340837e-01 -7.32846893e-03 1.70107582e+02] [ 2.45330480e-01 9.69436791e-01 -2.29424785e-03 1.04159479e+01] [ 7.66736009e-03 4.26168139e-04 9.99970515e-01 1.01464572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:10.42, Z:1.01 [[ 9.69563307e-01 -2.44731055e-01 -7.32828024e-03 1.70133649e+02] [ 2.44720676e-01 9.69590906e-01 -2.29485041e-03 1.04229225e+01] [ 7.66705504e-03 4.31621061e-04 9.99970515e-01 1.01303450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:10.43, Z:1.01 [[ 9.69704489e-01 -2.44171058e-01 -7.32799420e-03 1.70161190e+02] [ 2.44160656e-01 9.69732078e-01 -2.29576345e-03 1.04302034e+01] [ 7.66675003e-03 4.37004252e-04 9.99970515e-01 1.01101592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.19, Y:10.44, Z:1.01 [[ 9.69863335e-01 -2.43539357e-01 -7.32757591e-03 1.70188156e+02] [ 2.43528927e-01 9.69890914e-01 -2.29709776e-03 1.04373730e+01] [ 7.66638301e-03 4.43394197e-04 9.99970515e-01 1.00945420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.22, Y:10.44, Z:1.01 [[ 9.70181459e-01 -2.42268962e-01 -7.32715932e-03 1.70215236e+02] [ 2.42258486e-01 9.70209020e-01 -2.29842580e-03 1.04443854e+01] [ 7.66571330e-03 4.54823568e-04 9.99970515e-01 1.00960672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.24, Y:10.45, Z:1.01 [[ 9.71177829e-01 -2.38243453e-01 -7.32674157e-03 1.70241366e+02] [ 2.38232852e-01 9.71205343e-01 -2.29975670e-03 1.04520234e+01] [ 7.66367254e-03 4.88002176e-04 9.99970515e-01 1.01110265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.27, Y:10.46, Z:1.01 [[ 9.71685783e-01 -2.36163207e-01 -7.32656049e-03 1.70267591e+02] [ 2.36152544e-01 9.71713273e-01 -2.30033343e-03 1.04620043e+01] [ 7.66257020e-03 5.05015396e-04 9.99970515e-01 1.01111676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.29, Y:10.47, Z:1.01 [[ 9.72312982e-01 -2.33567535e-01 -7.32613343e-03 1.70293045e+02] [ 2.33556788e-01 9.72340439e-01 -2.30169274e-03 1.04719467e+01] [ 7.66109650e-03 5.26897534e-04 9.99970515e-01 1.00976052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.32, Y:10.48, Z:1.01 [[ 9.72793904e-01 -2.31556366e-01 -7.32594773e-03 1.70319527e+02] [ 2.31545557e-01 9.72821337e-01 -2.30228364e-03 1.04825444e+01] [ 7.65994670e-03 5.43356837e-04 9.99970515e-01 1.00971783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.35, Y:10.49, Z:1.01 [[ 9.73211279e-01 -2.29795873e-01 -7.32552220e-03 1.70345153e+02] [ 2.29785005e-01 9.73238689e-01 -2.30363683e-03 1.04926008e+01] [ 7.65884785e-03 5.58630194e-04 9.99970515e-01 1.01001501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.37, Y:10.50, Z:1.01 [[ 9.73573716e-01 -2.28255470e-01 -7.32533662e-03 1.70370685e+02] [ 2.28244555e-01 9.73601106e-01 -2.30422681e-03 1.05042372e+01] [ 7.65790821e-03 5.71366459e-04 9.99970515e-01 1.00962374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.40, Y:10.51, Z:1.01 [[ 9.73472175e-01 -2.28688149e-01 -7.32491722e-03 1.70395684e+02] [ 2.28677236e-01 9.73499567e-01 -2.30555926e-03 1.05133348e+01] [ 7.65805782e-03 5.69355965e-04 9.99970515e-01 1.00880885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:10.52, Z:1.01 [[ 9.73113497e-01 -2.30209620e-01 -7.32473543e-03 1.70421891e+02] [ 2.30198745e-01 9.73140904e-01 -2.30613666e-03 1.05222276e+01] [ 7.65889451e-03 5.57987799e-04 9.99970515e-01 1.00853223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.45, Y:10.53, Z:1.01 [[ 9.72578718e-01 -2.32458581e-01 -7.32432876e-03 1.70447899e+02] [ 2.32447759e-01 9.72606146e-01 -2.30742752e-03 1.05313108e+01] [ 7.66006850e-03 5.41631088e-04 9.99970515e-01 1.00915281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.47, Y:10.54, Z:1.01 [[ 9.72025802e-01 -2.34759879e-01 -7.32391011e-03 1.70473225e+02] [ 2.34749113e-01 9.72053251e-01 -2.30875560e-03 1.05406189e+01] [ 7.66123382e-03 5.24888615e-04 9.99970515e-01 1.00899733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:10.55, Z:1.01 [[ 9.71415646e-01 -2.37272008e-01 -7.32372775e-03 1.70499083e+02] [ 2.37261309e-01 9.71443121e-01 -2.30933391e-03 1.05500948e+01] [ 7.66252524e-03 5.05685860e-04 9.99970515e-01 1.00941970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:10.56, Z:1.01 [[ 9.70132507e-01 -2.42465023e-01 -7.32329826e-03 1.70523769e+02] [ 2.42454461e-01 9.70160036e-01 -2.31069510e-03 1.05606126e+01] [ 7.66503405e-03 4.66114098e-04 9.99970515e-01 1.00943199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.265898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:170.55, Y:10.57, Z:1.01 [[ 9.69430870e-01 -2.45255296e-01 -7.32311135e-03 1.70549459e+02] [ 2.45244808e-01 9.69458427e-01 -2.31128730e-03 1.05699389e+01] [ 7.66630747e-03 4.44678218e-04 9.99970515e-01 1.00962173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:10.58, Z:1.01 [[ 9.68665806e-01 -2.48259807e-01 -7.32282167e-03 1.70575609e+02] [ 2.48249398e-01 9.68693393e-01 -2.31220474e-03 1.05787638e+01] [ 7.66759647e-03 4.21867604e-04 9.99970515e-01 1.01027391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:10.59, Z:1.01 [[ 9.67937542e-01 -2.51084243e-01 -7.32239437e-03 1.70602388e+02] [ 2.51073904e-01 9.67965155e-01 -2.31355714e-03 1.05872674e+01] [ 7.66872035e-03 4.00916666e-04 9.99970515e-01 1.01035413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:10.60, Z:1.01 [[ 9.67242455e-01 -2.53748738e-01 -7.32196576e-03 1.70627863e+02] [ 2.53738465e-01 9.67270093e-01 -2.31491282e-03 1.05950545e+01] [ 7.66972471e-03 3.81217613e-04 9.99970515e-01 1.01047011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:10.60, Z:1.01 [[ 9.66489589e-01 -2.56601376e-01 -7.32177948e-03 1.70654509e+02] [ 2.56591180e-01 9.66517255e-01 -2.31550183e-03 1.06026246e+01] [ 7.67078717e-03 3.59204376e-04 9.99970515e-01 1.01125446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:10.61, Z:1.01 [[ 9.65258178e-01 -2.61195420e-01 -7.32135178e-03 1.70681723e+02] [ 2.61185345e-01 9.65285889e-01 -2.31685338e-03 1.06077620e+01] [ 7.67234906e-03 3.24131884e-04 9.99970515e-01 1.01238805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:10.62, Z:1.01 [[ 9.64885321e-01 -2.62569455e-01 -7.32114988e-03 1.70708787e+02] [ 2.62559415e-01 9.64913044e-01 -2.31749122e-03 1.06152695e+01] [ 7.67277542e-03 3.13876435e-04 9.99970515e-01 1.01316469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:10.62, Z:1.01 [[ 9.64840771e-01 -2.62733122e-01 -7.32071800e-03 1.70735217e+02] [ 2.62723076e-01 9.64868493e-01 -2.31885467e-03 1.06226940e+01] [ 7.67277007e-03 3.14003978e-04 9.99970515e-01 1.01300150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.76, Y:10.63, Z:1.01 [[ 9.65035619e-01 -2.62016538e-01 -7.32042364e-03 1.70761777e+02] [ 2.62006464e-01 9.65063330e-01 -2.31978358e-03 1.06302745e+01] [ 7.67249408e-03 3.20675465e-04 9.99970515e-01 1.01289849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.79, Y:10.64, Z:1.02 [[ 9.65374676e-01 -2.60764553e-01 -7.31999456e-03 1.70788917e+02] [ 2.60754434e-01 9.65402371e-01 -2.32113672e-03 1.06386857e+01] [ 7.67201028e-03 3.32045579e-04 9.99970515e-01 1.01568284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.81, Y:10.65, Z:1.01 [[ 9.65868788e-01 -2.58928295e-01 -7.32273677e-03 1.70814143e+02] [ 2.58918189e-01 9.65896487e-01 -2.31249042e-03 1.06469699e+01] [ 7.67177492e-03 3.37572582e-04 9.99970515e-01 1.01417756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.84, Y:10.66, Z:1.02 [[ 9.66286159e-01 -2.57366441e-01 -7.31940899e-03 1.70840896e+02] [ 2.57356210e-01 9.66313813e-01 -2.32297584e-03 1.06561018e+01] [ 7.67070203e-03 3.60964040e-04 9.99970515e-01 1.01507845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.87, Y:10.67, Z:1.01 [[ 9.67358352e-01 -2.53306635e-01 -7.31898508e-03 1.70867311e+02] [ 2.53296279e-01 9.67385959e-01 -2.32431069e-03 1.06657866e+01] [ 7.66904672e-03 3.94569675e-04 9.99970515e-01 1.01247387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.89, Y:10.67, Z:1.01 [[ 9.67676086e-01 -2.52090116e-01 -7.31885377e-03 1.70893426e+02] [ 2.52079721e-01 9.67703679e-01 -2.32472409e-03 1.06749221e+01] [ 7.66852168e-03 4.04645286e-04 9.99970515e-01 1.01183365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:10.68, Z:1.01 [[ 9.67839561e-01 -2.51461777e-01 -7.31841036e-03 1.70919087e+02] [ 2.51451354e-01 9.67867143e-01 -2.32611913e-03 1.06834110e+01] [ 7.66817898e-03 4.11085920e-04 9.99970515e-01 1.00914676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.95, Y:10.69, Z:1.01 [[ 9.67798389e-01 -2.51620197e-01 -7.31810731e-03 1.70945982e+02] [ 2.51609771e-01 9.67825970e-01 -2.32707217e-03 1.06924511e+01] [ 7.66819266e-03 4.10829395e-04 9.99970515e-01 1.00989786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:10.70, Z:1.01 [[ 9.67602812e-01 -2.52371253e-01 -7.31767983e-03 1.70972199e+02] [ 2.52360839e-01 9.67630397e-01 -2.32841562e-03 1.07016868e+01] [ 7.66843461e-03 4.06285681e-04 9.99970515e-01 1.00950789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.00, Y:10.71, Z:1.01 [[ 9.67310045e-01 -2.53491094e-01 -7.31725119e-03 1.70998408e+02] [ 2.53480701e-01 9.67337638e-01 -2.32976189e-03 1.07112710e+01] [ 7.66882637e-03 3.98820111e-04 9.99970515e-01 1.00845719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.02, Y:10.72, Z:1.01 [[ 9.66680163e-01 -2.55882633e-01 -7.31711812e-03 1.71024708e+02] [ 2.55872305e-01 9.66707781e-01 -2.33017976e-03 1.07204655e+01] [ 7.66976755e-03 3.80290671e-04 9.99970515e-01 1.00829445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.05, Y:10.73, Z:1.01 [[ 9.66399660e-01 -2.56939999e-01 -7.31668953e-03 1.71050999e+02] [ 2.56929691e-01 9.66427285e-01 -2.33152474e-03 1.07283247e+01] [ 7.67011036e-03 3.73309933e-04 9.99970515e-01 1.00867639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.865898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:171.08, Y:10.74, Z:1.01 [[ 9.66146486e-01 -2.57890359e-01 -7.31639754e-03 1.71077728e+02] [ 2.57880072e-01 9.66174119e-01 -2.33244065e-03 1.07369315e+01] [ 7.67042790e-03 3.66726216e-04 9.99970515e-01 1.00933474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:10.74, Z:1.01 [[ 9.66028400e-01 -2.58332349e-01 -7.31626547e-03 1.71104683e+02] [ 2.58322072e-01 9.66056036e-01 -2.33285484e-03 1.07441615e+01] [ 7.67057429e-03 3.63651173e-04 9.99970515e-01 1.01099507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:10.75, Z:1.01 [[ 9.65912619e-01 -2.58764933e-01 -7.31581294e-03 1.71131744e+02] [ 2.58754657e-01 9.65940256e-01 -2.33427310e-03 1.07520081e+01] [ 7.67066625e-03 3.61703178e-04 9.99970515e-01 1.00981215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:10.76, Z:1.01 [[ 9.65833345e-01 -2.59060668e-01 -7.31567216e-03 1.71159048e+02] [ 2.59050397e-01 9.65860984e-01 -2.33471423e-03 1.07592572e+01] [ 7.67075494e-03 3.59817074e-04 9.99970515e-01 1.01125457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:10.77, Z:1.01 [[ 9.65666215e-01 -2.59682976e-01 -7.31524168e-03 1.71187601e+02] [ 2.59672712e-01 9.65693857e-01 -2.33606227e-03 1.07661044e+01] [ 7.67091955e-03 3.56287765e-04 9.99970515e-01 1.01343461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:10.77, Z:1.01 [[ 9.65562523e-01 -2.60068275e-01 -7.31485490e-03 1.71215409e+02] [ 2.60058014e-01 9.65590165e-01 -2.33727276e-03 1.07714678e+01] [ 7.67100244e-03 3.54496346e-04 9.99970515e-01 1.01461000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:10.78, Z:1.02 [[ 9.65397355e-01 -2.60680729e-01 -7.31471752e-03 1.71243135e+02] [ 2.60670482e-01 9.65425002e-01 -2.33770262e-03 1.07763175e+01] [ 7.67120520e-03 3.50080983e-04 9.99970515e-01 1.01612276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.075898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.27, Y:10.78, Z:1.01 [[ 9.65129082e-01 -2.61672229e-01 -7.31428159e-03 1.71273290e+02] [ 2.61662000e-01 9.65156737e-01 -2.33906576e-03 1.07780859e+01] [ 7.67149671e-03 3.43630836e-04 9.99970515e-01 1.01412684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.105898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.30, Y:10.78, Z:1.01 [[ 9.64971017e-01 -2.62254539e-01 -7.31389955e-03 1.71301278e+02] [ 2.62244318e-01 9.64998674e-01 -2.34025974e-03 1.07824910e+01] [ 7.67164711e-03 3.40254220e-04 9.99970515e-01 1.01117614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.135898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.33, Y:10.79, Z:1.01 [[ 9.64924516e-01 -2.62425584e-01 -7.31376466e-03 1.71328371e+02] [ 2.62415364e-01 9.64952174e-01 -2.34068121e-03 1.07913569e+01] [ 7.67168774e-03 3.39336465e-04 9.99970515e-01 1.01139499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.36, Y:10.79, Z:1.01 [[ 9.64822482e-01 -2.62800482e-01 -7.31334952e-03 1.71356896e+02] [ 2.62790263e-01 9.64850140e-01 -2.34197758e-03 1.07949730e+01] [ 7.67175915e-03 3.37715572e-04 9.99970515e-01 1.01025628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.39, Y:10.80, Z:1.01 [[ 9.64737070e-01 -2.63113868e-01 -7.31292796e-03 1.71385348e+02] [ 2.63103649e-01 9.64764727e-01 -2.34329321e-03 1.07985939e+01] [ 7.67180788e-03 3.36603792e-04 9.99970515e-01 1.01183391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.41, Y:10.80, Z:1.01 [[ 9.64784862e-01 -2.62938582e-01 -7.31247198e-03 1.71413075e+02] [ 2.62928346e-01 9.64812514e-01 -2.34471525e-03 1.08017976e+01] [ 7.67168058e-03 3.39489616e-04 9.99970515e-01 1.01033353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:10.80, Z:1.01 [[ 9.65050111e-01 -2.61963381e-01 -7.31227344e-03 1.71443248e+02] [ 2.61953113e-01 9.65077751e-01 -2.34533427e-03 1.08026591e+01] [ 7.67130410e-03 3.47892306e-04 9.99970515e-01 1.01368517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:10.81, Z:1.02 [[ 9.65410196e-01 -2.60633246e-01 -7.31189504e-03 1.71471256e+02] [ 2.60622931e-01 9.65437819e-01 -2.34651339e-03 1.08079847e+01] [ 7.67075940e-03 3.59700436e-04 9.99970515e-01 1.01503085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:10.81, Z:1.02 [[ 9.65881447e-01 -2.58881388e-01 -7.31145075e-03 1.71499317e+02] [ 2.58871013e-01 9.65909047e-01 -2.34789693e-03 1.08129563e+01] [ 7.67002324e-03 3.75067426e-04 9.99970515e-01 1.01511759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:10.82, Z:1.02 [[ 9.66385296e-01 -2.56994172e-01 -7.31131279e-03 1.71526733e+02] [ 2.56983739e-01 9.66412874e-01 -2.34832644e-03 1.08176158e+01] [ 7.66925302e-03 3.90499644e-04 9.99970515e-01 1.01662082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:10.82, Z:1.02 [[ 9.66864251e-01 -2.55186347e-01 -7.31087354e-03 1.71553185e+02] [ 2.55175852e-01 9.66891805e-01 -2.34969314e-03 1.08226239e+01] [ 7.66843332e-03 4.06275912e-04 9.99970515e-01 1.01507586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:10.83, Z:1.02 [[ 9.67275966e-01 -2.53621292e-01 -7.31068331e-03 1.71580808e+02] [ 2.53610748e-01 9.67303502e-01 -2.35028486e-03 1.08285522e+01] [ 7.66773185e-03 4.19306192e-04 9.99970515e-01 1.01520141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:10.83, Z:1.01 [[ 9.67946272e-01 -2.51050940e-01 -7.31024368e-03 1.71608273e+02] [ 2.51040313e-01 9.67973776e-01 -2.35165148e-03 1.08326095e+01] [ 7.66650849e-03 4.41106419e-04 9.99970515e-01 1.01414388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:10.84, Z:1.01 [[ 9.68218459e-01 -2.49999157e-01 -7.31005194e-03 1.71635619e+02] [ 2.49988495e-01 9.68245950e-01 -2.35224735e-03 1.08384733e+01] [ 7.66598803e-03 4.50060421e-04 9.99970515e-01 1.01349964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:10.84, Z:1.01 [[ 9.68225691e-01 -2.49971151e-01 -7.30991801e-03 1.71662899e+02] [ 2.49960486e-01 9.68253180e-01 -2.35266347e-03 1.08448423e+01] [ 7.66594936e-03 4.50718557e-04 9.99970515e-01 1.01442725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:10.85, Z:1.01 [[ 9.68197846e-01 -2.50078994e-01 -7.30948138e-03 1.71690873e+02] [ 2.50068321e-01 9.68225332e-01 -2.35401925e-03 1.08509648e+01] [ 7.66591580e-03 4.51286624e-04 9.99970515e-01 1.01453675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.555898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:171.72, Y:10.86, Z:1.01 [[ 9.68111069e-01 -2.50414728e-01 -7.30906496e-03 1.71717038e+02] [ 2.50404056e-01 9.68138555e-01 -2.35531150e-03 1.08571813e+01] [ 7.66599228e-03 4.49983622e-04 9.99970515e-01 1.01478827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:10.86, Z:1.01 [[ 9.68016487e-01 -2.50780106e-01 -7.30887194e-03 1.71743728e+02] [ 2.50769440e-01 9.68043975e-01 -2.35591031e-03 1.08621720e+01] [ 7.66612489e-03 4.47718298e-04 9.99970515e-01 1.01413412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:10.87, Z:1.02 [[ 9.67710411e-01 -2.51958620e-01 -7.30857526e-03 1.71773192e+02] [ 2.51947980e-01 9.67737909e-01 -2.35683034e-03 1.08660236e+01] [ 7.66660906e-03 4.39348483e-04 9.99970515e-01 1.01659686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:10.87, Z:1.02 [[ 9.67557639e-01 -2.52544662e-01 -7.30819276e-03 1.71800236e+02] [ 2.52534029e-01 9.67585140e-01 -2.35801582e-03 1.08723681e+01] [ 7.66680302e-03 4.35948849e-04 9.99970515e-01 1.01703153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.83, Y:10.88, Z:1.02 [[ 9.67441756e-01 -2.52988222e-01 -7.30805712e-03 1.71826539e+02] [ 2.52977599e-01 9.67469262e-01 -2.35843611e-03 1.08793339e+01] [ 7.66697719e-03 4.32874822e-04 9.99970515e-01 1.01658702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:10.89, Z:1.01 [[ 9.67309645e-01 -2.53492889e-01 -7.30786841e-03 1.71853930e+02] [ 2.53482276e-01 9.67337155e-01 -2.35902072e-03 1.08868781e+01] [ 7.66716761e-03 4.29488379e-04 9.99970515e-01 1.01178992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.88, Y:10.89, Z:1.01 [[ 9.67174344e-01 -2.54008591e-01 -7.30910271e-03 1.71881942e+02] [ 2.53998022e-01 9.67201870e-01 -2.35519852e-03 1.08946556e+01] [ 7.66761847e-03 4.21389954e-04 9.99970515e-01 1.01365766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:10.90, Z:1.01 [[ 9.66994528e-01 -2.54692333e-01 -7.30735060e-03 1.71908172e+02] [ 2.54681742e-01 9.67022046e-01 -2.36062221e-03 1.09023751e+01] [ 7.66760151e-03 4.21659977e-04 9.99970515e-01 1.01095587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:10.91, Z:1.01 [[ 9.66454803e-01 -2.56732818e-01 -7.30569792e-03 1.71936527e+02] [ 2.56722247e-01 9.66482329e-01 -2.36573577e-03 1.09098432e+01] [ 7.66818995e-03 4.10841514e-04 9.99970515e-01 1.01311380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.825898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.96, Y:10.92, Z:1.01 [[ 9.66084771e-01 -2.58121727e-01 -7.30681006e-03 1.71963376e+02] [ 2.58111221e-01 9.66112321e-01 -2.36229581e-03 1.09179936e+01] [ 7.66895911e-03 3.96208340e-04 9.99970515e-01 1.01417344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:10.93, Z:1.01 [[ 9.65758662e-01 -2.59339207e-01 -7.30638257e-03 1.71990413e+02] [ 2.59328726e-01 9.65786221e-01 -2.36361728e-03 1.09255127e+01] [ 7.66938224e-03 3.87928980e-04 9.99970515e-01 1.01423981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:10.93, Z:1.01 [[ 9.65568107e-01 -2.60047792e-01 -7.30594966e-03 1.72016977e+02] [ 2.60037321e-01 9.65595670e-01 -2.36495463e-03 1.09340387e+01] [ 7.66959459e-03 3.83705188e-04 9.99970515e-01 1.01327294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.915898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:172.04, Y:10.94, Z:1.02 [[ 9.65310409e-01 -2.61002758e-01 -7.30581494e-03 1.72043439e+02] [ 2.60992311e-01 9.65337981e-01 -2.36537075e-03 1.09445199e+01] [ 7.66994894e-03 3.76555473e-04 9.99970515e-01 1.01531976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.07, Y:10.95, Z:1.01 [[ 9.65245616e-01 -2.61242288e-01 -7.30537250e-03 1.72069486e+02] [ 2.61231837e-01 9.65273187e-01 -2.36673642e-03 1.09533543e+01] [ 7.66997183e-03 3.76086070e-04 9.99970515e-01 1.01321306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.10, Y:10.96, Z:1.02 [[ 9.65039730e-01 -2.62001823e-01 -7.30507013e-03 1.72095752e+02] [ 2.61991387e-01 9.65067307e-01 -2.36766935e-03 1.09633113e+01] [ 7.67021804e-03 3.71029541e-04 9.99970515e-01 1.01561525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:10.97, Z:1.01 [[ 9.64850837e-01 -2.62696601e-01 -7.30462545e-03 1.72122055e+02] [ 2.62686175e-01 9.64878418e-01 -2.36904046e-03 1.09728098e+01] [ 7.67041432e-03 3.66946551e-04 9.99970515e-01 1.01358841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.15, Y:10.98, Z:1.02 [[ 9.64395842e-01 -2.64362072e-01 -7.30441749e-03 1.72149595e+02] [ 2.64351689e-01 9.64423439e-01 -2.36968147e-03 1.09822246e+01] [ 7.67100534e-03 3.54375856e-04 9.99970515e-01 1.01858157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.065898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:172.18, Y:10.99, Z:1.02 [[ 9.63981566e-01 -2.65868748e-01 -7.30403629e-03 1.72175874e+02] [ 2.65858399e-01 9.64009176e-01 -2.37085588e-03 1.09917698e+01] [ 7.67149448e-03 3.43621969e-04 9.99970515e-01 1.02070031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:11.00, Z:1.02 [[ 9.63510747e-01 -2.67569987e-01 -7.30359970e-03 1.72203961e+02] [ 2.67559676e-01 9.63538371e-01 -2.37220006e-03 1.09998362e+01] [ 7.67202809e-03 3.31491486e-04 9.99970515e-01 1.02131533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:11.01, Z:1.02 [[ 9.62664301e-01 -2.70599531e-01 -7.30321634e-03 1.72230922e+02] [ 2.70589298e-01 9.62691954e-01 -2.37337969e-03 1.10089786e+01] [ 7.67298304e-03 3.08595712e-04 9.99970515e-01 1.02228316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:11.02, Z:1.02 [[ 9.61767337e-01 -2.73770449e-01 -7.30277750e-03 1.72257476e+02] [ 2.73760298e-01 9.61795020e-01 -2.37472922e-03 1.10172502e+01] [ 7.67390572e-03 2.84726453e-04 9.99970515e-01 1.02307589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.28, Y:11.03, Z:1.02 [[ 9.60761788e-01 -2.77278666e-01 -7.30264131e-03 1.72284391e+02] [ 2.77268612e-01 9.60789506e-01 -2.37514795e-03 1.10258013e+01] [ 7.67487899e-03 2.57158172e-04 9.99970515e-01 1.02462741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:11.03, Z:1.03 [[ 9.59160253e-01 -2.82768963e-01 -7.30220553e-03 1.72311645e+02] [ 2.82759058e-01 9.59188025e-01 -2.37648696e-03 1.10334282e+01] [ 7.67618486e-03 2.14667072e-04 9.99970515e-01 1.02760757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:11.04, Z:1.03 [[ 9.58556523e-01 -2.84808836e-01 -7.30207004e-03 1.72337190e+02] [ 2.84798987e-01 9.58584314e-01 -2.37690322e-03 1.10417395e+01] [ 7.67661284e-03 1.98773939e-04 9.99970515e-01 1.02826872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:11.05, Z:1.03 [[ 9.58120827e-01 -2.86271140e-01 -7.30177400e-03 1.72362222e+02] [ 2.86261326e-01 9.58148631e-01 -2.37781228e-03 1.10505512e+01] [ 7.67688380e-03 1.88015954e-04 9.99970515e-01 1.02735913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.39, Y:11.06, Z:1.03 [[ 9.57873569e-01 -2.87097392e-01 -7.30158902e-03 1.72388224e+02] [ 2.87087598e-01 9.57901380e-01 -2.37838018e-03 1.10605233e+01] [ 7.67702894e-03 1.81991862e-04 9.99970515e-01 1.02658001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:11.07, Z:1.02 [[ 9.57822956e-01 -2.87266216e-01 -7.30115763e-03 1.72413718e+02] [ 2.87256416e-01 9.57850765e-01 -2.37970372e-03 1.10704127e+01] [ 7.67702790e-03 1.82030472e-04 9.99970515e-01 1.02490748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.365898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:172.44, Y:11.08, Z:1.02 [[ 9.57650416e-01 -2.87840886e-01 -7.30096951e-03 1.72438703e+02] [ 2.87831099e-01 9.57678230e-01 -2.38028073e-03 1.10803145e+01] [ 7.67712167e-03 1.78030749e-04 9.99970515e-01 1.02475391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.46, Y:11.09, Z:1.03 [[ 9.56676231e-01 -2.91062343e-01 -7.30078253e-03 1.72464941e+02] [ 2.91052645e-01 9.56704076e-01 -2.38085411e-03 1.10904033e+01] [ 7.67766538e-03 1.52794465e-04 9.99970515e-01 1.02680492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:11.10, Z:1.03 [[ 9.55683624e-01 -2.94305140e-01 -7.30034301e-03 1.72490124e+02] [ 2.94295527e-01 9.55711498e-01 -2.38220103e-03 1.10998463e+01] [ 7.67811576e-03 1.28172219e-04 9.99970515e-01 1.02642261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:11.11, Z:1.02 [[ 9.54458561e-01 -2.98254199e-01 -7.29990454e-03 1.72516087e+02] [ 2.98244691e-01 9.54486471e-01 -2.38354388e-03 1.11092824e+01] [ 7.67856210e-03 9.78360882e-05 9.99970515e-01 1.02488208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:11.12, Z:1.02 [[ 9.52841289e-01 -3.03381264e-01 -7.29977085e-03 1.72543543e+02] [ 3.03371903e-01 9.52869249e-01 -2.38395326e-03 1.11179554e+01] [ 7.67897392e-03 5.69837249e-05 9.99970515e-01 1.02196741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.515898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.57, Y:11.13, Z:1.02 [[ 9.50839160e-01 -3.09599114e-01 -7.29939096e-03 1.72571104e+02] [ 3.09589927e-01 9.50867177e-01 -2.38511587e-03 1.11268137e+01] [ 7.67918104e-03 8.04366043e-06 9.99970515e-01 1.02007039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:11.13, Z:1.02 [[ 9.48966154e-01 -3.15293454e-01 -7.29902710e-03 1.72598848e+02] [ 3.15284426e-01 9.48994224e-01 -2.38622884e-03 1.11328648e+01] [ 7.67909689e-03 -3.68191604e-05 9.99970515e-01 1.01968151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.63, Y:11.14, Z:1.02 [[ 9.45459787e-01 -3.25657063e-01 -7.29857091e-03 1.72626632e+02] [ 3.25648332e-01 9.45487950e-01 -2.38762335e-03 1.11360907e+01] [ 7.67825725e-03 -1.19365583e-04 9.99970515e-01 1.02038563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.65, Y:11.14, Z:1.02 [[ 9.44132807e-01 -3.29484414e-01 -7.29817356e-03 1.72653845e+02] [ 3.29475788e-01 9.44161002e-01 -2.38883729e-03 1.11421973e+01] [ 7.67773552e-03 -1.49191830e-04 9.99970515e-01 1.02182827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.68, Y:11.15, Z:1.02 [[ 9.43469436e-01 -3.31379189e-01 -7.29772521e-03 1.72681502e+02] [ 3.31370609e-01 9.43497645e-01 -2.39020620e-03 1.11480861e+01] [ 7.67745114e-03 -1.63165151e-04 9.99970515e-01 1.02105873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:11.15, Z:1.02 [[ 9.43269073e-01 -3.31949101e-01 -7.29727048e-03 1.72708723e+02] [ 3.31940528e-01 9.43297284e-01 -2.39159366e-03 1.11544113e+01] [ 7.67738280e-03 -1.66343481e-04 9.99970515e-01 1.01943922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:11.16, Z:1.02 [[ 9.43307144e-01 -3.31840901e-01 -7.29712868e-03 1.72736061e+02] [ 3.31832321e-01 9.43335353e-01 -2.39202625e-03 1.11610502e+01] [ 7.67741161e-03 -1.65007699e-04 9.99970515e-01 1.01647874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.76, Y:11.17, Z:1.01 [[ 9.43519527e-01 -3.31236558e-01 -7.29691946e-03 1.72763173e+02] [ 3.31227955e-01 9.43547729e-01 -2.39266430e-03 1.11677612e+01] [ 7.67752968e-03 -1.59418219e-04 9.99970515e-01 1.01127659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:11.17, Z:1.01 [[ 9.44019413e-01 -3.29809196e-01 -7.29678192e-03 1.72791703e+02] [ 3.29800546e-01 9.44047601e-01 -2.39308369e-03 1.11741194e+01] [ 7.67777047e-03 -1.47365201e-04 9.99970515e-01 1.01052991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:11.18, Z:1.01 [[ 9.44403013e-01 -3.28709160e-01 -7.29639519e-03 1.72817735e+02] [ 3.28700469e-01 9.44431188e-01 -2.39426221e-03 1.11818571e+01] [ 7.67795910e-03 -1.37180075e-04 9.99970515e-01 1.01003144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:11.19, Z:1.01 [[ 9.44720111e-01 -3.27796701e-01 -7.29620327e-03 1.72844778e+02] [ 3.27787978e-01 9.44748277e-01 -2.39484692e-03 1.11897407e+01] [ 7.67809839e-03 -1.29147675e-04 9.99970515e-01 1.00987524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:11.20, Z:1.02 [[ 9.44991170e-01 -3.27014458e-01 -7.29606790e-03 1.72872400e+02] [ 3.27005709e-01 9.45019327e-01 -2.39525927e-03 1.11981582e+01] [ 7.67820959e-03 -1.22356995e-04 9.99970515e-01 1.01684562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:11.21, Z:1.02 [[ 9.45315269e-01 -3.26076396e-01 -7.29566777e-03 1.72899154e+02] [ 3.26067609e-01 9.45343414e-01 -2.39647740e-03 1.12068815e+01] [ 7.67834619e-03 -1.13454268e-04 9.99970515e-01 1.01533437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:11.22, Z:1.02 [[ 9.45932691e-01 -3.24280928e-01 -7.29545512e-03 1.72926748e+02] [ 3.24272083e-01 9.45960818e-01 -2.39712459e-03 1.12158108e+01] [ 7.67855648e-03 -9.81939146e-05 9.99970515e-01 1.02106118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:11.22, Z:1.02 [[ 9.46354201e-01 -3.23048772e-01 -7.29505388e-03 1.72952441e+02] [ 3.23039881e-01 9.46382314e-01 -2.39834502e-03 1.12239472e+01] [ 7.67869239e-03 -8.69094480e-05 9.99970515e-01 1.02084430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:11.23, Z:1.02 [[ 9.46834492e-01 -3.21638354e-01 -7.29485467e-03 1.72978091e+02] [ 3.21629416e-01 9.46862590e-01 -2.39895081e-03 1.12318985e+01] [ 7.67881957e-03 -7.48304735e-05 9.99970515e-01 1.02047443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:11.24, Z:1.02 [[ 9.47197920e-01 -3.20566514e-01 -7.29454793e-03 1.73005022e+02] [ 3.20557538e-01 9.47226006e-01 -2.39988315e-03 1.12396572e+01] [ 7.67890768e-03 -6.51579910e-05 9.99970515e-01 1.02166892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:11.25, Z:1.02 [[ 9.47136158e-01 -3.20748958e-01 -7.29408440e-03 1.73032062e+02] [ 3.20739976e-01 9.47164242e-01 -2.40129117e-03 1.12487508e+01] [ 7.67890756e-03 -6.51547631e-05 9.99970515e-01 1.02188764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.055898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:173.06, Y:11.26, Z:1.02 [[ 9.47492961e-01 -3.19693434e-01 -7.29362160e-03 1.73059055e+02] [ 3.19684410e-01 9.47521031e-01 -2.40269602e-03 1.12571897e+01] [ 7.67898601e-03 -5.51195486e-05 9.99970515e-01 1.02129711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.09, Y:11.26, Z:1.02 [[ 9.48109430e-01 -3.17860524e-01 -7.29347797e-03 1.73085640e+02] [ 3.17851443e-01 9.48137482e-01 -2.40313195e-03 1.12641130e+01] [ 7.67908062e-03 -3.98104304e-05 9.99970515e-01 1.01929850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.11, Y:11.27, Z:1.02 [[ 9.49723459e-01 -3.13005050e-01 -7.29317020e-03 1.73112294e+02] [ 3.12995817e-01 9.49751462e-01 -2.40406562e-03 1.12740629e+01] [ 7.67918374e-03 4.65750398e-07 9.99970515e-01 1.02021541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:11.28, Z:1.02 [[ 9.50623282e-01 -3.10261488e-01 -7.29277217e-03 1.73139566e+02] [ 3.10252166e-01 9.50651255e-01 -2.40527246e-03 1.12841869e+01] [ 7.67914642e-03 2.39096367e-05 9.99970515e-01 1.02195074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:11.29, Z:1.02 [[ 9.51409347e-01 -3.07842617e-01 -7.29237525e-03 1.73166945e+02] [ 3.07833214e-01 9.51437292e-01 -2.40647525e-03 1.12942792e+01] [ 7.67905340e-03 4.47077333e-05 9.99970515e-01 1.02455808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:11.30, Z:1.03 [[ 9.51934630e-01 -3.06214447e-01 -7.29197688e-03 1.73193146e+02] [ 3.06204987e-01 9.51962557e-01 -2.40768177e-03 1.13036791e+01] [ 7.67895589e-03 5.91159683e-05 9.99970515e-01 1.02549382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:11.31, Z:1.03 [[ 9.52224625e-01 -3.05311468e-01 -7.29183608e-03 1.73220269e+02] [ 3.05301978e-01 9.52252542e-01 -2.40810810e-03 1.13127677e+01] [ 7.67889246e-03 6.68478556e-05 9.99970515e-01 1.02751481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:11.32, Z:1.03 [[ 9.52306072e-01 -3.05057339e-01 -7.29145949e-03 1.73247238e+02] [ 3.05047834e-01 9.52333983e-01 -2.40924782e-03 1.13213808e+01] [ 7.67886339e-03 7.00974043e-05 9.99970515e-01 1.03020658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:11.33, Z:1.03 [[ 9.51591953e-01 -3.07277710e-01 -7.29131852e-03 1.73273909e+02] [ 3.07268266e-01 9.51619885e-01 -2.40967439e-03 1.13306627e+01] [ 7.67900292e-03 5.26359590e-05 9.99970515e-01 1.03077950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.325898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:173.30, Y:11.34, Z:1.03 [[ 9.50816485e-01 -3.09668936e-01 -7.29117832e-03 1.73300226e+02] [ 3.09659559e-01 9.50844440e-01 -2.41009852e-03 1.13405729e+01] [ 7.67910901e-03 3.37783443e-05 9.99970515e-01 1.03044288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.33, Y:11.35, Z:1.03 [[ 9.49957048e-01 -3.12295455e-01 -7.29074036e-03 1.73326033e+02] [ 3.12286145e-01 9.49985026e-01 -2.41142267e-03 1.13488133e+01] [ 7.67917051e-03 1.39507646e-05 9.99970515e-01 1.02943900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:11.36, Z:1.03 [[ 9.49005338e-01 -3.15175690e-01 -7.29055011e-03 1.73352924e+02] [ 3.15166461e-01 9.49033342e-01 -2.41199771e-03 1.13573020e+01] [ 7.67917818e-03 -8.73816776e-06 9.99970515e-01 1.02927948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.415898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.38, Y:11.37, Z:1.03 [[ 9.48184668e-01 -3.17636098e-01 -7.29009309e-03 1.73379165e+02] [ 3.17626931e-01 9.48212692e-01 -2.41337823e-03 1.13658555e+01] [ 7.67913484e-03 -2.72016524e-05 9.99970515e-01 1.02775269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.41, Y:11.37, Z:1.03 [[ 9.47314796e-01 -3.20221073e-01 -7.28987805e-03 1.73405446e+02] [ 3.20211977e-01 9.47342843e-01 -2.41402762e-03 1.13741180e+01] [ 7.67903631e-03 -4.74621879e-05 9.99970515e-01 1.02817133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.43, Y:11.38, Z:1.03 [[ 9.45660384e-01 -3.25074302e-01 -7.28941747e-03 1.73430811e+02] [ 3.25065340e-01 9.45688474e-01 -2.41541760e-03 1.13828892e+01] [ 7.67870827e-03 -8.53722271e-05 9.99970515e-01 1.03003634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:11.39, Z:1.03 [[ 9.44781023e-01 -3.27621260e-01 -7.28895980e-03 1.73457665e+02] [ 3.27612362e-01 9.44809134e-01 -2.41679791e-03 1.13924818e+01] [ 7.67847017e-03 -1.04608538e-04 9.99970515e-01 1.03222112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.535898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:173.48, Y:11.40, Z:1.03 [[ 9.43806261e-01 -3.30418853e-01 -7.28854832e-03 1.73483201e+02] [ 3.30410029e-01 9.43834395e-01 -2.41803821e-03 1.14023750e+01] [ 7.67814801e-03 -1.26049860e-04 9.99970515e-01 1.03313735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:11.41, Z:1.03 [[ 9.42893993e-01 -3.33013212e-01 -7.28822882e-03 1.73510097e+02] [ 3.33004458e-01 9.42922149e-01 -2.41900081e-03 1.14107151e+01] [ 7.67779162e-03 -1.46151353e-04 9.99970515e-01 1.03221258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.54, Y:11.42, Z:1.03 [[ 9.42176393e-01 -3.35038108e-01 -7.28776587e-03 1.73537294e+02] [ 3.35029404e-01 9.42204564e-01 -2.42039476e-03 1.14202845e+01] [ 7.67749074e-03 -1.61177055e-04 9.99970515e-01 1.02954308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:11.43, Z:1.03 [[ 9.41681573e-01 -3.36426380e-01 -7.28736099e-03 1.73563365e+02] [ 3.36417708e-01 9.41709754e-01 -2.42161317e-03 1.14300478e+01] [ 7.67727348e-03 -1.71208784e-04 9.99970515e-01 1.02750731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:11.44, Z:1.03 [[ 9.41693484e-01 -3.36393042e-01 -7.28721676e-03 1.73590468e+02] [ 3.36384365e-01 9.41721664e-01 -2.42204711e-03 1.14398622e+01] [ 7.67728969e-03 -1.70479808e-04 9.99970515e-01 1.02987067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.62, Y:11.45, Z:1.03 [[ 9.41751172e-01 -3.36231517e-01 -7.28681338e-03 1.73617666e+02] [ 3.36222826e-01 9.41779347e-01 -2.42326008e-03 1.14498540e+01] [ 7.67734676e-03 -1.67884975e-04 9.99970515e-01 1.03243941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.715898227 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:173.64, Y:11.46, Z:1.03 [[ 9.41721623e-01 -3.36314278e-01 -7.28641120e-03 1.73643428e+02] [ 3.36305581e-01 9.41749796e-01 -2.42446877e-03 1.14604075e+01] [ 7.67735973e-03 -1.67286088e-04 9.99970515e-01 1.03488713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.67, Y:11.47, Z:1.03 [[ 9.41806906e-01 -3.36075388e-01 -7.28592906e-03 1.73668980e+02] [ 3.36066673e-01 9.41835074e-01 -2.42591683e-03 1.14690727e+01] [ 7.67743448e-03 -1.63812714e-04 9.99970515e-01 1.03332654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.70, Y:11.48, Z:1.03 [[ 9.41742961e-01 -3.36254536e-01 -7.28571997e-03 1.73695906e+02] [ 3.36245821e-01 9.41771129e-01 -2.42654462e-03 1.14796535e+01] [ 7.67741736e-03 -1.64611583e-04 9.99970515e-01 1.03170314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:11.49, Z:1.03 [[ 9.41350556e-01 -3.37351530e-01 -7.28531026e-03 1.73722255e+02] [ 3.37342838e-01 9.41378731e-01 -2.42777409e-03 1.14888883e+01] [ 7.67724943e-03 -1.72260748e-04 9.99970515e-01 1.02990517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.75, Y:11.50, Z:1.03 [[ 9.40768847e-01 -3.38970357e-01 -7.28516446e-03 1.73748469e+02] [ 3.38961710e-01 9.40797036e-01 -2.42821151e-03 1.14989303e+01] [ 7.67695286e-03 -1.85006056e-04 9.99970515e-01 1.03076473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:11.51, Z:1.03 [[ 9.40250235e-01 -3.40406271e-01 -7.28470167e-03 1.73775943e+02] [ 3.40397656e-01 9.40278434e-01 -2.42959911e-03 1.15091169e+01] [ 7.67669865e-03 -1.95264249e-04 9.99970515e-01 1.03264648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.80, Y:11.52, Z:1.03 [[ 9.39634254e-01 -3.42102919e-01 -7.28428961e-03 1.73801817e+02] [ 3.42094346e-01 9.39662466e-01 -2.43083390e-03 1.15180805e+01] [ 7.67636891e-03 -2.07819485e-04 9.99970515e-01 1.03355867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.925898227 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:173.83, Y:11.53, Z:1.03 [[ 9.38104629e-01 -3.46275392e-01 -7.28414328e-03 1.73828003e+02] [ 3.46266941e-01 9.38132877e-01 -2.43127232e-03 1.15267333e+01] [ 7.67538406e-03 -2.41470191e-04 9.99970515e-01 1.03401525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.85, Y:11.53, Z:1.03 [[ 9.37252048e-01 -3.48576458e-01 -7.28367522e-03 1.73854390e+02] [ 3.48568066e-01 9.37280313e-01 -2.43267374e-03 1.15338420e+01] [ 7.67481818e-03 -2.58828140e-04 9.99970515e-01 1.02978191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:11.54, Z:1.03 [[ 9.36189351e-01 -3.51420657e-01 -7.28158524e-03 1.73882057e+02] [ 3.51412301e-01 9.36217628e-01 -2.43892857e-03 1.15429178e+01] [ 7.67423833e-03 -2.75539675e-04 9.99970515e-01 1.03166514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:11.55, Z:1.03 [[ 9.35532238e-01 -3.53166234e-01 -7.28307875e-03 1.73907903e+02] [ 3.53157967e-01 9.35560540e-01 -2.43446049e-03 1.15520217e+01] [ 7.67353033e-03 -2.94561013e-04 9.99970515e-01 1.03067474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.93, Y:11.56, Z:1.03 [[ 9.35289118e-01 -3.53809590e-01 -7.28287858e-03 1.73933750e+02] [ 3.53801337e-01 9.35317424e-01 -2.43505915e-03 1.15615316e+01] [ 7.67335052e-03 -2.99207861e-04 9.99970515e-01 1.03145119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.075898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:173.96, Y:11.57, Z:1.03 [[ 9.35271407e-01 -3.53856414e-01 -7.28241920e-03 1.73959901e+02] [ 3.53848152e-01 9.35299711e-01 -2.43643223e-03 1.15723950e+01] [ 7.67339175e-03 -2.98145171e-04 9.99970515e-01 1.03234627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.99, Y:11.58, Z:1.04 [[ 9.36044740e-01 -3.51805655e-01 -7.28196087e-03 1.73986469e+02] [ 3.51797320e-01 9.36073022e-01 -2.43780131e-03 1.15816011e+01] [ 7.67407941e-03 -2.79883223e-04 9.99970515e-01 1.03507097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.01, Y:11.59, Z:1.04 [[ 9.36284988e-01 -3.51165768e-01 -7.28181840e-03 1.74012752e+02] [ 3.51157411e-01 9.36313264e-01 -2.43822679e-03 1.15910907e+01] [ 7.67428494e-03 -2.74189350e-04 9.99970515e-01 1.03632643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.04, Y:11.60, Z:1.04 [[ 9.36355999e-01 -3.50976381e-01 -7.28167733e-03 1.74039952e+02] [ 3.50968014e-01 9.36384273e-01 -2.43864802e-03 1.16010769e+01] [ 7.67435599e-03 -2.72193132e-04 9.99970515e-01 1.03860821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19589822700001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:174.07, Y:11.61, Z:1.04 [[ 9.36226396e-01 -3.51321958e-01 -7.28128331e-03 1.74066179e+02] [ 3.51313593e-01 9.36254670e-01 -2.43982393e-03 1.16114727e+01] [ 7.67429922e-03 -2.73786239e-04 9.99970515e-01 1.04000792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.09, Y:11.62, Z:1.04 [[ 9.35814149e-01 -3.52418592e-01 -7.28114358e-03 1.74092618e+02] [ 3.52410256e-01 9.35842431e-01 -2.44024084e-03 1.16202746e+01] [ 7.67398935e-03 -2.82337773e-04 9.99970515e-01 1.03920505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.12, Y:11.63, Z:1.04 [[ 9.35112803e-01 -3.54275369e-01 -7.28069541e-03 1.74119282e+02] [ 3.54267080e-01 9.35141099e-01 -2.44157728e-03 1.16292916e+01] [ 7.67346820e-03 -2.96160521e-04 9.99970515e-01 1.03656304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:11.64, Z:1.03 [[ 9.33349016e-01 -3.58896376e-01 -7.28048534e-03 1.74146445e+02] [ 3.58888221e-01 9.33377352e-01 -2.44220350e-03 1.16380206e+01] [ 7.67193811e-03 -3.33452199e-04 9.99970515e-01 1.03289380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:11.65, Z:1.03 [[ 9.32457770e-01 -3.61205630e-01 -7.28007818e-03 1.74173392e+02] [ 3.61197536e-01 9.32486123e-01 -2.44341663e-03 1.16471595e+01] [ 7.67114772e-03 -3.51163474e-04 9.99970515e-01 1.03286957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:11.65, Z:1.03 [[ 9.31927595e-01 -3.62571323e-01 -7.27961249e-03 1.74199263e+02] [ 3.62563260e-01 9.31955957e-01 -2.44480326e-03 1.16549941e+01] [ 7.67069378e-03 -3.60940420e-04 9.99970515e-01 1.03285563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.23, Y:11.66, Z:1.04 [[ 9.31574045e-01 -3.63478825e-01 -7.27612630e-03 1.74226694e+02] [ 3.63470708e-01 9.31602392e-01 -2.45517738e-03 1.16636107e+01] [ 7.67086165e-03 -3.57479260e-04 9.99970515e-01 1.03633640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.25, Y:11.67, Z:1.04 [[ 9.31758394e-01 -3.63005938e-01 -7.27906872e-03 1.74253392e+02] [ 3.62997876e-01 9.31786755e-01 -2.44642253e-03 1.16722051e+01] [ 7.67060573e-03 -3.62811754e-04 9.99970515e-01 1.03818326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:11.68, Z:1.04 [[ 9.32137376e-01 -3.62031668e-01 -7.27892446e-03 1.74279824e+02] [ 3.62023573e-01 9.32165729e-01 -2.44685168e-03 1.16814505e+01] [ 7.67100171e-03 -3.54340336e-04 9.99970515e-01 1.03867920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:11.69, Z:1.03 [[ 9.33211143e-01 -3.59254766e-01 -7.27847657e-03 1.74306119e+02] [ 3.59246576e-01 9.33239468e-01 -2.44818326e-03 1.16923572e+01] [ 7.67208310e-03 -3.30095886e-04 9.99970515e-01 1.03432841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.33, Y:11.70, Z:1.03 [[ 9.33616552e-01 -3.58199892e-01 -7.27808695e-03 1.74332428e+02] [ 3.58191661e-01 9.33644865e-01 -2.44934097e-03 1.17024665e+01] [ 7.67250219e-03 -3.20204782e-04 9.99970515e-01 1.03379128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.36, Y:11.71, Z:1.03 [[ 9.33850871e-01 -3.57588573e-01 -7.27763426e-03 1.74358797e+02] [ 3.57580313e-01 9.33879175e-01 -2.45068532e-03 1.17125866e+01] [ 7.67276814e-03 -3.13764116e-04 9.99970515e-01 1.03484655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.555898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:174.38, Y:11.72, Z:1.04 [[ 9.33717101e-01 -3.57937729e-01 -7.27718033e-03 1.74383259e+02] [ 3.57929469e-01 9.33745406e-01 -2.45203249e-03 1.17231149e+01] [ 7.67270864e-03 -3.15212619e-04 9.99970515e-01 1.03558018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:11.73, Z:1.04 [[ 9.32763229e-01 -3.60416155e-01 -7.27698280e-03 1.74409034e+02] [ 3.60407966e-01 9.32791554e-01 -2.45261857e-03 1.17348757e+01] [ 7.67187145e-03 -3.34970148e-04 9.99970515e-01 1.03621102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:11.74, Z:1.04 [[ 9.31738686e-01 -3.63056571e-01 -7.27651427e-03 1.74434008e+02] [ 3.63048451e-01 9.31767031e-01 -2.45400783e-03 1.17448087e+01] [ 7.67095976e-03 -3.55233207e-04 9.99970515e-01 1.03511896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:11.75, Z:1.03 [[ 9.30767432e-01 -3.65539389e-01 -7.27619508e-03 1.74460446e+02] [ 3.65531337e-01 9.30795796e-01 -2.45495386e-03 1.17543437e+01] [ 7.67003413e-03 -3.74686222e-04 9.99970515e-01 1.03406628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:11.76, Z:1.03 [[ 9.29916094e-01 -3.67699766e-01 -7.27605135e-03 1.74486584e+02] [ 3.67691777e-01 9.29944476e-01 -2.45537979e-03 1.17633929e+01] [ 7.66916633e-03 -3.92047063e-04 9.99970515e-01 1.03446953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:11.77, Z:1.04 [[ 9.29106977e-01 -3.69739491e-01 -7.27560014e-03 1.74513741e+02] [ 3.69731554e-01 9.29135374e-01 -2.45671605e-03 1.17724174e+01] [ 7.66836240e-03 -4.07466930e-04 9.99970515e-01 1.03619779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:11.78, Z:1.04 [[ 9.28741693e-01 -3.70656087e-01 -7.27552630e-03 1.74540211e+02] [ 3.70648176e-01 9.28770097e-01 -2.45693464e-03 1.17817141e+01] [ 7.66796905e-03 -4.14802917e-04 9.99970515e-01 1.03576948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:11.79, Z:1.04 [[ 9.28202331e-01 -3.72004712e-01 -7.27513376e-03 1.74566503e+02] [ 3.71996834e-01 9.28230744e-01 -2.45809645e-03 1.17909081e+01] [ 7.66742628e-03 -4.24715872e-04 9.99970515e-01 1.03706904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.59, Y:11.80, Z:1.03 [[ 9.27465563e-01 -3.73837811e-01 -7.27466724e-03 1.74592657e+02] [ 3.73829977e-01 9.27493989e-01 -2.45947631e-03 1.17996302e+01] [ 7.66665538e-03 -4.38409107e-04 9.99970515e-01 1.03466083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:11.81, Z:1.04 [[ 9.26802285e-01 -3.75479146e-01 -7.27562813e-03 1.74619274e+02] [ 3.75471385e-01 9.26830731e-01 -2.45663522e-03 1.18073381e+01] [ 7.66569104e-03 -4.54975035e-04 9.99970515e-01 1.03542900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.65, Y:11.81, Z:1.04 [[ 9.26292074e-01 -3.76736093e-01 -7.27386343e-03 1.74646375e+02] [ 3.76728330e-01 9.26320519e-01 -2.46185062e-03 1.18143691e+01] [ 7.66539694e-03 -4.59877707e-04 9.99970515e-01 1.03673919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:11.82, Z:1.04 [[ 9.25819327e-01 -3.77896367e-01 -7.27389944e-03 1.74674375e+02] [ 3.77888641e-01 9.25847782e-01 -2.46174424e-03 1.18222113e+01] [ 7.66480786e-03 -4.69593578e-04 9.99970515e-01 1.04005801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.70, Y:11.83, Z:1.04 [[ 9.26135276e-01 -3.77121396e-01 -7.27349112e-03 1.74700876e+02] [ 3.77113636e-01 9.26163722e-01 -2.46295006e-03 1.18295142e+01] [ 7.66527477e-03 -4.61907752e-04 9.99970515e-01 1.04173249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.73, Y:11.84, Z:1.04 [[ 9.26070202e-01 -3.77281167e-01 -7.27334680e-03 1.74727823e+02] [ 3.77273409e-01 9.26098648e-01 -2.46337619e-03 1.18388618e+01] [ 7.66522208e-03 -4.62781057e-04 9.99970515e-01 1.04195141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.75, Y:11.85, Z:1.04 [[ 9.26808323e-01 -3.75464297e-01 -7.27292160e-03 1.74754628e+02] [ 3.75456473e-01 9.26836751e-01 -2.46463093e-03 1.18480134e+01] [ 7.66619194e-03 -4.46425034e-04 9.99970515e-01 1.04422595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.78, Y:11.86, Z:1.04 [[ 9.27893962e-01 -3.72773264e-01 -7.27246019e-03 1.74781244e+02] [ 3.72765347e-01 9.27922365e-01 -2.46599166e-03 1.18571639e+01] [ 7.66753422e-03 -4.22742370e-04 9.99970515e-01 1.04483794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.81, Y:11.87, Z:1.04 [[ 9.29033073e-01 -3.69925218e-01 -7.27202593e-03 1.74807124e+02] [ 3.69917204e-01 9.29061448e-01 -2.46727160e-03 1.18662260e+01] [ 7.66886493e-03 -3.97870584e-04 9.99970515e-01 1.04498421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.83, Y:11.88, Z:1.05 [[ 9.30980140e-01 -3.64997398e-01 -7.27182349e-03 1.74832884e+02] [ 3.64989229e-01 9.31008471e-01 -2.46786811e-03 1.18763256e+01] [ 7.67089470e-03 -3.56601045e-04 9.99970515e-01 1.04711239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.86, Y:11.89, Z:1.05 [[ 9.31505329e-01 -3.63654987e-01 -7.27133251e-03 1.74858599e+02] [ 3.63646766e-01 9.31533645e-01 -2.46931389e-03 1.18867553e+01] [ 7.67146919e-03 -3.44017505e-04 9.99970515e-01 1.04814882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.88, Y:11.90, Z:1.05 [[ 9.31768914e-01 -3.62979073e-01 -7.27212312e-03 1.74884632e+02] [ 3.62970849e-01 9.31797229e-01 -2.46698625e-03 1.18970859e+01] [ 7.67160856e-03 -3.40907609e-04 9.99970515e-01 1.04620913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.155898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:174.91, Y:11.91, Z:1.05 [[ 9.31640201e-01 -3.63309332e-01 -7.27083057e-03 1.74910248e+02] [ 3.63301089e-01 9.31668511e-01 -2.47078986e-03 1.19088532e+01] [ 7.67166490e-03 -3.39613501e-04 9.99970515e-01 1.04565871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.94, Y:11.92, Z:1.04 [[ 9.30968592e-01 -3.65026879e-01 -7.27037909e-03 1.74937028e+02] [ 3.65018678e-01 9.30996914e-01 -2.47211764e-03 1.19197821e+01] [ 7.67108988e-03 -3.52360284e-04 9.99970515e-01 1.04432622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.96, Y:11.93, Z:1.04 [[ 9.30473599e-01 -3.66286774e-01 -7.27190053e-03 1.74962971e+02] [ 3.66278646e-01 9.30501942e-01 -2.46764482e-03 1.19296098e+01] [ 7.67038323e-03 -3.67463527e-04 9.99970515e-01 1.04498993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.99, Y:11.94, Z:1.04 [[ 9.29893525e-01 -3.67756961e-01 -7.26980254e-03 1.74989791e+02] [ 3.67748830e-01 9.29921867e-01 -2.47381020e-03 1.19399323e+01] [ 7.67010927e-03 -3.73081295e-04 9.99970515e-01 1.04473514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.02, Y:11.95, Z:1.04 [[ 9.29321081e-01 -3.69201145e-01 -7.26938924e-03 1.75017071e+02] [ 3.69193048e-01 9.29349432e-01 -2.47502412e-03 1.19499164e+01] [ 7.66958450e-03 -3.83715877e-04 9.99970515e-01 1.04364991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.04, Y:11.96, Z:1.04 [[ 9.28722374e-01 -3.70704618e-01 -7.26897446e-03 1.75043608e+02] [ 3.70696558e-01 9.28750736e-01 -2.47624168e-03 1.19594066e+01] [ 7.66901961e-03 -3.94842760e-04 9.99970515e-01 1.04348752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.335898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:175.07, Y:11.97, Z:1.04 [[ 9.27865337e-01 -3.72844587e-01 -7.26850029e-03 1.75069842e+02] [ 3.72836581e-01 9.27893714e-01 -2.47763275e-03 1.19700174e+01] [ 7.66816769e-03 -4.11053257e-04 9.99970515e-01 1.04397797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.10, Y:11.98, Z:1.05 [[ 9.26051898e-01 -3.77326196e-01 -7.26802533e-03 1.75097228e+02] [ 3.77318317e-01 9.26080311e-01 -2.47902522e-03 1.19793236e+01] [ 7.66617632e-03 -4.46653073e-04 9.99970515e-01 1.04662860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.12, Y:11.99, Z:1.05 [[ 9.24968581e-01 -3.79974087e-01 -7.26761159e-03 1.75124317e+02] [ 3.79966279e-01 9.24997014e-01 -2.48023757e-03 1.19891785e+01] [ 7.66494502e-03 -4.67305515e-04 9.99970515e-01 1.04539523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.15, Y:12.00, Z:1.04 [[ 9.23892135e-01 -3.82583972e-01 -7.26826805e-03 1.75151245e+02] [ 3.82576260e-01 9.23920594e-01 -2.47831449e-03 1.19976047e+01] [ 7.66346594e-03 -4.90971536e-04 9.99970515e-01 1.04406657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.18, Y:12.01, Z:1.04 [[ 9.22833980e-01 -3.85129346e-01 -7.26861484e-03 1.75177703e+02] [ 3.85121720e-01 9.22862462e-01 -2.47729882e-03 1.20055100e+01] [ 7.66201226e-03 -5.13165927e-04 9.99970515e-01 1.04408638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.21, Y:12.01, Z:1.04 [[ 9.21807031e-01 -3.87580945e-01 -7.26690041e-03 1.75205040e+02] [ 3.87573356e-01 9.21835523e-01 -2.48231775e-03 1.20127414e+01] [ 7.66098600e-03 -5.28239023e-04 9.99970515e-01 1.03908194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.23, Y:12.02, Z:1.04 [[ 9.21009435e-01 -3.89472460e-01 -7.26797650e-03 1.75231596e+02] [ 3.89464954e-01 9.21037949e-01 -2.47916865e-03 1.20203594e+01] [ 7.65965008e-03 -5.47284416e-04 9.99970515e-01 1.04439734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.26, Y:12.03, Z:1.04 [[ 9.20243931e-01 -3.91277790e-01 -7.26627989e-03 1.75258204e+02] [ 3.91270301e-01 9.20272449e-01 -2.48413135e-03 1.20266420e+01] [ 7.65894262e-03 -5.57072721e-04 9.99970515e-01 1.04340669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.29, Y:12.03, Z:1.04 [[ 9.20464209e-01 -3.90759317e-01 -7.26607553e-03 1.75286218e+02] [ 3.90751807e-01 9.20492722e-01 -2.48472896e-03 1.20346056e+01] [ 7.65930064e-03 -5.52128066e-04 9.99970515e-01 1.04453622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.31, Y:12.04, Z:1.04 [[ 9.21081796e-01 -3.89301342e-01 -7.26566122e-03 1.75313293e+02] [ 3.89293777e-01 9.21110295e-01 -2.48593987e-03 1.20424291e+01] [ 7.66025508e-03 -5.38722736e-04 9.99970515e-01 1.04264696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.34, Y:12.05, Z:1.04 [[ 9.22100481e-01 -3.86882301e-01 -7.26551365e-03 1.75340759e+02] [ 3.86874658e-01 9.22128959e-01 -2.48637110e-03 1.20506522e+01] [ 7.66167351e-03 -5.18159120e-04 9.99970515e-01 1.04434192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.37, Y:12.06, Z:1.05 [[ 9.23241615e-01 -3.84151191e-01 -7.26510822e-03 1.75368182e+02] [ 3.84143455e-01 9.23270068e-01 -2.48755518e-03 1.20595714e+01] [ 7.66325425e-03 -4.94229314e-04 9.99970515e-01 1.04598984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.40, Y:12.07, Z:1.05 [[ 9.24392888e-01 -3.81372538e-01 -7.26469600e-03 1.75395112e+02] [ 3.81364707e-01 9.24421314e-01 -2.48875845e-03 1.20689283e+01] [ 7.66478395e-03 -4.69908047e-04 9.99970515e-01 1.04711310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.42, Y:12.08, Z:1.05 [[ 9.26623140e-01 -3.75921250e-01 -7.26428190e-03 1.75422613e+02] [ 3.75913242e-01 9.26651517e-01 -2.48996657e-03 1.20788986e+01] [ 7.66748919e-03 -4.23479116e-04 9.99970515e-01 1.04933046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.45, Y:12.09, Z:1.05 [[ 9.27350208e-01 -3.74124080e-01 -7.26384933e-03 1.75448254e+02] [ 3.74116008e-01 9.27378567e-01 -2.49122785e-03 1.20879574e+01] [ 7.66836651e-03 -4.07281645e-04 9.99970515e-01 1.04785411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.48, Y:12.10, Z:1.05 [[ 9.27631846e-01 -3.73425230e-01 -7.26335845e-03 1.75475047e+02] [ 3.73417125e-01 9.27660195e-01 -2.49265821e-03 1.20976920e+01] [ 7.66874998e-03 -3.99993296e-04 9.99970515e-01 1.04631098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.50, Y:12.11, Z:1.04 [[ 9.27641642e-01 -3.73400903e-01 -7.26294225e-03 1.75501183e+02] [ 3.73392787e-01 9.27669988e-01 -2.49387033e-03 1.21073820e+01] [ 7.66882698e-03 -3.98512286e-04 9.99970515e-01 1.04413793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.845898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:175.53, Y:12.12, Z:1.04 [[ 9.27360472e-01 -3.74098660e-01 -7.26279474e-03 1.75527609e+02] [ 3.74090562e-01 9.27388823e-01 -2.49429983e-03 1.21183735e+01] [ 7.66854889e-03 -4.03827901e-04 9.99970515e-01 1.04431927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.55, Y:12.13, Z:1.04 [[ 9.27161889e-01 -3.74590562e-01 -7.26237826e-03 1.75554152e+02] [ 3.74582470e-01 9.27190243e-01 -2.49551185e-03 1.21269690e+01] [ 7.66840145e-03 -4.06616100e-04 9.99970515e-01 1.04424425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.58, Y:12.14, Z:1.05 [[ 9.26928552e-01 -3.75167596e-01 -7.26189232e-03 1.75580508e+02] [ 3.75159511e-01 9.26956907e-01 -2.49692514e-03 1.21354628e+01] [ 7.66822664e-03 -4.09896769e-04 9.99970515e-01 1.04669768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.61, Y:12.14, Z:1.05 [[ 9.27108468e-01 -3.74722774e-01 -7.26166668e-03 1.75606799e+02] [ 3.74714670e-01 9.27136817e-01 -2.49758118e-03 1.21441999e+01] [ 7.66845908e-03 -4.05524371e-04 9.99970515e-01 1.04773007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.63, Y:12.15, Z:1.05 [[ 9.27255439e-01 -3.74358948e-01 -7.26151698e-03 1.75633726e+02] [ 3.74350830e-01 9.27283784e-01 -2.49801636e-03 1.21541321e+01] [ 7.66864172e-03 -4.02055650e-04 9.99970515e-01 1.04889250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.995898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:175.66, Y:12.16, Z:1.05 [[ 9.27699083e-01 -3.73258205e-01 -7.26110476e-03 1.75659271e+02] [ 3.73250044e-01 9.27727416e-01 -2.49921399e-03 1.21648292e+01] [ 7.66917809e-03 -3.91689144e-04 9.99970515e-01 1.04925500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:12.17, Z:1.05 [[ 9.28251272e-01 -3.71882858e-01 -7.26062813e-03 1.75685666e+02] [ 3.71874643e-01 9.28279590e-01 -2.50059792e-03 1.21741275e+01] [ 7.66982240e-03 -3.78860297e-04 9.99970515e-01 1.04812768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.71, Y:12.18, Z:1.05 [[ 9.28863120e-01 -3.70351987e-01 -7.26015167e-03 1.75710766e+02] [ 3.70343715e-01 9.28891421e-01 -2.50198050e-03 1.21835077e+01] [ 7.67050605e-03 -3.64754126e-04 9.99970515e-01 1.04683226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.74, Y:12.20, Z:1.05 [[ 9.30183743e-01 -3.67022475e-01 -7.25994435e-03 1.75736613e+02] [ 3.67014097e-01 9.30212013e-01 -2.50258192e-03 1.21950443e+01] [ 7.67179126e-03 -3.36640901e-04 9.99970515e-01 1.04779958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.76, Y:12.20, Z:1.05 [[ 9.30518826e-01 -3.66172112e-01 -7.25947909e-03 1.75762562e+02] [ 3.66163698e-01 9.30547085e-01 -2.50393081e-03 1.22046628e+01] [ 7.67215674e-03 -3.28202953e-04 9.99970515e-01 1.04915852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.79, Y:12.21, Z:1.05 [[ 9.30563935e-01 -3.66057469e-01 -7.25899734e-03 1.75788780e+02] [ 3.66049040e-01 9.30592190e-01 -2.50532666e-03 1.22142858e+01] [ 7.67225976e-03 -3.25782368e-04 9.99970515e-01 1.04923109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.82, Y:12.22, Z:1.05 [[ 9.30482170e-01 -3.66265260e-01 -7.25884702e-03 1.75815547e+02] [ 3.66256834e-01 9.30510426e-01 -2.50576211e-03 1.22234115e+01] [ 7.67220644e-03 -3.27035365e-04 9.99970515e-01 1.04978633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.84, Y:12.23, Z:1.05 [[ 9.30217665e-01 -3.66936517e-01 -7.25869792e-03 1.75840863e+02] [ 3.66928108e-01 9.30245926e-01 -2.50619395e-03 1.22320162e+01] [ 7.67198824e-03 -3.32114408e-04 9.99970515e-01 1.05027608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.87, Y:12.24, Z:1.05 [[ 9.29870555e-01 -3.67815266e-01 -7.25824106e-03 1.75867415e+02] [ 3.67806874e-01 9.29898820e-01 -2.50751637e-03 1.22412947e+01] [ 7.67173260e-03 -3.37965317e-04 9.99970515e-01 1.05162916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.89, Y:12.25, Z:1.05 [[ 9.29883545e-01 -3.67782433e-01 -7.25776697e-03 1.75893328e+02] [ 3.67774029e-01 9.29911807e-01 -2.50888783e-03 1.22523162e+01] [ 7.67180807e-03 -3.36244692e-04 9.99970515e-01 1.05181973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.92, Y:12.26, Z:1.05 [[ 9.30319253e-01 -3.66678905e-01 -7.25729705e-03 1.75919947e+02] [ 3.66670457e-01 9.30347502e-01 -2.51024640e-03 1.22639312e+01] [ 7.67226258e-03 -3.25705876e-04 9.99970515e-01 1.05174303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:12.28, Z:1.05 [[ 9.31025180e-01 -3.64882788e-01 -7.25707284e-03 1.75944371e+02] [ 3.64874280e-01 9.31053411e-01 -2.51089441e-03 1.22751388e+01] [ 7.67290458e-03 -3.10213309e-04 9.99970515e-01 1.05228470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.97, Y:12.29, Z:1.05 [[ 9.31969442e-01 -3.62464203e-01 -7.25675335e-03 1.75968956e+02] [ 3.62455615e-01 9.31997649e-01 -2.51181745e-03 1.22862423e+01] [ 7.67372097e-03 -2.89313885e-04 9.99970515e-01 1.05298941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.99, Y:12.30, Z:1.05 [[ 9.32926714e-01 -3.59993179e-01 -7.25655052e-03 1.75994546e+02] [ 3.59984512e-01 9.32954897e-01 -2.51240327e-03 1.22976697e+01] [ 7.67448238e-03 -2.68357665e-04 9.99970515e-01 1.05475629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.02, Y:12.31, Z:1.06 [[ 9.35177687e-01 -3.54104566e-01 -7.25608699e-03 1.76018723e+02] [ 3.54095711e-01 9.35205811e-01 -2.51374128e-03 1.23114690e+01] [ 7.67606198e-03 -2.18554528e-04 9.99970515e-01 1.05739725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.04, Y:12.32, Z:1.06 [[ 9.36012463e-01 -3.51892058e-01 -7.25594341e-03 1.76044053e+02] [ 3.51883133e-01 9.36040565e-01 -2.51415566e-03 1.23239078e+01] [ 7.67656878e-03 -1.99963065e-04 9.99970515e-01 1.05881261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:12.34, Z:1.06 [[ 9.36849542e-01 -3.49657396e-01 -7.25548662e-03 1.76069283e+02] [ 3.49648394e-01 9.36877619e-01 -2.51547320e-03 1.23363021e+01] [ 7.67705684e-03 -1.80249330e-04 9.99970515e-01 1.05991631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.505898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.10, Y:12.35, Z:1.06 [[ 9.37577172e-01 -3.47701605e-01 -7.25534500e-03 1.76095105e+02] [ 3.47692542e-01 9.37605230e-01 -2.51588160e-03 1.23488846e+01] [ 7.67742549e-03 -1.63796190e-04 9.99970515e-01 1.06171188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.12, Y:12.36, Z:1.06 [[ 9.38935694e-01 -3.44016174e-01 -7.25494994e-03 1.76119512e+02] [ 3.44006992e-01 9.38963713e-01 -2.51702030e-03 1.23624453e+01] [ 7.67803043e-03 -1.32433298e-04 9.99970515e-01 1.06493307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.14, Y:12.37, Z:1.07 [[ 9.39430489e-01 -3.42662697e-01 -7.25480989e-03 1.76144214e+02] [ 3.42653471e-01 9.39458494e-01 -2.51742392e-03 1.23742034e+01] [ 7.67822004e-03 -1.20941003e-04 9.99970515e-01 1.06574376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.595898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.17, Y:12.39, Z:1.07 [[ 9.39839932e-01 -3.41538100e-01 -7.25450499e-03 1.76169281e+02] [ 3.41528834e-01 9.39867924e-01 -2.51830224e-03 1.23862728e+01] [ 7.67837270e-03 -1.10821628e-04 9.99970515e-01 1.06582685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.625898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.19, Y:12.40, Z:1.07 [[ 9.40372939e-01 -3.40067809e-01 -7.25406340e-03 1.76194385e+02] [ 3.40058489e-01 9.40400912e-01 -2.51957362e-03 1.23986893e+01] [ 7.67855372e-03 -9.74669921e-05 9.99970515e-01 1.06611375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.655898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.22, Y:12.41, Z:1.07 [[ 9.40932215e-01 -3.38517283e-01 -7.25362312e-03 1.76218012e+02] [ 3.38507907e-01 9.40960170e-01 -2.52084049e-03 1.24114828e+01] [ 7.67871852e-03 -8.34687554e-05 9.99970515e-01 1.06675017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.685898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:176.24, Y:12.42, Z:1.07 [[ 9.41482287e-01 -3.36984407e-01 -7.25343103e-03 1.76243597e+02] [ 3.36974982e-01 9.41510225e-01 -2.52139310e-03 1.24242772e+01] [ 7.67884964e-03 -7.03778457e-05 9.99970515e-01 1.06818465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:12.44, Z:1.07 [[ 9.42381951e-01 -3.34460242e-01 -7.25299487e-03 1.76267387e+02] [ 3.34450732e-01 9.42409860e-01 -2.52264712e-03 1.24392782e+01] [ 7.67901905e-03 -4.84723272e-05 9.99970515e-01 1.06855637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:12.45, Z:1.07 [[ 9.42616770e-01 -3.33797875e-01 -7.25280449e-03 1.76292782e+02] [ 3.33788341e-01 9.42644672e-01 -2.52319436e-03 1.24516547e+01] [ 7.67905442e-03 -4.24962564e-05 9.99970515e-01 1.06800588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:12.46, Z:1.07 [[ 9.42789375e-01 -3.33310061e-01 -7.25237308e-03 1.76317329e+02] [ 3.33300503e-01 9.42817268e-01 -2.52443376e-03 1.24633165e+01] [ 7.67908175e-03 -3.72102684e-05 9.99970515e-01 1.06791232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:12.47, Z:1.07 [[ 9.42606978e-01 -3.33825541e-01 -7.25218580e-03 1.76342689e+02] [ 3.33815994e-01 9.42634875e-01 -2.52497166e-03 1.24747381e+01] [ 7.67906328e-03 -4.08397101e-05 9.99970515e-01 1.06849702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.37, Y:12.48, Z:1.07 [[ 9.42550370e-01 -3.33985348e-01 -7.25175827e-03 1.76369540e+02] [ 3.33975797e-01 9.42578265e-01 -2.52619893e-03 1.24843236e+01] [ 7.67906316e-03 -4.08420066e-05 9.99970515e-01 1.06871575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.39, Y:12.50, Z:1.07 [[ 9.42134903e-01 -3.35155550e-01 -7.25132977e-03 1.76394471e+02] [ 3.35146024e-01 9.42162807e-01 -2.52742831e-03 1.24958538e+01] [ 7.67901484e-03 -4.90759168e-05 9.99970515e-01 1.06877333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.42, Y:12.51, Z:1.07 [[ 9.42040621e-01 -3.35420467e-01 -7.25114343e-03 1.76420254e+02] [ 3.35410945e-01 9.42068526e-01 -2.52796283e-03 1.25063520e+01] [ 7.67900447e-03 -5.06691962e-05 9.99970515e-01 1.06717081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.925898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.45, Y:12.52, Z:1.07 [[ 9.41996965e-01 -3.35543059e-01 -7.25071916e-03 1.76446787e+02] [ 3.35533530e-01 9.42024869e-01 -2.52917912e-03 1.25167291e+01] [ 7.67900626e-03 -5.03803447e-05 9.99970515e-01 1.06543058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.47, Y:12.53, Z:1.06 [[ 9.42088327e-01 -3.35286471e-01 -7.25029614e-03 1.76472894e+02] [ 3.35276926e-01 9.42116224e-01 -2.53039119e-03 1.25267412e+01] [ 7.67902756e-03 -4.70049943e-05 9.99970515e-01 1.06399979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.50, Y:12.54, Z:1.06 [[ 9.42324915e-01 -3.34620971e-01 -7.24987304e-03 1.76499263e+02] [ 3.34611397e-01 9.42352802e-01 -2.53160285e-03 1.25367090e+01] [ 7.67906558e-03 -4.02977112e-05 9.99970515e-01 1.06397328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.53, Y:12.55, Z:1.06 [[ 9.42811377e-01 -3.33247886e-01 -7.24945276e-03 1.76525105e+02] [ 3.33238262e-01 9.42839247e-01 -2.53280579e-03 1.25471001e+01] [ 7.67912075e-03 -2.78369278e-05 9.99970515e-01 1.06486661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.55, Y:12.56, Z:1.07 [[ 9.44503310e-01 -3.28421908e-01 -7.24903088e-03 1.76550533e+02] [ 3.28412132e-01 9.44531127e-01 -2.53401266e-03 1.25598277e+01] [ 7.67916058e-03 1.27136592e-05 9.99970515e-01 1.06580051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:12.57, Z:1.07 [[ 9.45321562e-01 -3.26059200e-01 -7.24860959e-03 1.76576725e+02] [ 3.26049346e-01 9.45349352e-01 -2.53521719e-03 1.25709094e+01] [ 7.67909927e-03 3.31910634e-05 9.99970515e-01 1.06717272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:12.58, Z:1.07 [[ 9.45954294e-01 -3.24218966e-01 -7.24818910e-03 1.76602498e+02] [ 3.24209048e-01 9.45982061e-01 -2.53641880e-03 1.25805918e+01] [ 7.67901194e-03 4.94077630e-05 9.99970515e-01 1.06827046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.63, Y:12.59, Z:1.07 [[ 9.46350803e-01 -3.23059790e-01 -7.24776869e-03 1.76628391e+02] [ 3.23049829e-01 9.46378554e-01 -2.53761956e-03 1.25903163e+01] [ 7.67893569e-03 6.00878692e-05 9.99970515e-01 1.06821650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.165898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.65, Y:12.60, Z:1.07 [[ 9.46527920e-01 -3.22540497e-01 -7.24734913e-03 1.76654770e+02] [ 3.22530511e-01 9.46555663e-01 -2.53881723e-03 1.25998664e+01] [ 7.67889073e-03 6.55701773e-05 9.99970515e-01 1.06841666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.68, Y:12.61, Z:1.06 [[ 9.46748546e-01 -3.21892332e-01 -7.24687511e-03 1.76681616e+02] [ 3.21882318e-01 9.46776278e-01 -2.54016956e-03 1.26083226e+01] [ 7.67883055e-03 7.22608773e-05 9.99970515e-01 1.06187457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.71, Y:12.62, Z:1.06 [[ 9.46732970e-01 -3.21938144e-01 -7.24672798e-03 1.76708709e+02] [ 3.21928127e-01 9.46760702e-01 -2.54058924e-03 1.26169558e+01] [ 7.67882985e-03 7.23340331e-05 9.99970515e-01 1.06099247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.255898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:176.74, Y:12.63, Z:1.06 [[ 9.46697700e-01 -3.22041855e-01 -7.24630853e-03 1.76735523e+02] [ 3.22031832e-01 9.46725429e-01 -2.54178503e-03 1.26262918e+01] [ 7.67882572e-03 7.27600294e-05 9.99970515e-01 1.06113878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.76, Y:12.63, Z:1.07 [[ 9.46838907e-01 -3.21626461e-01 -7.24588883e-03 1.76762639e+02] [ 3.21616417e-01 9.46866629e-01 -2.54298092e-03 1.26339400e+01] [ 7.67878028e-03 7.73964729e-05 9.99970515e-01 1.06545262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.79, Y:12.64, Z:1.07 [[ 9.47198310e-01 -3.20566475e-01 -7.24541004e-03 1.76789617e+02] [ 3.20556390e-01 9.47226017e-01 -2.54434435e-03 1.26427503e+01] [ 7.67867239e-03 8.74361872e-05 9.99970515e-01 1.06714766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.82, Y:12.65, Z:1.06 [[ 9.47797743e-01 -3.18789821e-01 -7.24490930e-03 1.76816188e+02] [ 3.18779673e-01 9.47825426e-01 -2.54576938e-03 1.26520217e+01] [ 7.67847461e-03 1.03344655e-04 9.99970515e-01 1.06412864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.375898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:176.84, Y:12.66, Z:1.06 [[ 9.49211891e-01 -3.14554128e-01 -7.24475366e-03 1.76842338e+02] [ 3.14543853e-01 9.49239528e-01 -2.54621223e-03 1.26611476e+01] [ 7.67792811e-03 1.38102189e-04 9.99970515e-01 1.06349683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.87, Y:12.67, Z:1.06 [[ 9.49803821e-01 -3.12762245e-01 -7.24433356e-03 1.76869463e+02] [ 3.12751908e-01 9.49831435e-01 -2.54740692e-03 1.26695640e+01] [ 7.67762844e-03 1.53857680e-04 9.99970515e-01 1.06385893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.90, Y:12.68, Z:1.07 [[ 9.50261041e-01 -3.11370327e-01 -7.24391311e-03 1.76896439e+02] [ 3.11359941e-01 9.50288636e-01 -2.54860197e-03 1.26781413e+01] [ 7.67736733e-03 1.66372798e-04 9.99970515e-01 1.06738123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.92, Y:12.69, Z:1.07 [[ 9.50596831e-01 -3.10343677e-01 -7.24342606e-03 1.76921818e+02] [ 3.10333251e-01 9.50624411e-01 -2.54998547e-03 1.26867155e+01] [ 7.67714950e-03 1.76132149e-04 9.99970515e-01 1.06712274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.495898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.95, Y:12.70, Z:1.07 [[ 9.50822092e-01 -3.09652849e-01 -7.24309412e-03 1.76948042e+02] [ 3.09642395e-01 9.50849662e-01 -2.55092797e-03 1.26958709e+01] [ 7.67699571e-03 1.82709658e-04 9.99970515e-01 1.06896994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.97, Y:12.70, Z:1.07 [[ 9.50988350e-01 -3.09141881e-01 -7.24261000e-03 1.76974752e+02] [ 3.09131403e-01 9.51015910e-01 -2.55230175e-03 1.27047449e+01] [ 7.67686071e-03 1.88291047e-04 9.99970515e-01 1.06965130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.555898227 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:177.00, Y:12.71, Z:1.07 [[ 9.50990785e-01 -3.09134395e-01 -7.24245990e-03 1.77000952e+02] [ 3.09123913e-01 9.51018344e-01 -2.55272760e-03 1.27136353e+01] [ 7.67684812e-03 1.88802881e-04 9.99970515e-01 1.07043696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.03, Y:12.72, Z:1.07 [[ 9.50977616e-01 -3.09174914e-01 -7.24196913e-03 1.77027100e+02] [ 3.09164422e-01 9.51005172e-01 -2.55411914e-03 1.27213695e+01] [ 7.67681966e-03 1.89950931e-04 9.99970515e-01 1.06990558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:12.73, Z:1.07 [[ 9.50865740e-01 -3.09518821e-01 -7.24175555e-03 1.77052910e+02] [ 3.09508335e-01 9.50893298e-01 -2.55472457e-03 1.27303022e+01] [ 7.67687215e-03 1.87816370e-04 9.99970515e-01 1.06868989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.645898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.08, Y:12.74, Z:1.07 [[ 9.50687480e-01 -3.10065922e-01 -7.24154461e-03 1.77078792e+02] [ 3.10055447e-01 9.50715041e-01 -2.55532234e-03 1.27393282e+01] [ 7.67696376e-03 1.84032608e-04 9.99970515e-01 1.06995609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.11, Y:12.75, Z:1.07 [[ 9.50515808e-01 -3.10591790e-01 -7.24139698e-03 1.77105364e+02] [ 3.10581327e-01 9.50543375e-01 -2.55574064e-03 1.27491781e+01] [ 7.67705398e-03 1.80229196e-04 9.99970515e-01 1.07287817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.13, Y:12.76, Z:1.07 [[ 9.50381665e-01 -3.11002026e-01 -7.24091829e-03 1.77131563e+02] [ 3.10991565e-01 9.50409232e-01 -2.55709614e-03 1.27589392e+01] [ 7.67709767e-03 1.78352774e-04 9.99970515e-01 1.07455473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.16, Y:12.77, Z:1.07 [[ 9.50341530e-01 -3.11124656e-01 -7.24043328e-03 1.77156677e+02] [ 3.11114188e-01 9.50369095e-01 -2.55846872e-03 1.27685357e+01] [ 7.67708672e-03 1.78817564e-04 9.99970515e-01 1.07398656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.765898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.18, Y:12.78, Z:1.08 [[ 9.50385345e-01 -3.10990797e-01 -7.24022318e-03 1.77182885e+02] [ 3.10980321e-01 9.50412906e-01 -2.55906314e-03 1.27791435e+01] [ 7.67704664e-03 1.80529176e-04 9.99970515e-01 1.07512501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.21, Y:12.79, Z:1.07 [[ 9.50519951e-01 -3.10579157e-01 -7.23946748e-03 1.77209245e+02] [ 3.10568652e-01 9.50547502e-01 -2.56120012e-03 1.27898504e+01] [ 7.67691310e-03 1.86120156e-04 9.99970515e-01 1.07321652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.23, Y:12.80, Z:1.08 [[ 9.50523940e-01 -3.10566945e-01 -7.23966876e-03 1.77234847e+02] [ 3.10556444e-01 9.50551492e-01 -2.56063106e-03 1.28008898e+01] [ 7.67692530e-03 1.85615338e-04 9.99970515e-01 1.07687222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.26, Y:12.81, Z:1.08 [[ 9.50219938e-01 -3.11495841e-01 -7.23951978e-03 1.77260942e+02] [ 3.11485364e-01 9.50247499e-01 -2.56105219e-03 1.28105885e+01] [ 7.67709267e-03 1.78558399e-04 9.99970515e-01 1.07896876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.29, Y:12.82, Z:1.08 [[ 9.49658794e-01 -3.13202437e-01 -7.23937329e-03 1.77286576e+02] [ 3.13192006e-01 9.49686373e-01 -2.56146621e-03 1.28199880e+01] [ 7.67739162e-03 1.65205069e-04 9.99970515e-01 1.07910296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.915898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:177.31, Y:12.83, Z:1.08 [[ 9.48777350e-01 -3.15862523e-01 -7.23917039e-03 1.77312731e+02] [ 3.15852166e-01 9.48804956e-01 -2.56203951e-03 1.28297368e+01] [ 7.67781301e-03 1.44297417e-04 9.99970515e-01 1.07884277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94589822700001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:177.34, Y:12.84, Z:1.08 [[ 9.47848146e-01 -3.18640067e-01 -7.23869435e-03 1.77339022e+02] [ 3.18629780e-01 9.47875779e-01 -2.56338378e-03 1.28393007e+01] [ 7.67817983e-03 1.23234977e-04 9.99970515e-01 1.07714129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.975898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.37, Y:12.85, Z:1.08 [[ 9.46974257e-01 -3.21227901e-01 -7.23821525e-03 1.77365298e+02] [ 3.21217679e-01 9.47001914e-01 -2.56473592e-03 1.28490204e+01] [ 7.67846843e-03 1.03696185e-04 9.99970515e-01 1.07598550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.005898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:177.39, Y:12.86, Z:1.07 [[ 9.46170437e-01 -3.23587885e-01 -7.23773244e-03 1.77390304e+02] [ 3.23577721e-01 9.46198115e-01 -2.56609767e-03 1.28601191e+01] [ 7.67868692e-03 8.59967874e-05 9.99970515e-01 1.07411342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.035898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:177.42, Y:12.87, Z:1.08 [[ 9.45715424e-01 -3.24915434e-01 -7.23172375e-03 1.77416922e+02] [ 3.24905180e-01 9.45743069e-01 -2.58303505e-03 1.28718154e+01] [ 7.67862057e-03 9.31915835e-05 9.99970515e-01 1.07551372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.065898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:177.44, Y:12.88, Z:1.08 [[ 9.45334196e-01 -3.26022823e-01 -7.23719611e-03 1.77442049e+02] [ 3.26012719e-01 9.45361896e-01 -2.56761039e-03 1.28821987e+01] [ 7.67886902e-03 6.78319213e-05 9.99970515e-01 1.07521396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.095898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.47, Y:12.89, Z:1.08 [[ 9.44773995e-01 -3.27642678e-01 -7.23698725e-03 1.77467755e+02] [ 3.27632617e-01 9.44801711e-01 -2.56819894e-03 1.28924398e+01] [ 7.67896951e-03 5.52944997e-05 9.99970515e-01 1.07614341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.49, Y:12.90, Z:1.08 [[ 9.43326724e-01 -3.31786564e-01 -7.23650922e-03 1.77493415e+02] [ 3.31776615e-01 9.43354480e-01 -2.56954519e-03 1.29040189e+01] [ 7.67913397e-03 2.30161151e-05 9.99970515e-01 1.07840613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.155898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:177.52, Y:12.91, Z:1.08 [[ 9.42728840e-01 -3.33481593e-01 -7.23609271e-03 1.77518164e+02] [ 3.33471685e-01 9.42756611e-01 -2.57071759e-03 1.29147909e+01] [ 7.67916124e-03 1.04575896e-05 9.99970515e-01 1.07799782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.54, Y:12.93, Z:1.08 [[ 9.42373254e-01 -3.34485115e-01 -7.23588520e-03 1.77544444e+02] [ 3.34475232e-01 9.42401033e-01 -2.57130155e-03 1.29250029e+01] [ 7.67916778e-03 2.90142664e-06 9.99970515e-01 1.07771798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.215898227 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:177.57, Y:12.94, Z:1.07 [[ 9.42174828e-01 -3.35043642e-01 -7.23539925e-03 1.77570107e+02] [ 3.35033765e-01 9.42202610e-01 -2.57266823e-03 1.29366033e+01] [ 7.67916819e-03 -1.99805096e-07 9.99970515e-01 1.07480064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.245898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:177.60, Y:12.95, Z:1.08 [[ 9.42027786e-01 -3.35456855e-01 -7.23524800e-03 1.77596101e+02] [ 3.35446986e-01 9.42055571e-01 -2.57309354e-03 1.29475426e+01] [ 7.67916755e-03 -3.11653047e-06 9.99970515e-01 1.07536780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.275898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.62, Y:12.96, Z:1.08 [[ 9.41248956e-01 -3.37635989e-01 -7.23475773e-03 1.77619970e+02] [ 3.37626174e-01 9.41276760e-01 -2.57447128e-03 1.29611368e+01] [ 7.67914347e-03 -1.94251694e-05 9.99970515e-01 1.07591931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.64, Y:12.97, Z:1.08 [[ 9.40526160e-01 -3.39644231e-01 -7.23454428e-03 1.77644759e+02] [ 3.39634471e-01 9.40553983e-01 -2.57507097e-03 1.29732854e+01] [ 7.67908744e-03 -3.51790016e-05 9.99970515e-01 1.07524578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.335898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:177.67, Y:12.99, Z:1.08 [[ 9.39676300e-01 -3.41988474e-01 -7.23433242e-03 1.77670278e+02] [ 3.41978779e-01 9.39704145e-01 -2.57566601e-03 1.29853580e+01] [ 7.67898026e-03 -5.36958654e-05 9.99970515e-01 1.07500321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.70, Y:13.00, Z:1.07 [[ 9.38903535e-01 -3.44104378e-01 -7.23384094e-03 1.77695917e+02] [ 3.44094735e-01 9.38931399e-01 -2.57704563e-03 1.29950653e+01] [ 7.67885307e-03 -6.95293311e-05 9.99970515e-01 1.07421251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.395898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:177.72, Y:13.01, Z:1.08 [[ 9.38017880e-01 -3.46511372e-01 -7.23362746e-03 1.77721609e+02] [ 3.46501795e-01 9.38045767e-01 -2.57764470e-03 1.30063346e+01] [ 7.67865682e-03 -8.85880840e-05 9.99970515e-01 1.07524040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.425898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:177.75, Y:13.02, Z:1.08 [[ 9.37051053e-01 -3.49117467e-01 -7.23313462e-03 1.77747430e+02] [ 3.49107958e-01 9.37078963e-01 -2.57902693e-03 1.30173703e+01] [ 7.67840164e-03 -1.08464953e-04 9.99970515e-01 1.07634691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.77, Y:13.03, Z:1.08 [[ 9.35059964e-01 -3.54415791e-01 -7.23264114e-03 1.77773641e+02] [ 3.54406429e-01 9.35087923e-01 -2.58041010e-03 1.30298782e+01] [ 7.67769347e-03 -1.50456345e-04 9.99970515e-01 1.07815795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.485898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.80, Y:13.04, Z:1.08 [[ 9.33939571e-01 -3.57357766e-01 -7.23220970e-03 1.77798641e+02] [ 3.57348483e-01 9.33967557e-01 -2.58161874e-03 1.30402688e+01] [ 7.67721073e-03 -1.73343272e-04 9.99970515e-01 1.07728038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.515898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:177.83, Y:13.05, Z:1.08 [[ 9.32886577e-01 -3.60097671e-01 -7.23199597e-03 1.77825112e+02] [ 3.60088465e-01 9.32914589e-01 -2.58221734e-03 1.30504883e+01] [ 7.67668499e-03 -1.95242428e-04 9.99970515e-01 1.07771033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.545898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:177.85, Y:13.06, Z:1.08 [[ 9.31909092e-01 -3.62619842e-01 -7.23153699e-03 1.77851135e+02] [ 3.62610702e-01 9.31937125e-01 -2.58350208e-03 1.30605225e+01] [ 7.67616691e-03 -2.14643630e-04 9.99970515e-01 1.07743455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.88, Y:13.07, Z:1.08 [[ 9.31067958e-01 -3.64774135e-01 -7.23104175e-03 1.77876549e+02] [ 3.64765049e-01 9.31096009e-01 -2.58488747e-03 1.30704196e+01] [ 7.67569421e-03 -2.30925401e-04 9.99970515e-01 1.07627060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.90, Y:13.08, Z:1.08 [[ 9.30237483e-01 -3.66886825e-01 -7.23070528e-03 1.77902654e+02] [ 3.66877795e-01 9.30265552e-01 -2.58582836e-03 1.30811876e+01] [ 7.67518239e-03 -2.47350747e-04 9.99970515e-01 1.07654492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.93, Y:13.09, Z:1.08 [[ 9.29534137e-01 -3.68665175e-01 -7.23022420e-03 1.77927865e+02] [ 3.68656189e-01 9.29562220e-01 -2.58717278e-03 1.30929548e+01] [ 7.67474377e-03 -2.60601481e-04 9.99970515e-01 1.07792147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.95, Y:13.10, Z:1.08 [[ 9.29589916e-01 -3.68524517e-01 -7.22973920e-03 1.77953194e+02] [ 3.68515516e-01 9.29617994e-01 -2.58852740e-03 1.31034915e+01] [ 7.67483146e-03 -2.58002104e-04 9.99970515e-01 1.07756773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.98, Y:13.11, Z:1.08 [[ 9.29642413e-01 -3.68392072e-01 -7.22952975e-03 1.77979309e+02] [ 3.68383062e-01 9.29670488e-01 -2.58911223e-03 1.31146206e+01] [ 7.67488887e-03 -2.56287772e-04 9.99970515e-01 1.07748905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.01, Y:13.12, Z:1.08 [[ 9.29575280e-01 -3.68561447e-01 -7.22905943e-03 1.78006071e+02] [ 3.68552432e-01 9.29603353e-01 -2.59042476e-03 1.31244278e+01] [ 7.67488858e-03 -2.56292617e-04 9.99970515e-01 1.07770777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.755898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.03, Y:13.14, Z:1.08 [[ 9.29613867e-01 -3.68464118e-01 -7.22858723e-03 1.78032207e+02] [ 3.68455091e-01 9.29641936e-01 -2.59174177e-03 1.31357067e+01] [ 7.67496167e-03 -2.54090674e-04 9.99970515e-01 1.07876512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.06, Y:13.15, Z:1.08 [[ 9.29487821e-01 -3.68781975e-01 -7.22808804e-03 1.78056560e+02] [ 3.68772946e-01 9.29515890e-01 -2.59313319e-03 1.31474170e+01] [ 7.67492347e-03 -2.55237602e-04 9.99970515e-01 1.07741433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.815898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.08, Y:13.16, Z:1.08 [[ 9.29093281e-01 -3.69774843e-01 -7.22774966e-03 1.78081352e+02] [ 3.69765837e-01 9.29121357e-01 -2.59407602e-03 1.31584515e+01] [ 7.67468062e-03 -2.62436297e-04 9.99970515e-01 1.07819402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.11, Y:13.17, Z:1.08 [[ 9.28885079e-01 -3.70297549e-01 -7.22742011e-03 1.78107273e+02] [ 3.70288552e-01 9.28913158e-01 -2.59499386e-03 1.31673272e+01] [ 7.67456550e-03 -2.65779852e-04 9.99970515e-01 1.07900316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.13, Y:13.18, Z:1.08 [[ 9.28684824e-01 -3.70799493e-01 -7.22727138e-03 1.78133034e+02] [ 3.70790508e-01 9.28712907e-01 -2.59540802e-03 1.31769523e+01] [ 7.67443619e-03 -2.69487584e-04 9.99970515e-01 1.08069720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.16, Y:13.19, Z:1.08 [[ 9.28671990e-01 -3.70831645e-01 -7.22679968e-03 1.78160289e+02] [ 3.70822650e-01 9.28700070e-01 -2.59672076e-03 1.31874041e+01] [ 7.67447560e-03 -2.68359172e-04 9.99970515e-01 1.07996634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.19, Y:13.20, Z:1.08 [[ 9.28670336e-01 -3.70835794e-01 -7.22640802e-03 1.78186653e+02] [ 3.70826791e-01 9.28698413e-01 -2.59781027e-03 1.31980955e+01] [ 7.67451469e-03 -2.67236354e-04 9.99970515e-01 1.07866864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.21, Y:13.21, Z:1.08 [[ 9.28386872e-01 -3.71544884e-01 -7.22597715e-03 1.78211909e+02] [ 3.71535893e-01 9.28414953e-01 -2.59900822e-03 1.32094155e+01] [ 7.67435344e-03 -2.71824760e-04 9.99970515e-01 1.07662173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.995898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.24, Y:13.22, Z:1.08 [[ 9.27930264e-01 -3.72683797e-01 -7.22582416e-03 1.78236308e+02] [ 3.72674837e-01 9.27958355e-01 -2.59943350e-03 1.32200342e+01] [ 7.67403064e-03 -2.80789830e-04 9.99970515e-01 1.07669017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.025898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.26, Y:13.23, Z:1.08 [[ 9.27359677e-01 -3.74101352e-01 -7.22549708e-03 1.78261781e+02] [ 3.74092428e-01 9.27387779e-01 -2.60034234e-03 1.32308723e+01] [ 7.67362928e-03 -2.91551109e-04 9.99970515e-01 1.07900383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.29, Y:13.24, Z:1.08 [[ 9.26883578e-01 -3.75279405e-01 -7.22500685e-03 1.78288832e+02] [ 3.75270506e-01 9.26911689e-01 -2.60170371e-03 1.32420507e+01] [ 7.67330912e-03 -2.99855536e-04 9.99970515e-01 1.08180711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.085898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.31, Y:13.25, Z:1.08 [[ 9.26640923e-01 -3.75878180e-01 -7.22457965e-03 1.78314602e+02] [ 3.75869290e-01 9.26669036e-01 -2.60288944e-03 1.32524904e+01] [ 7.67316361e-03 -3.03553753e-04 9.99970515e-01 1.08192117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.34, Y:13.26, Z:1.08 [[ 9.26504444e-01 -3.76214471e-01 -7.22409194e-03 1.78339756e+02] [ 3.76205581e-01 9.26532557e-01 -2.60424234e-03 1.32627882e+01] [ 7.67311003e-03 -3.04901610e-04 9.99970515e-01 1.08129737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.37, Y:13.27, Z:1.08 [[ 9.26208110e-01 -3.76943435e-01 -7.22388024e-03 1.78365014e+02] [ 3.76934562e-01 9.26236228e-01 -2.60482946e-03 1.32739555e+01] [ 7.67289295e-03 -3.10315964e-04 9.99970515e-01 1.08214915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.39, Y:13.29, Z:1.08 [[ 9.26017380e-01 -3.77411757e-01 -7.22339005e-03 1.78391085e+02] [ 3.77402888e-01 9.26045500e-01 -2.60618807e-03 1.32850292e+01] [ 7.67279387e-03 -3.12752819e-04 9.99970515e-01 1.08264482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.42, Y:13.30, Z:1.08 [[ 9.25490976e-01 -3.78700777e-01 -7.22323810e-03 1.78415573e+02] [ 3.78691944e-01 9.25519107e-01 -2.60660915e-03 1.32983878e+01] [ 7.67236978e-03 -3.22988836e-04 9.99970515e-01 1.08350541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.44, Y:13.31, Z:1.08 [[ 9.25074941e-01 -3.79715921e-01 -7.22308809e-03 1.78441479e+02] [ 3.79707116e-01 9.25103081e-01 -2.60702478e-03 1.33099562e+01] [ 7.67202985e-03 -3.30964648e-04 9.99970515e-01 1.08427828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.265898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.47, Y:13.32, Z:1.08 [[ 9.24629705e-01 -3.80798822e-01 -7.22261828e-03 1.78466948e+02] [ 3.80790040e-01 9.24657851e-01 -2.60832569e-03 1.33222814e+01] [ 7.67169806e-03 -3.38565693e-04 9.99970515e-01 1.08223806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.49, Y:13.33, Z:1.08 [[ 9.24214210e-01 -3.81806141e-01 -7.22247299e-03 1.78492054e+02] [ 3.81797386e-01 9.24242366e-01 -2.60872795e-03 1.33335052e+01] [ 7.67134387e-03 -3.46497864e-04 9.99970515e-01 1.08144768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.52, Y:13.35, Z:1.08 [[ 9.23727554e-01 -3.82982042e-01 -7.22233022e-03 1.78517872e+02] [ 3.82973319e-01 9.23755719e-01 -2.60912315e-03 1.33466715e+01] [ 7.67091616e-03 -3.55840835e-04 9.99970515e-01 1.08093408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.54, Y:13.36, Z:1.08 [[ 9.23259023e-01 -3.84110166e-01 -7.22191663e-03 1.78542386e+02] [ 3.84101469e-01 9.23287197e-01 -2.61026745e-03 1.33596013e+01] [ 7.67053342e-03 -3.63995811e-04 9.99970515e-01 1.07958079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.57, Y:13.38, Z:1.08 [[ 9.22021493e-01 -3.87071328e-01 -7.22171105e-03 1.78567172e+02] [ 3.87062718e-01 9.22049693e-01 -2.61083608e-03 1.33763780e+01] [ 7.66935625e-03 -3.88008122e-04 9.99970515e-01 1.08325114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.59, Y:13.39, Z:1.08 [[ 9.21051437e-01 -3.89373989e-01 -7.22128248e-03 1.78592277e+02] [ 3.89365440e-01 9.21079655e-01 -2.61202092e-03 1.33888232e+01] [ 7.66842939e-03 -4.05912203e-04 9.99970515e-01 1.08384541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.62, Y:13.40, Z:1.08 [[ 9.19936761e-01 -3.92000275e-01 -7.22078677e-03 1.78616904e+02] [ 3.91991795e-01 9.19965001e-01 -2.61339057e-03 1.34005658e+01] [ 7.66732093e-03 -4.26335113e-04 9.99970515e-01 1.08354946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.64, Y:13.41, Z:1.08 [[ 9.18642628e-01 -3.95023525e-01 -7.22057107e-03 1.78641248e+02] [ 3.95015133e-01 9.18670894e-01 -2.61398641e-03 1.34121887e+01] [ 7.66591460e-03 -4.50915498e-04 9.99970515e-01 1.08262643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.67, Y:13.42, Z:1.08 [[ 9.17292047e-01 -3.98149679e-01 -7.22036184e-03 1.78666137e+02] [ 3.98141379e-01 9.17320340e-01 -2.61456422e-03 1.34238227e+01] [ 7.66437268e-03 -4.76405859e-04 9.99970515e-01 1.08260606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.69, Y:13.44, Z:1.08 [[ 9.14947345e-01 -4.03508641e-01 -7.22021863e-03 1.78689866e+02] [ 4.03500504e-01 9.14975686e-01 -2.61495963e-03 1.34367681e+01] [ 7.66148330e-03 -5.20811490e-04 9.99970515e-01 1.08191890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.72, Y:13.45, Z:1.08 [[ 9.13686336e-01 -4.06355941e-01 -7.22001860e-03 1.78715359e+02] [ 4.06347888e-01 9.13714700e-01 -2.61551181e-03 1.34474727e+01] [ 7.65986589e-03 -5.44081909e-04 9.99970515e-01 1.08415386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.74, Y:13.46, Z:1.08 [[ 9.12451364e-01 -4.09121482e-01 -7.21954016e-03 1.78740552e+02] [ 4.09113504e-01 9.12479749e-01 -2.61683176e-03 1.34574522e+01] [ 7.65828628e-03 -5.65879661e-04 9.99970515e-01 1.08042906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.77, Y:13.47, Z:1.08 [[ 9.11290558e-01 -4.11700619e-01 -7.21933258e-03 1.78766429e+02] [ 4.11692717e-01 9.11318965e-01 -2.61740430e-03 1.34671442e+01] [ 7.65670167e-03 -5.86930822e-04 9.99970515e-01 1.08302245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.79, Y:13.48, Z:1.08 [[ 9.10248973e-01 -4.13998425e-01 -7.21885656e-03 1.78792018e+02] [ 4.13990585e-01 9.10277396e-01 -2.61871653e-03 1.34774131e+01] [ 7.65530647e-03 -6.04854615e-04 9.99970515e-01 1.08381461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.82, Y:13.49, Z:1.08 [[ 9.10548266e-01 -4.13339751e-01 -7.21837931e-03 1.78818266e+02] [ 4.13331880e-01 9.10576681e-01 -2.62003138e-03 1.34869569e+01] [ 7.65585100e-03 -5.97921264e-04 9.99970515e-01 1.08414570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:13.50, Z:1.09 [[ 9.11055100e-01 -4.12221423e-01 -7.21823130e-03 1.78844937e+02] [ 4.12213513e-01 9.11083505e-01 -2.62043909e-03 1.34966062e+01] [ 7.65661260e-03 -5.88088088e-04 9.99970515e-01 1.08554537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.87, Y:13.51, Z:1.09 [[ 9.11592424e-01 -4.11031819e-01 -7.21775857e-03 1.78871381e+02] [ 4.11023862e-01 9.11620815e-01 -2.62174054e-03 1.35060867e+01] [ 7.65747774e-03 -5.76712189e-04 9.99970515e-01 1.08588877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:13.52, Z:1.09 [[ 9.12139656e-01 -4.09816005e-01 -7.21728652e-03 1.78897748e+02] [ 4.09808000e-01 9.12168034e-01 -2.62303937e-03 1.35151543e+01] [ 7.65834158e-03 -5.65123525e-04 9.99970515e-01 1.08745843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:13.52, Z:1.08 [[ 9.12597007e-01 -4.08796551e-01 -7.21677594e-03 1.78922850e+02] [ 4.08788503e-01 9.12625373e-01 -2.62444340e-03 1.35240747e+01] [ 7.65907624e-03 -5.55075845e-04 9.99970515e-01 1.08497448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.95, Y:13.53, Z:1.08 [[ 9.13514685e-01 -4.06741738e-01 -7.21655378e-03 1.78948404e+02] [ 4.06733622e-01 9.13543031e-01 -2.62505413e-03 1.35320855e+01] [ 7.66035150e-03 -5.37189554e-04 9.99970515e-01 1.08304459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:13.54, Z:1.09 [[ 9.13907339e-01 -4.05858724e-01 -7.21608217e-03 1.78975476e+02] [ 4.05850570e-01 9.13935675e-01 -2.62634991e-03 1.35406005e+01] [ 7.66096195e-03 -5.28410603e-04 9.99970515e-01 1.08632037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.895898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.00, Y:13.55, Z:1.09 [[ 9.14210595e-01 -4.05175176e-01 -7.21565627e-03 1.79002314e+02] [ 4.05166991e-01 9.14238921e-01 -2.62751952e-03 1.35497975e+01] [ 7.66143948e-03 -5.21439563e-04 9.99970515e-01 1.08845418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.03, Y:13.56, Z:1.09 [[ 9.14266076e-01 -4.05049976e-01 -7.21521210e-03 1.79029152e+02] [ 4.05041778e-01 9.14294399e-01 -2.62873865e-03 1.35576049e+01] [ 7.66159853e-03 -5.19095767e-04 9.99970515e-01 1.08732618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.06, Y:13.57, Z:1.08 [[ 9.14474558e-01 -4.04579073e-01 -7.21497428e-03 1.79056881e+02] [ 4.04570856e-01 9.14502875e-01 -2.62939121e-03 1.35650266e+01] [ 7.66191139e-03 -5.14456952e-04 9.99970515e-01 1.08322546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.08, Y:13.57, Z:1.09 [[ 9.14769994e-01 -4.03910615e-01 -7.21613894e-03 1.79084394e+02] [ 4.03902402e-01 9.14798312e-01 -2.62619658e-03 1.35737029e+01] [ 7.66206040e-03 -5.12250024e-04 9.99970515e-01 1.08590077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.11, Y:13.58, Z:1.08 [[ 9.15029533e-01 -4.03322337e-01 -7.21435498e-03 1.79111225e+02] [ 4.03314068e-01 9.15057834e-01 -2.63108812e-03 1.35824420e+01] [ 7.66272866e-03 -5.02127522e-04 9.99970515e-01 1.08196396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.14, Y:13.59, Z:1.08 [[ 9.15096382e-01 -4.03170642e-01 -7.21419955e-03 1.79138009e+02] [ 4.03162364e-01 9.15124682e-01 -2.63151425e-03 1.35910375e+01] [ 7.66284135e-03 -5.00404578e-04 9.99970515e-01 1.08375514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.17, Y:13.60, Z:1.09 [[ 9.15061505e-01 -4.03249804e-01 -7.21371456e-03 1.79165345e+02] [ 4.03241518e-01 9.15089802e-01 -2.63284305e-03 1.35999946e+01] [ 7.66289007e-03 -4.99655882e-04 9.99970515e-01 1.08503989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:13.61, Z:1.08 [[ 9.14869313e-01 -4.03685657e-01 -7.21328322e-03 1.79191435e+02] [ 4.03677375e-01 9.14897611e-01 -2.63402429e-03 1.36087679e+01] [ 7.66273341e-03 -5.02051241e-04 9.99970515e-01 1.08359603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.22, Y:13.62, Z:1.08 [[ 9.14588018e-01 -4.04322555e-01 -7.21312982e-03 1.79218262e+02] [ 4.04314290e-01 9.14616321e-01 -2.63444429e-03 1.36157187e+01] [ 7.66241151e-03 -5.06940281e-04 9.99970515e-01 1.08447984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.25, Y:13.62, Z:1.09 [[ 9.14645788e-01 -4.04191861e-01 -7.21265054e-03 1.79245091e+02] [ 4.04183582e-01 9.14674087e-01 -2.63575581e-03 1.36233306e+01] [ 7.66257560e-03 -5.04451979e-04 9.99970515e-01 1.08606393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.27, Y:13.63, Z:1.09 [[ 9.14756178e-01 -4.03941976e-01 -7.21214751e-03 1.79272239e+02] [ 4.03933678e-01 9.14784471e-01 -2.63713153e-03 1.36311729e+01] [ 7.66280867e-03 -5.00896918e-04 9.99970515e-01 1.08648326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.30, Y:13.64, Z:1.09 [[ 9.14777715e-01 -4.03893210e-01 -7.21164505e-03 1.79299387e+02] [ 4.03884900e-01 9.14806005e-01 -2.63850487e-03 1.36397433e+01] [ 7.66293040e-03 -4.99029085e-04 9.99970515e-01 1.08661139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.255898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.33, Y:13.65, Z:1.09 [[ 9.14676212e-01 -4.04123034e-01 -7.21114166e-03 1.79325799e+02] [ 4.04114720e-01 9.14704501e-01 -2.63987993e-03 1.36491228e+01] [ 7.66290002e-03 -4.99493125e-04 9.99970515e-01 1.08597635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.35, Y:13.66, Z:1.09 [[ 9.14452891e-01 -4.04628116e-01 -7.21090644e-03 1.79354083e+02] [ 4.04619813e-01 9.14481183e-01 -2.64052229e-03 1.36570108e+01] [ 7.66266782e-03 -5.03042369e-04 9.99970515e-01 1.08650050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.38, Y:13.67, Z:1.08 [[ 9.14346830e-01 -4.04867737e-01 -7.21046014e-03 1.79379866e+02] [ 4.04859431e-01 9.14375121e-01 -2.64174044e-03 1.36657070e+01] [ 7.66262084e-03 -5.03755795e-04 9.99970515e-01 1.08488711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.41, Y:13.67, Z:1.09 [[ 9.14275966e-01 -4.05027743e-01 -7.21011255e-03 1.79405791e+02] [ 4.05019435e-01 9.14304256e-01 -2.64268878e-03 1.36745797e+01] [ 7.66259887e-03 -5.04088880e-04 9.99970515e-01 1.08700065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.43, Y:13.68, Z:1.09 [[ 9.14038521e-01 -4.05563310e-01 -7.20996117e-03 1.79432579e+02] [ 4.05555015e-01 9.14066816e-01 -2.64310173e-03 1.36840487e+01] [ 7.66233133e-03 -5.08139120e-04 9.99970515e-01 1.09212398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.405898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.46, Y:13.69, Z:1.10 [[ 9.13528681e-01 -4.06710428e-01 -7.20952139e-03 1.79458537e+02] [ 4.06702159e-01 9.13556983e-01 -2.64430074e-03 1.36947137e+01] [ 7.66177330e-03 -5.16483350e-04 9.99970515e-01 1.09601514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.48, Y:13.70, Z:1.10 [[ 9.13272211e-01 -4.07286009e-01 -7.20936519e-03 1.79484866e+02] [ 4.07277755e-01 9.13300518e-01 -2.64472655e-03 1.37033613e+01] [ 7.66147708e-03 -5.20858798e-04 9.99970515e-01 1.09586826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.51, Y:13.71, Z:1.10 [[ 9.13016037e-01 -4.07859955e-01 -7.20921204e-03 1.79512478e+02] [ 4.07851716e-01 9.13044348e-01 -2.64514395e-03 1.37132190e+01] [ 7.66117860e-03 -5.25230650e-04 9.99970515e-01 1.09629289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.54, Y:13.72, Z:1.09 [[ 9.12787972e-01 -4.08370116e-01 -7.20880457e-03 1.79538617e+02] [ 4.08361884e-01 9.12816284e-01 -2.64625396e-03 1.37230753e+01] [ 7.66096524e-03 -5.28332232e-04 9.99970515e-01 1.09477226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.56, Y:13.73, Z:1.10 [[ 9.12555748e-01 -4.08888792e-01 -7.20857033e-03 1.79564164e+02] [ 4.08880571e-01 9.12584063e-01 -2.64689188e-03 1.37340757e+01] [ 7.66071083e-03 -5.32007950e-04 9.99970515e-01 1.09568754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.59, Y:13.75, Z:1.10 [[ 9.12340568e-01 -4.09368698e-01 -7.20807791e-03 1.79588786e+02] [ 4.09360482e-01 9.12368885e-01 -2.64823219e-03 1.37470973e+01] [ 7.66052937e-03 -5.34612583e-04 9.99970515e-01 1.09682552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.61, Y:13.76, Z:1.10 [[ 9.12138482e-01 -4.09818784e-01 -7.20792518e-03 1.79614402e+02] [ 4.09810578e-01 9.12166802e-01 -2.64864782e-03 1.37579302e+01] [ 7.66029569e-03 -5.37950385e-04 9.99970515e-01 1.09815685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.615898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.64, Y:13.77, Z:1.10 [[ 9.11805844e-01 -4.10558347e-01 -7.20743330e-03 1.79640105e+02] [ 4.10550153e-01 9.11834168e-01 -2.64998563e-03 1.37686124e+01] [ 7.65995766e-03 -5.42740462e-04 9.99970515e-01 1.09898462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.645898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.67, Y:13.78, Z:1.10 [[ 9.11729771e-01 -4.10727263e-01 -7.20694014e-03 1.79666788e+02] [ 4.10719064e-01 9.11758093e-01 -2.65132616e-03 1.37786136e+01] [ 7.65995794e-03 -5.42734718e-04 9.99970515e-01 1.09920334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.69, Y:13.79, Z:1.10 [[ 9.11497876e-01 -4.11241644e-01 -7.20644872e-03 1.79694076e+02] [ 4.11233450e-01 9.11526200e-01 -2.65266120e-03 1.37890791e+01] [ 7.65975156e-03 -5.45637718e-04 9.99970515e-01 1.10060490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.72, Y:13.80, Z:1.10 [[ 9.11161756e-01 -4.11985834e-01 -7.20602025e-03 1.79721007e+02] [ 4.11977655e-01 9.11190084e-01 -2.65382462e-03 1.38006249e+01] [ 7.65939235e-03 -5.50655822e-04 9.99970515e-01 1.10117335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.75, Y:13.81, Z:1.10 [[ 9.11212691e-01 -4.11873141e-01 -7.20750947e-03 1.79745968e+02] [ 4.11864990e-01 9.11241027e-01 -2.64978207e-03 1.38133473e+01] [ 7.65915240e-03 -5.54005763e-04 9.99970515e-01 1.10242836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.77, Y:13.82, Z:1.10 [[ 9.11501405e-01 -4.11233839e-01 -7.20546090e-03 1.79771454e+02] [ 4.11225624e-01 9.11529723e-01 -2.65534102e-03 1.38234168e+01] [ 7.65995786e-03 -5.42723092e-04 9.99970515e-01 1.10186263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.80, Y:13.83, Z:1.10 [[ 9.11749339e-01 -4.10683852e-01 -7.20531145e-03 1.79797283e+02] [ 4.10675617e-01 9.11777651e-01 -2.65574649e-03 1.38332785e+01] [ 7.66031415e-03 -5.37670622e-04 9.99970515e-01 1.10089241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:13.84, Z:1.10 [[ 9.12011027e-01 -4.10102399e-01 -7.20482699e-03 1.79823147e+02] [ 4.10094136e-01 9.12039330e-01 -2.65706015e-03 1.38432017e+01] [ 7.66075232e-03 -5.31389145e-04 9.99970515e-01 1.10081393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:13.85, Z:1.10 [[ 9.12249151e-01 -4.09572442e-01 -7.20433263e-03 1.79848909e+02] [ 4.09564151e-01 9.12277446e-01 -2.65839989e-03 1.38534152e+01] [ 7.66115750e-03 -5.25513341e-04 9.99970515e-01 1.09764831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.88, Y:13.86, Z:1.10 [[ 9.12480302e-01 -4.09057209e-01 -7.20402097e-03 1.79876419e+02] [ 4.09048896e-01 9.12508591e-01 -2.65924406e-03 1.38635539e+01] [ 7.66151397e-03 -5.20289002e-04 9.99970515e-01 1.09928752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.90, Y:13.87, Z:1.10 [[ 9.12324219e-01 -4.09405215e-01 -7.20350051e-03 1.79903364e+02] [ 4.09396901e-01 9.12352508e-01 -2.66065315e-03 1.38728117e+01] [ 7.66141703e-03 -5.21712479e-04 9.99970515e-01 1.09911409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:13.88, Z:1.10 [[ 9.12136313e-01 -4.09823697e-01 -7.20301324e-03 1.79931029e+02] [ 4.09815386e-01 9.12164603e-01 -2.66197166e-03 1.38822592e+01] [ 7.66127278e-03 -5.23824636e-04 9.99970515e-01 1.09707236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:13.89, Z:1.10 [[ 9.11969027e-01 -4.10195801e-01 -7.20403526e-03 1.79957516e+02] [ 4.10187524e-01 9.11997327e-01 -2.65920682e-03 1.38913412e+01] [ 7.66085637e-03 -5.29891126e-04 9.99970515e-01 1.09736732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.98, Y:13.90, Z:1.10 [[ 9.11827922e-01 -4.10509398e-01 -7.20246165e-03 1.79983365e+02] [ 4.10501097e-01 9.11856214e-01 -2.66346213e-03 1.39010160e+01] [ 7.66098565e-03 -5.27999269e-04 9.99970515e-01 1.09626687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.01, Y:13.91, Z:1.09 [[ 9.11522916e-01 -4.11186268e-01 -7.19910213e-03 1.80010161e+02] [ 4.11177916e-01 9.11551194e-01 -2.67254217e-03 1.39118854e+01] [ 7.66126277e-03 -5.24028382e-04 9.99970515e-01 1.09428768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.04, Y:13.92, Z:1.10 [[ 9.11512400e-01 -4.11209515e-01 -7.20279489e-03 1.80037402e+02] [ 4.11201242e-01 9.11540701e-01 -2.66256383e-03 1.39229339e+01] [ 7.66051228e-03 -5.34838265e-04 9.99970515e-01 1.09636668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.06, Y:13.93, Z:1.10 [[ 9.11411807e-01 -4.11432444e-01 -7.20150976e-03 1.80063298e+02] [ 4.11424151e-01 9.11440102e-01 -2.66603523e-03 1.39328883e+01] [ 7.66063819e-03 -5.33019049e-04 9.99970515e-01 1.09640407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.09, Y:13.94, Z:1.10 [[ 9.11142295e-01 -4.12028953e-01 -7.20135810e-03 1.80090445e+02] [ 4.12020676e-01 9.11170595e-01 -2.66644482e-03 1.39429356e+01] [ 7.66031822e-03 -5.37597780e-04 9.99970515e-01 1.09689190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.155898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.12, Y:13.95, Z:1.10 [[ 9.10504426e-01 -4.13436628e-01 -7.20037434e-03 1.80116846e+02] [ 4.13428374e-01 9.10532732e-01 -2.66910068e-03 1.39532512e+01] [ 7.65968050e-03 -5.46611070e-04 9.99970515e-01 1.09625601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.185898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:180.15, Y:13.96, Z:1.10 [[ 9.08758182e-01 -4.17260966e-01 -7.20083958e-03 1.80145273e+02] [ 4.17252841e-01 9.08786526e-01 -2.66784494e-03 1.39608684e+01] [ 7.65721354e-03 -5.80144852e-04 9.99970515e-01 1.09757818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.17, Y:13.97, Z:1.10 [[ 9.07822099e-01 -4.19293692e-01 -7.19977480e-03 1.80172164e+02] [ 4.19285608e-01 9.07850454e-01 -2.67071851e-03 1.39686273e+01] [ 7.65613424e-03 -5.94224668e-04 9.99970515e-01 1.09889048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.20, Y:13.98, Z:1.10 [[ 9.06764429e-01 -4.21576115e-01 -7.20064049e-03 1.80198876e+02] [ 4.21568120e-01 9.06792810e-01 -2.66838243e-03 1.39776255e+01] [ 7.65441532e-03 -6.15966204e-04 9.99970515e-01 1.09912854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.23, Y:13.99, Z:1.10 [[ 9.05921573e-01 -4.23384294e-01 -7.20017391e-03 1.80225744e+02] [ 4.23376346e-01 9.05949967e-01 -2.66964082e-03 1.39862410e+01] [ 7.65328132e-03 -6.29898103e-04 9.99970515e-01 1.10141203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.25, Y:13.99, Z:1.10 [[ 9.05306484e-01 -4.24697934e-01 -7.19968678e-03 1.80252842e+02] [ 4.24690017e-01 9.05334886e-01 -2.67095392e-03 1.39943948e+01] [ 7.65247622e-03 -6.39603195e-04 9.99970515e-01 1.10234640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.28, Y:14.00, Z:1.10 [[ 9.05010707e-01 -4.25327864e-01 -7.19919770e-03 1.80280377e+02] [ 4.25319956e-01 9.05039112e-01 -2.67227152e-03 1.40020102e+01] [ 7.65214703e-03 -6.43528115e-04 9.99970515e-01 1.10274169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.31, Y:14.01, Z:1.10 [[ 9.05372922e-01 -4.24556298e-01 -7.19871059e-03 1.80307503e+02] [ 4.24548356e-01 9.05401317e-01 -2.67358309e-03 1.40075057e+01] [ 7.65280859e-03 -6.35611011e-04 9.99970515e-01 1.10274539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.33, Y:14.02, Z:1.11 [[ 9.05887334e-01 -4.23457579e-01 -7.19844236e-03 1.80334678e+02] [ 4.23449596e-01 9.05915718e-01 -2.67430506e-03 1.40172632e+01] [ 7.65363683e-03 -6.25558431e-04 9.99970515e-01 1.10565245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.36, Y:14.03, Z:1.11 [[ 9.06553369e-01 -4.22029831e-01 -7.19802003e-03 1.80361128e+02] [ 4.22021794e-01 9.06581738e-01 -2.67544132e-03 1.40270702e+01] [ 7.65470955e-03 -6.12290981e-04 9.99970515e-01 1.10735740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.39, Y:14.04, Z:1.11 [[ 9.07055229e-01 -4.20950125e-01 -7.19752193e-03 1.80386635e+02] [ 4.20942044e-01 9.07083585e-01 -2.67678064e-03 1.40364075e+01] [ 7.65554514e-03 -6.01751719e-04 9.99970515e-01 1.10612933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.41, Y:14.05, Z:1.10 [[ 9.07248858e-01 -4.20532649e-01 -7.19730523e-03 1.80414296e+02] [ 4.20524551e-01 9.07277209e-01 -2.67736318e-03 1.40451879e+01] [ 7.65586963e-03 -5.97608863e-04 9.99970515e-01 1.10417111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.44, Y:14.05, Z:1.10 [[ 9.07044552e-01 -4.20973140e-01 -7.19687830e-03 1.80441088e+02] [ 4.20965047e-01 9.07072905e-01 -2.67851029e-03 1.40547880e+01] [ 7.65567419e-03 -6.00106042e-04 9.99970515e-01 1.10495464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.47, Y:14.06, Z:1.11 [[ 9.06929664e-01 -4.21220604e-01 -7.19638596e-03 1.80467035e+02] [ 4.21212508e-01 9.06958015e-01 -2.67983242e-03 1.40637424e+01] [ 7.65562056e-03 -6.00788261e-04 9.99970515e-01 1.10544183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.49, Y:14.07, Z:1.11 [[ 9.06647525e-01 -4.21827547e-01 -7.19623277e-03 1.80493655e+02] [ 4.21819467e-01 9.06675881e-01 -2.68024372e-03 1.40732345e+01] [ 7.65525132e-03 -6.05474729e-04 9.99970515e-01 1.10600915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.52, Y:14.08, Z:1.10 [[ 9.06568160e-01 -4.21998096e-01 -7.19575019e-03 1.80519151e+02] [ 4.21990010e-01 9.06596515e-01 -2.68153868e-03 1.40822247e+01] [ 7.65524626e-03 -6.05537112e-04 9.99970515e-01 1.10495662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.55, Y:14.09, Z:1.11 [[ 9.07152391e-01 -4.20740732e-01 -7.19554039e-03 1.80546147e+02] [ 4.20732603e-01 9.07180733e-01 -2.68210153e-03 1.40926824e+01] [ 7.65612497e-03 -5.94323624e-04 9.99970515e-01 1.10646834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.57, Y:14.10, Z:1.11 [[ 9.07827957e-01 -4.19281088e-01 -7.19511493e-03 1.80571505e+02] [ 4.19272905e-01 9.07856284e-01 -2.68324241e-03 1.41027606e+01] [ 7.65716310e-03 -5.80794262e-04 9.99970515e-01 1.10622386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.60, Y:14.11, Z:1.11 [[ 9.08534141e-01 -4.17748667e-01 -7.19490246e-03 1.80597002e+02] [ 4.17740431e-01 9.08562452e-01 -2.68381202e-03 1.41132160e+01] [ 7.65817711e-03 -5.67266805e-04 9.99970515e-01 1.10705784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.62, Y:14.12, Z:1.11 [[ 9.09250422e-01 -4.16187350e-01 -7.19440863e-03 1.80622805e+02] [ 4.16179055e-01 9.09278716e-01 -2.68513516e-03 1.41236132e+01] [ 7.65924193e-03 -5.52701911e-04 9.99970515e-01 1.10731699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.65, Y:14.13, Z:1.11 [[ 9.09818594e-01 -4.14943814e-01 -7.19425558e-03 1.80648646e+02] [ 4.14935477e-01 9.09846876e-01 -2.68554517e-03 1.41346569e+01] [ 7.66002132e-03 -5.41792942e-04 9.99970515e-01 1.10804635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.67, Y:14.15, Z:1.11 [[ 9.10561690e-01 -4.13310609e-01 -7.19376402e-03 1.80674440e+02] [ 4.13302211e-01 9.10589954e-01 -2.68686125e-03 1.41461498e+01] [ 7.66107750e-03 -5.26645651e-04 9.99970515e-01 1.10785716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.815898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.70, Y:14.16, Z:1.11 [[ 9.12531193e-01 -4.08943852e-01 -7.19361123e-03 1.80699013e+02] [ 4.08935316e-01 9.12559415e-01 -2.68727026e-03 1.41612736e+01] [ 7.66354031e-03 -4.89503742e-04 9.99970515e-01 1.10980766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.72, Y:14.17, Z:1.11 [[ 9.13593106e-01 -4.06565979e-01 -7.19309555e-03 1.80724391e+02] [ 4.06557359e-01 9.13621303e-01 -2.68864988e-03 1.41725906e+01] [ 7.66487890e-03 -4.68073935e-04 9.99970515e-01 1.10775576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.875898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.75, Y:14.19, Z:1.11 [[ 9.14209968e-01 -4.05176996e-01 -7.19285320e-03 1.80749321e+02] [ 4.05168327e-01 9.14238150e-01 -2.68929809e-03 1.41852798e+01] [ 7.66562252e-03 -4.55733178e-04 9.99970515e-01 1.10902504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.77, Y:14.20, Z:1.11 [[ 9.15358894e-01 -4.02574670e-01 -7.19233293e-03 1.80773539e+02] [ 4.02565911e-01 9.15387048e-01 -2.69068879e-03 1.42000881e+01] [ 7.66697156e-03 -4.32442144e-04 9.99970515e-01 1.10605002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.80, Y:14.21, Z:1.11 [[ 9.15684791e-01 -4.01832846e-01 -7.19217106e-03 1.80798074e+02] [ 4.01824060e-01 9.15712937e-01 -2.69112139e-03 1.42124753e+01] [ 7.66734505e-03 -4.25768445e-04 9.99970515e-01 1.10662822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.82, Y:14.22, Z:1.11 [[ 9.15682804e-01 -4.01837380e-01 -7.19183083e-03 1.80822765e+02] [ 4.01828587e-01 9.15710948e-01 -2.69203034e-03 1.42248054e+01] [ 7.66739664e-03 -4.24837331e-04 9.99970515e-01 1.10801184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.85, Y:14.24, Z:1.11 [[ 9.15241974e-01 -4.02840427e-01 -7.19160242e-03 1.80849271e+02] [ 4.02831661e-01 9.15270126e-01 -2.69264038e-03 1.42371918e+01] [ 7.66696325e-03 -4.32587652e-04 9.99970515e-01 1.11205831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.87, Y:14.25, Z:1.12 [[ 9.14503261e-01 -4.04514613e-01 -7.19117992e-03 1.80874944e+02] [ 4.04505889e-01 9.14531426e-01 -2.69376827e-03 1.42493199e+01] [ 7.66622865e-03 -4.45414759e-04 9.99970515e-01 1.11532213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.90, Y:14.26, Z:1.12 [[ 9.13849134e-01 -4.05990208e-01 -7.19102660e-03 1.80900400e+02] [ 4.05981526e-01 9.13877312e-01 -2.69417749e-03 1.42613286e+01] [ 7.66552574e-03 -4.57352187e-04 9.99970515e-01 1.11656433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.085898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.93, Y:14.28, Z:1.12 [[ 9.13135125e-01 -4.07593592e-01 -7.19079564e-03 1.80925442e+02] [ 4.07584955e-01 9.13163317e-01 -2.69479379e-03 1.42755442e+01] [ 7.66475147e-03 -4.70149247e-04 9.99970515e-01 1.11611874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.115898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:180.95, Y:14.29, Z:1.12 [[ 9.13332251e-01 -4.07151691e-01 -7.19030184e-03 1.80950839e+02] [ 4.07143030e-01 9.13360435e-01 -2.69611070e-03 1.42867253e+01] [ 7.66506325e-03 -4.65036420e-04 9.99970515e-01 1.12031667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.98, Y:14.30, Z:1.12 [[ 9.13639423e-01 -4.06461969e-01 -7.18833487e-03 1.80977356e+02] [ 4.06453246e-01 9.13667588e-01 -2.70135441e-03 1.42980476e+01] [ 7.66574642e-03 -4.53658155e-04 9.99970515e-01 1.12084803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.00, Y:14.31, Z:1.12 [[ 9.14360581e-01 -4.04837050e-01 -7.18969531e-03 1.81003814e+02] [ 4.04828305e-01 9.14388739e-01 -2.69772873e-03 1.43096201e+01] [ 7.66631697e-03 -4.43895353e-04 9.99970515e-01 1.12404230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.03, Y:14.32, Z:1.13 [[ 9.15343755e-01 -4.02609146e-01 -7.18927213e-03 1.81029041e+02] [ 4.02600323e-01 9.15371890e-01 -2.69885600e-03 1.43205046e+01] [ 7.66744172e-03 -4.24022292e-04 9.99970515e-01 1.12556157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.05, Y:14.33, Z:1.12 [[ 9.16510911e-01 -3.99945081e-01 -7.18906175e-03 1.81054729e+02] [ 3.99936172e-01 9.16539018e-01 -2.69941629e-03 1.43316384e+01] [ 7.66867386e-03 -4.01121354e-04 9.99970515e-01 1.12469726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.08, Y:14.34, Z:1.12 [[ 9.18894303e-01 -3.94438308e-01 -7.18891560e-03 1.81080012e+02] [ 3.94429227e-01 9.18922356e-01 -2.69980545e-03 1.43429999e+01] [ 7.67096195e-03 -3.54682580e-04 9.99970515e-01 1.12286149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.11, Y:14.35, Z:1.13 [[ 9.20249595e-01 -3.91265907e-01 -7.18843828e-03 1.81106266e+02] [ 3.91256720e-01 9.20277612e-01 -2.70107573e-03 1.43528114e+01] [ 7.67219766e-03 -3.26860938e-04 9.99970515e-01 1.12504847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.13, Y:14.36, Z:1.13 [[ 9.21570247e-01 -3.88145087e-01 -7.18821553e-03 1.81133300e+02] [ 3.88135801e-01 9.21598232e-01 -2.70166841e-03 1.43631762e+01] [ 7.67328604e-03 -3.00226558e-04 9.99970515e-01 1.12829291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.16, Y:14.37, Z:1.13 [[ 9.22874871e-01 -3.85032866e-01 -7.18779863e-03 1.81159090e+02] [ 3.85023477e-01 9.22902821e-01 -2.70277712e-03 1.43735232e+01] [ 7.67429765e-03 -2.73146134e-04 9.99970515e-01 1.12995775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.19, Y:14.38, Z:1.13 [[ 9.24278560e-01 -3.81651000e-01 -7.18732231e-03 1.81185164e+02] [ 3.81641499e-01 9.24306472e-01 -2.70404316e-03 1.43842639e+01] [ 7.67528931e-03 -2.43691340e-04 9.99970515e-01 1.12891494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.21, Y:14.40, Z:1.13 [[ 9.25839165e-01 -3.77849428e-01 -7.18684889e-03 1.81211697e+02] [ 3.77839802e-01 9.25867034e-01 -2.70530085e-03 1.43957906e+01] [ 7.67626285e-03 -2.10804081e-04 9.99970515e-01 1.12794912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.24, Y:14.41, Z:1.12 [[ 9.29248487e-01 -3.69385442e-01 -7.18640627e-03 1.81236496e+02] [ 3.69375553e-01 9.29276265e-01 -2.70647611e-03 1.44090228e+01] [ 7.67788965e-03 -1.39493959e-04 9.99970515e-01 1.12397115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:14.42, Z:1.13 [[ 9.30780921e-01 -3.65506819e-01 -7.18624829e-03 1.81261476e+02] [ 3.65496812e-01 9.30808656e-01 -2.70689552e-03 1.44209797e+01] [ 7.67841088e-03 -1.07024131e-04 9.99970515e-01 1.12619512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.29, Y:14.43, Z:1.13 [[ 9.31892876e-01 -3.62662422e-01 -7.18574266e-03 1.81286342e+02] [ 3.62652319e-01 9.31920577e-01 -2.70823709e-03 1.44334550e+01] [ 7.67871727e-03 -8.21393853e-05 9.99970515e-01 1.12679013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.31, Y:14.44, Z:1.13 [[ 9.31824773e-01 -3.62837382e-01 -7.18523452e-03 1.81312929e+02] [ 3.62827274e-01 9.31852471e-01 -2.70958458e-03 1.44436905e+01] [ 7.67871712e-03 -8.21410182e-05 9.99970515e-01 1.12700885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.34, Y:14.46, Z:1.13 [[ 9.32546198e-01 -3.60979181e-01 -7.18472555e-03 1.81337893e+02] [ 3.60969007e-01 9.32573872e-01 -2.71093350e-03 1.44564186e+01] [ 7.67887788e-03 -6.53925246e-05 9.99970515e-01 1.12648374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.36, Y:14.47, Z:1.12 [[ 9.32799186e-01 -3.60324945e-01 -7.18421715e-03 1.81362553e+02] [ 3.60314742e-01 9.32826849e-01 -2.71228013e-03 1.44704744e+01] [ 7.67893284e-03 -5.85666532e-05 9.99970515e-01 1.12364652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.39, Y:14.48, Z:1.12 [[ 9.32413116e-01 -3.61322812e-01 -7.18377556e-03 1.81387497e+02] [ 3.61312629e-01 9.32440787e-01 -2.71344922e-03 1.44817088e+01] [ 7.67887644e-03 -6.55331931e-05 9.99970515e-01 1.12188067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.41, Y:14.49, Z:1.13 [[ 9.31754191e-01 -3.63018629e-01 -7.18355576e-03 1.81413170e+02] [ 3.63008492e-01 9.31781878e-01 -2.71403100e-03 1.44928305e+01] [ 7.67875089e-03 -7.88819847e-05 9.99970515e-01 1.12546393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.44, Y:14.50, Z:1.13 [[ 9.30944204e-01 -3.65090801e-01 -7.18303168e-03 1.81438921e+02] [ 3.65080715e-01 9.30971910e-01 -2.71541734e-03 1.45045552e+01] [ 7.67857462e-03 -9.44843068e-05 9.99970515e-01 1.12509620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.715898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:181.46, Y:14.52, Z:1.13 [[ 9.30029566e-01 -3.67414496e-01 -7.18286971e-03 1.81464078e+02] [ 3.67404476e-01 9.30057297e-01 -2.71584572e-03 1.45170751e+01] [ 7.67832147e-03 -1.13201662e-04 9.99970515e-01 1.12593681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.49, Y:14.53, Z:1.13 [[ 9.29278298e-01 -3.69310517e-01 -7.18235570e-03 1.81489497e+02] [ 3.69300543e-01 9.29306045e-01 -2.71720439e-03 1.45295589e+01] [ 7.67809873e-03 -1.27408791e-04 9.99970515e-01 1.12734706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.51, Y:14.55, Z:1.13 [[ 9.28157517e-01 -3.72118320e-01 -7.18183684e-03 1.81513314e+02] [ 3.72108419e-01 9.28185291e-01 -2.71857511e-03 1.45451237e+01] [ 7.67770691e-03 -1.49156032e-04 9.99970515e-01 1.12795797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.805898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:181.54, Y:14.56, Z:1.13 [[ 9.27687968e-01 -3.73287367e-01 -7.18167595e-03 1.81538395e+02] [ 3.73277498e-01 9.27715752e-01 -2.71900005e-03 1.45586358e+01] [ 7.67752228e-03 -1.58374399e-04 9.99970515e-01 1.12849459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.56, Y:14.57, Z:1.13 [[ 9.27464701e-01 -3.73841758e-01 -7.18116375e-03 1.81564070e+02] [ 3.73831895e-01 9.27492487e-01 -2.72035216e-03 1.45710201e+01] [ 7.67745666e-03 -1.61517448e-04 9.99970515e-01 1.12998337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.59, Y:14.59, Z:1.13 [[ 9.27268049e-01 -3.74329270e-01 -7.18065504e-03 1.81586925e+02] [ 3.74319412e-01 9.27295838e-01 -2.72169430e-03 1.45855146e+01] [ 7.67740137e-03 -1.64118407e-04 9.99970515e-01 1.13084710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.895898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.61, Y:14.60, Z:1.13 [[ 9.26906217e-01 -3.75224341e-01 -7.18043306e-03 1.81612149e+02] [ 3.75214504e-01 9.26934013e-01 -2.72227981e-03 1.45981530e+01] [ 7.67725328e-03 -1.70904552e-04 9.99970515e-01 1.13205948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.64, Y:14.61, Z:1.13 [[ 9.26388410e-01 -3.76500947e-01 -7.17992228e-03 1.81637642e+02] [ 3.76491138e-01 9.26416216e-01 -2.72362629e-03 1.46099469e+01] [ 7.67704431e-03 -1.80041278e-04 9.99970515e-01 1.13356569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.66, Y:14.62, Z:1.13 [[ 9.25564445e-01 -3.78522006e-01 -7.17976452e-03 1.81663478e+02] [ 3.78512255e-01 9.25592271e-01 -2.72404210e-03 1.46219758e+01] [ 7.67664443e-03 -1.96352340e-04 9.99970515e-01 1.13453178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.69, Y:14.63, Z:1.14 [[ 9.24699961e-01 -3.80629007e-01 -7.17925767e-03 1.81688741e+02] [ 3.80619309e-01 9.24727805e-01 -2.72537727e-03 1.46333632e+01] [ 7.67621683e-03 -2.12407841e-04 9.99970515e-01 1.13526963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.71, Y:14.65, Z:1.14 [[ 9.24021114e-01 -3.82274046e-01 -7.17875200e-03 1.81714103e+02] [ 3.82264387e-01 9.24048972e-01 -2.72670858e-03 1.46450459e+01] [ 7.67586832e-03 -2.24644935e-04 9.99970515e-01 1.13638071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.74, Y:14.66, Z:1.14 [[ 9.23722273e-01 -3.82995609e-01 -7.17823926e-03 1.81737407e+02] [ 3.82985961e-01 9.23750135e-01 -2.72805771e-03 1.46596700e+01] [ 7.67573361e-03 -2.29197199e-04 9.99970515e-01 1.13749994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.76, Y:14.67, Z:1.14 [[ 9.24006134e-01 -3.82310267e-01 -7.17801677e-03 1.81762624e+02] [ 3.82300595e-01 9.24033987e-01 -2.72864302e-03 1.46732161e+01] [ 7.67591970e-03 -2.22877190e-04 9.99970515e-01 1.13818906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.79, Y:14.69, Z:1.14 [[ 9.24596234e-01 -3.80880937e-01 -7.17751122e-03 1.81786868e+02] [ 3.80871211e-01 9.24624068e-01 -2.72997217e-03 1.46866583e+01] [ 7.67629399e-03 -2.09585401e-04 9.99970515e-01 1.13828791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.81, Y:14.70, Z:1.14 [[ 9.25129069e-01 -3.79584895e-01 -7.17729163e-03 1.81811224e+02] [ 3.79575126e-01 9.25156888e-01 -2.73054937e-03 1.47002730e+01] [ 7.67659609e-03 -1.98210779e-04 9.99970515e-01 1.13907857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.83, Y:14.72, Z:1.14 [[ 9.25866457e-01 -3.77782739e-01 -7.17678893e-03 1.81834885e+02] [ 3.77772905e-01 9.25894254e-01 -2.73187000e-03 1.47178459e+01] [ 7.67700096e-03 -1.81849605e-04 9.99970515e-01 1.14065049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.86, Y:14.73, Z:1.14 [[ 9.25620384e-01 -3.78385259e-01 -7.17635153e-03 1.81859419e+02] [ 3.78375434e-01 9.25648184e-01 -2.73301851e-03 1.47315977e+01] [ 7.67691068e-03 -1.85617490e-04 9.99970515e-01 1.14203059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.88, Y:14.74, Z:1.14 [[ 9.24954012e-01 -3.80011293e-01 -7.17584986e-03 1.81882926e+02] [ 3.80001507e-01 9.24981826e-01 -2.73433507e-03 1.47445119e+01] [ 7.67660891e-03 -1.97699564e-04 9.99970515e-01 1.14279134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.91, Y:14.76, Z:1.14 [[ 9.23831252e-01 -3.82732710e-01 -7.17563252e-03 1.81908386e+02] [ 3.82723002e-01 9.23859093e-01 -2.73490531e-03 1.47575494e+01] [ 7.67601108e-03 -2.19688616e-04 9.99970515e-01 1.14343223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.285898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:181.93, Y:14.77, Z:1.14 [[ 9.20803813e-01 -3.89960069e-01 -7.17512365e-03 1.81932636e+02] [ 3.89950568e-01 9.20831726e-01 -2.73623971e-03 1.47724521e+01] [ 7.67410572e-03 -2.78403584e-04 9.99970515e-01 1.13974578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.96, Y:14.78, Z:1.14 [[ 9.19328343e-01 -3.93425873e-01 -7.17496557e-03 1.81958182e+02] [ 3.93416474e-01 9.19356290e-01 -2.73665417e-03 1.47845910e+01] [ 7.67302028e-03 -3.06865915e-04 9.99970515e-01 1.13950828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.98, Y:14.80, Z:1.14 [[ 9.17974456e-01 -3.96574614e-01 -7.17446490e-03 1.81983280e+02] [ 3.96565301e-01 9.18002432e-01 -2.73796609e-03 1.47975594e+01] [ 7.67198407e-03 -3.31760901e-04 9.99970515e-01 1.13693278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.01, Y:14.81, Z:1.14 [[ 9.16979019e-01 -3.98870918e-01 -7.17423057e-03 1.82008729e+02] [ 3.98861670e-01 9.17007017e-01 -2.73857996e-03 1.48109759e+01] [ 7.67115967e-03 -3.50305224e-04 9.99970515e-01 1.13591630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.03, Y:14.83, Z:1.13 [[ 9.16324569e-01 -4.00372103e-01 -7.17379578e-03 1.82034709e+02] [ 4.00362893e-01 9.16352578e-01 -2.73971844e-03 1.48251237e+01] [ 7.67063309e-03 -3.61650311e-04 9.99970515e-01 1.13448219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.06, Y:14.84, Z:1.13 [[ 9.16004884e-01 -4.01102972e-01 -7.17339302e-03 1.82059255e+02] [ 4.01093776e-01 9.16032898e-01 -2.74077258e-03 1.48389942e+01] [ 7.67039603e-03 -3.66642219e-04 9.99970515e-01 1.13434950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.08, Y:14.86, Z:1.14 [[ 9.15647404e-01 -4.01918369e-01 -7.17323938e-03 1.82082363e+02] [ 4.01909194e-01 9.15675426e-01 -2.74117463e-03 1.48566491e+01] [ 7.67008746e-03 -3.73041425e-04 9.99970515e-01 1.13602308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.11, Y:14.87, Z:1.14 [[ 9.15263572e-01 -4.02791684e-01 -7.17308667e-03 1.82106490e+02] [ 4.02782533e-01 9.15291601e-01 -2.74157417e-03 1.48700096e+01] [ 7.66974926e-03 -3.79931056e-04 9.99970515e-01 1.13744475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.13, Y:14.88, Z:1.14 [[ 9.14696743e-01 -4.04077242e-01 -7.17290515e-03 1.82131577e+02] [ 4.04068126e-01 9.14724784e-01 -2.74204902e-03 1.48839729e+01] [ 7.66923372e-03 -3.90199038e-04 9.99970515e-01 1.13922694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.16, Y:14.90, Z:1.14 [[ 9.14323767e-01 -4.04920492e-01 -7.17246949e-03 1.82155525e+02] [ 4.04911394e-01 9.14351813e-01 -2.74318812e-03 1.48974129e+01] [ 7.66893356e-03 -3.96052528e-04 9.99970515e-01 1.13860767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.18, Y:14.91, Z:1.14 [[ 9.13999031e-01 -4.05652967e-01 -7.17225283e-03 1.82180446e+02] [ 4.05643887e-01 9.14027083e-01 -2.74375446e-03 1.49119228e+01] [ 7.66864548e-03 -4.01591596e-04 9.99970515e-01 1.13910328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.20, Y:14.93, Z:1.14 [[ 9.13944862e-01 -4.05775006e-01 -7.17177453e-03 1.82203908e+02] [ 4.05765920e-01 9.13972912e-01 -2.74500410e-03 1.49300130e+01] [ 7.66866171e-03 -4.01279294e-04 9.99970515e-01 1.13892061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.23, Y:14.94, Z:1.14 [[ 9.14042220e-01 -4.05555658e-01 -7.17129695e-03 1.82228036e+02] [ 4.05546555e-01 9.14070265e-01 -2.74625121e-03 1.49425855e+01] [ 7.66882702e-03 -3.98105227e-04 9.99970515e-01 1.13769651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.25, Y:14.96, Z:1.14 [[ 9.13861025e-01 -4.05963794e-01 -7.17109019e-03 1.82253034e+02] [ 4.05954699e-01 9.13889073e-01 -2.74679101e-03 1.49556113e+01] [ 7.66867866e-03 -4.00952514e-04 9.99970515e-01 1.13852922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.28, Y:14.97, Z:1.14 [[ 9.13649370e-01 -4.06439924e-01 -7.17058855e-03 1.82276956e+02] [ 4.06430834e-01 9.13677419e-01 -2.74809994e-03 1.49676819e+01] [ 7.66854236e-03 -4.03548506e-04 9.99970515e-01 1.13636124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.30, Y:14.98, Z:1.14 [[ 9.13307458e-01 -4.07207653e-01 -7.17037024e-03 1.82302583e+02] [ 4.07198582e-01 9.13335513e-01 -2.74866942e-03 1.49800378e+01] [ 7.66823301e-03 -4.09384312e-04 9.99970515e-01 1.13594455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.33, Y:14.99, Z:1.14 [[ 9.12590794e-01 -4.08811247e-01 -7.16990238e-03 1.82328725e+02] [ 4.08802216e-01 9.12618862e-01 -2.74988931e-03 1.49931153e+01] [ 7.66757382e-03 -4.21548314e-04 9.99970515e-01 1.14004816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.35, Y:15.00, Z:1.14 [[ 9.12241009e-01 -4.09591187e-01 -7.16945757e-03 1.82353977e+02] [ 4.09582171e-01 9.12269082e-01 -2.75104852e-03 1.50039398e+01] [ 7.66727970e-03 -4.26862721e-04 9.99970515e-01 1.13877322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.38, Y:15.02, Z:1.14 [[ 9.11833599e-01 -4.10497368e-01 -7.16923699e-03 1.82379331e+02] [ 4.10488375e-01 9.11861679e-01 -2.75162324e-03 1.50155756e+01] [ 7.66688657e-03 -4.33865923e-04 9.99970515e-01 1.14112469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.40, Y:15.03, Z:1.14 [[ 9.11757538e-01 -4.10666289e-01 -7.16873262e-03 1.82404823e+02] [ 4.10657291e-01 9.11785617e-01 -2.75293662e-03 1.50270878e+01] [ 7.66688556e-03 -4.33881606e-04 9.99970515e-01 1.13915545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.885898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:182.43, Y:15.04, Z:1.14 [[ 9.12072940e-01 -4.09965320e-01 -7.16857647e-03 1.82430303e+02] [ 4.09956297e-01 9.12101011e-01 -2.75334317e-03 1.50392363e+01] [ 7.66724106e-03 -4.27553268e-04 9.99970515e-01 1.13631861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.46, Y:15.05, Z:1.14 [[ 9.12407665e-01 -4.09219832e-01 -7.16808336e-03 1.82457647e+02] [ 4.09210776e-01 9.12435725e-01 -2.75462633e-03 1.50496277e+01] [ 7.66766307e-03 -4.19914776e-04 9.99970515e-01 1.13968606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.48, Y:15.06, Z:1.14 [[ 9.12593375e-01 -4.08805525e-01 -7.16764000e-03 1.82484656e+02] [ 4.08796448e-01 9.12621428e-01 -2.75577948e-03 1.50602984e+01] [ 7.66791973e-03 -4.15199674e-04 9.99970515e-01 1.14119718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:15.07, Z:1.14 [[ 9.12745856e-01 -4.08464973e-01 -7.16719814e-03 1.82509358e+02] [ 4.08455876e-01 9.12773902e-01 -2.75692819e-03 1.50703921e+01] [ 7.66814002e-03 -4.11109413e-04 9.99970515e-01 1.14020048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.54, Y:15.08, Z:1.14 [[ 9.12864138e-01 -4.08200566e-01 -7.16685399e-03 1.82535276e+02] [ 4.08191454e-01 9.12892180e-01 -2.75782256e-03 1.50834401e+01] [ 7.66830969e-03 -4.07931232e-04 9.99970515e-01 1.14020392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.56, Y:15.09, Z:1.14 [[ 9.12857209e-01 -4.08216068e-01 -7.16641385e-03 1.82560449e+02] [ 4.08206947e-01 9.12885248e-01 -2.75896581e-03 1.50944427e+01] [ 7.66836766e-03 -4.06838084e-04 9.99970515e-01 1.13837858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:15.11, Z:1.14 [[ 9.12589018e-01 -4.08815275e-01 -7.16625687e-03 1.82586250e+02] [ 4.08806169e-01 9.12617062e-01 -2.75937352e-03 1.51052657e+01] [ 7.66812233e-03 -4.11436050e-04 9.99970515e-01 1.13902209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:15.12, Z:1.14 [[ 9.12383820e-01 -4.09273036e-01 -7.16574707e-03 1.82612561e+02] [ 4.09263934e-01 9.12411865e-01 -2.76069677e-03 1.51154054e+01] [ 7.66799139e-03 -4.13866774e-04 9.99970515e-01 1.13872447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:15.13, Z:1.14 [[ 9.11999541e-01 -4.10128628e-01 -7.16558874e-03 1.82638729e+02] [ 4.10119550e-01 9.12027593e-01 -2.76110764e-03 1.51262728e+01] [ 7.66762395e-03 -4.20619126e-04 9.99970515e-01 1.14173366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.66, Y:15.14, Z:1.15 [[ 9.11580369e-01 -4.11059473e-01 -7.16515723e-03 1.82664894e+02] [ 4.11050415e-01 9.11608428e-01 -2.76222699e-03 1.51384224e+01] [ 7.66725729e-03 -4.27248953e-04 9.99970515e-01 1.14642922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.69, Y:15.15, Z:1.15 [[ 9.11251322e-01 -4.11788411e-01 -7.16471836e-03 1.82689383e+02] [ 4.11779365e-01 9.11279385e-01 -2.76336485e-03 1.51493925e+01] [ 7.66698177e-03 -4.32163308e-04 9.99970515e-01 1.14671026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.71, Y:15.16, Z:1.15 [[ 9.10643254e-01 -4.13131376e-01 -7.16450017e-03 1.82714528e+02] [ 4.13122367e-01 9.10671330e-01 -2.76393044e-03 1.51616248e+01] [ 7.66637128e-03 -4.42860663e-04 9.99970515e-01 1.14662920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:15.17, Z:1.14 [[ 9.10190850e-01 -4.14127146e-01 -7.16399516e-03 1.82739045e+02] [ 4.14118159e-01 9.10218932e-01 -2.76523879e-03 1.51740923e+01] [ 7.66596447e-03 -4.49845436e-04 9.99970515e-01 1.14400454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.77, Y:15.19, Z:1.14 [[ 9.10051632e-01 -4.14432995e-01 -7.16383804e-03 1.82765120e+02] [ 4.14424013e-01 9.10079715e-01 -2.76564578e-03 1.51873440e+01] [ 7.66583855e-03 -4.51986053e-04 9.99970515e-01 1.14199808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.305898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.79, Y:15.20, Z:1.14 [[ 9.10031356e-01 -4.14477523e-01 -7.16341330e-03 1.82789793e+02] [ 4.14468534e-01 9.10059437e-01 -2.76674548e-03 1.52003838e+01] [ 7.66588569e-03 -4.51184271e-04 9.99970515e-01 1.14195280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.81, Y:15.22, Z:1.15 [[ 9.09842814e-01 -4.14891246e-01 -7.16291540e-03 1.82813408e+02] [ 4.14882259e-01 9.09870897e-01 -2.76803391e-03 1.52159496e+01] [ 7.66576129e-03 -4.53290757e-04 9.99970515e-01 1.14693886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.84, Y:15.23, Z:1.15 [[ 9.09299897e-01 -4.16079791e-01 -7.16276102e-03 1.82839012e+02] [ 4.16070839e-01 9.09327990e-01 -2.76843332e-03 1.52292850e+01] [ 7.66518824e-03 -4.62879852e-04 9.99970515e-01 1.14936754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.86, Y:15.24, Z:1.15 [[ 9.08529168e-01 -4.17760042e-01 -7.16231920e-03 1.82863169e+02] [ 4.17751132e-01 9.08557275e-01 -2.76957592e-03 1.52415476e+01] [ 7.66439536e-03 -4.75826444e-04 9.99970515e-01 1.14891303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.89, Y:15.25, Z:1.15 [[ 9.07330348e-01 -4.20357401e-01 -7.16197346e-03 1.82888431e+02] [ 4.20348565e-01 9.07358478e-01 -2.77046968e-03 1.52538716e+01] [ 7.66306478e-03 -4.96794046e-04 9.99970515e-01 1.14686015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:15.27, Z:1.15 [[ 9.05950180e-01 -4.23323736e-01 -7.16147250e-03 1.82912899e+02] [ 4.23314982e-01 9.05978335e-01 -2.77176403e-03 1.52656741e+01] [ 7.66149244e-03 -5.20478477e-04 9.99970515e-01 1.14589409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.94, Y:15.28, Z:1.15 [[ 9.05921492e-01 -4.23385183e-01 -7.15800791e-03 1.82938482e+02] [ 4.23376360e-01 9.05949626e-01 -2.78070959e-03 1.52757142e+01] [ 7.66210583e-03 -5.11426755e-04 9.99970515e-01 1.14610659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.96, Y:15.29, Z:1.14 [[ 9.04413810e-01 -4.26596326e-01 -7.15789995e-03 1.82964873e+02] [ 4.26587600e-01 9.04441975e-01 -2.78098831e-03 1.52881156e+01] [ 7.66026455e-03 -5.38307129e-04 9.99970515e-01 1.14351987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.99, Y:15.30, Z:1.14 [[ 9.02374520e-01 -4.30893206e-01 -7.16033317e-03 1.82989611e+02] [ 4.30884664e-01 9.02402741e-01 -2.77470920e-03 1.53014017e+01] [ 7.65710762e-03 -5.81450866e-04 9.99970515e-01 1.14175949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.02, Y:15.31, Z:1.14 [[ 9.01844024e-01 -4.32002417e-01 -7.16017925e-03 1.83015264e+02] [ 4.31993907e-01 9.01872254e-01 -2.77510633e-03 1.53132241e+01] [ 7.65641965e-03 -5.90440750e-04 9.99970515e-01 1.14062006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.04, Y:15.33, Z:1.14 [[ 9.01627467e-01 -4.32454212e-01 -7.16002999e-03 1.83041250e+02] [ 4.32445713e-01 9.01655700e-01 -2.77549138e-03 1.53254222e+01] [ 7.65615480e-03 -5.93865015e-04 9.99970515e-01 1.14196447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.635898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.07, Y:15.34, Z:1.14 [[ 9.01697898e-01 -4.32307346e-01 -7.15958710e-03 1.83066663e+02] [ 4.32298833e-01 9.01726128e-01 -2.77663338e-03 1.53377959e+01] [ 7.65634576e-03 -5.91396669e-04 9.99970515e-01 1.13962923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.09, Y:15.35, Z:1.14 [[ 9.01906697e-01 -4.31871569e-01 -7.15942974e-03 1.83090708e+02] [ 4.31863040e-01 9.01934921e-01 -2.77703906e-03 1.53492041e+01] [ 7.65666392e-03 -5.87262966e-04 9.99970515e-01 1.13835456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.12, Y:15.36, Z:1.14 [[ 9.02428673e-01 -4.30779799e-01 -7.15921154e-03 1.83115276e+02] [ 4.30771231e-01 9.02456886e-01 -2.77760147e-03 1.53620044e+01] [ 7.65741436e-03 -5.77395155e-04 9.99970515e-01 1.13951721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.14, Y:15.37, Z:1.14 [[ 9.02641097e-01 -4.30334518e-01 -7.15906149e-03 1.83141983e+02] [ 4.30325933e-01 9.02669305e-01 -2.77798816e-03 1.53728142e+01] [ 7.65772926e-03 -5.73203542e-04 9.99970515e-01 1.14217835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.17, Y:15.38, Z:1.14 [[ 9.02637946e-01 -4.30341136e-01 -7.15862380e-03 1.83167567e+02] [ 4.30332542e-01 9.02666151e-01 -2.77911561e-03 1.53828216e+01] [ 7.65781515e-03 -5.72053572e-04 9.99970515e-01 1.14179044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.19, Y:15.39, Z:1.14 [[ 9.02529134e-01 -4.30569301e-01 -7.15812222e-03 1.83193775e+02] [ 4.30560704e-01 9.02557338e-01 -2.78040692e-03 1.53929654e+01] [ 7.65777360e-03 -5.72607895e-04 9.99970515e-01 1.14107359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.22, Y:15.40, Z:1.14 [[ 9.02312299e-01 -4.31023531e-01 -7.15761736e-03 1.83220116e+02] [ 4.31014938e-01 9.02340504e-01 -2.78170597e-03 1.54028357e+01] [ 7.65758878e-03 -5.75072496e-04 9.99970515e-01 1.14021320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.25, Y:15.41, Z:1.14 [[ 9.02017881e-01 -4.31639337e-01 -7.15710882e-03 1.83246052e+02] [ 4.31630753e-01 9.02046089e-01 -2.78301379e-03 1.54124267e+01] [ 7.65730025e-03 -5.78900071e-04 9.99970515e-01 1.13930641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.875898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:183.27, Y:15.42, Z:1.14 [[ 9.00954752e-01 -4.33854022e-01 -7.15695097e-03 1.83272874e+02] [ 4.33845504e-01 9.00982981e-01 -2.78341966e-03 1.54206012e+01] [ 7.65588883e-03 -5.97275835e-04 9.99970515e-01 1.14072451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.30, Y:15.43, Z:1.14 [[ 9.00167436e-01 -4.35485210e-01 -7.15672181e-03 1.83299277e+02] [ 4.35476739e-01 9.00195678e-01 -2.78400875e-03 1.54284828e+01] [ 7.65484468e-03 -6.10511857e-04 9.99970515e-01 1.14311960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.32, Y:15.44, Z:1.14 [[ 8.99246521e-01 -4.37383680e-01 -7.15621856e-03 1.83324766e+02] [ 4.37375258e-01 8.99274778e-01 -2.78530174e-03 1.54362598e+01] [ 7.65365238e-03 -6.25280040e-04 9.99970515e-01 1.14229249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.35, Y:15.44, Z:1.14 [[ 8.98288524e-01 -4.39347836e-01 -7.15587573e-03 1.83351823e+02] [ 4.39339469e-01 8.98316797e-01 -2.78618225e-03 1.54447284e+01] [ 7.65234651e-03 -6.41063101e-04 9.99970515e-01 1.14163397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.38, Y:15.45, Z:1.14 [[ 8.97412424e-01 -4.41134608e-01 -7.15537725e-03 1.83377566e+02] [ 4.41126288e-01 8.97440710e-01 -2.78746184e-03 1.54531193e+01] [ 7.65117273e-03 -6.54922115e-04 9.99970515e-01 1.14058180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.40, Y:15.46, Z:1.14 [[ 8.96506010e-01 -4.42973788e-01 -7.15516112e-03 1.83404428e+02] [ 4.42965521e-01 8.96534313e-01 -2.78801651e-03 1.54618101e+01] [ 7.64986569e-03 -6.70016119e-04 9.99970515e-01 1.14163106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.43, Y:15.47, Z:1.14 [[ 8.94977702e-01 -4.46053498e-01 -7.15467463e-03 1.83431666e+02] [ 4.46045319e-01 8.95006030e-01 -2.78926440e-03 1.54673743e+01] [ 7.64763808e-03 -6.94979685e-04 9.99970515e-01 1.14251597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.46, Y:15.47, Z:1.14 [[ 8.94434303e-01 -4.47142137e-01 -7.15452425e-03 1.83458416e+02] [ 4.47133989e-01 8.94462640e-01 -2.78965008e-03 1.54748657e+01] [ 7.64682474e-03 -7.03872247e-04 9.99970515e-01 1.14225123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.49, Y:15.48, Z:1.14 [[ 8.94334162e-01 -4.47342405e-01 -7.15404409e-03 1.83485193e+02] [ 4.47334253e-01 8.94362498e-01 -2.79088089e-03 1.54822951e+01] [ 7.64678811e-03 -7.04268848e-04 9.99970515e-01 1.14349437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.51, Y:15.49, Z:1.14 [[ 8.94577704e-01 -4.46855187e-01 -7.15354004e-03 1.83510741e+02] [ 4.46847010e-01 8.94606033e-01 -2.79217228e-03 1.54899489e+01] [ 7.64729674e-03 -6.98722902e-04 9.99970515e-01 1.14380919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.54, Y:15.50, Z:1.14 [[ 8.95100837e-01 -4.45806372e-01 -7.15332083e-03 1.83537196e+02] [ 4.45798157e-01 8.95129155e-01 -2.79273375e-03 1.54988825e+01] [ 7.64816453e-03 -6.89158924e-04 9.99970515e-01 1.14479488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.57, Y:15.51, Z:1.15 [[ 8.96519367e-01 -4.42946867e-01 -7.14823254e-03 1.83565705e+02] [ 4.42938459e-01 8.96547628e-01 -2.80576155e-03 1.55056515e+01] [ 7.65153422e-03 -6.50807537e-04 9.99970515e-01 1.15113249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.59, Y:15.51, Z:1.15 [[ 8.96388441e-01 -4.43211725e-01 -7.15047336e-03 1.83593544e+02] [ 4.43203371e-01 8.96416718e-01 -2.80002538e-03 1.55141222e+01] [ 7.65080794e-03 -6.59203514e-04 9.99970515e-01 1.14841715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.62, Y:15.52, Z:1.15 [[ 8.95995353e-01 -4.44005822e-01 -7.15242178e-03 1.83620177e+02] [ 4.43997532e-01 8.96023649e-01 -2.79503945e-03 1.55208658e+01] [ 7.64975285e-03 -6.71315262e-04 9.99970515e-01 1.14772827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.65, Y:15.53, Z:1.15 [[ 8.95264377e-01 -4.45477881e-01 -7.15209136e-03 1.83648080e+02] [ 4.45469631e-01 8.95292685e-01 -2.79588469e-03 1.55274688e+01] [ 7.64871986e-03 -6.82983536e-04 9.99970515e-01 1.14642359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.68, Y:15.53, Z:1.15 [[ 8.94423699e-01 -4.47163390e-01 -7.15185893e-03 1.83675395e+02] [ 4.47155188e-01 8.94452021e-01 -2.79647910e-03 1.55341596e+01] [ 7.64747775e-03 -6.96753641e-04 9.99970515e-01 1.14563745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.355898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:183.70, Y:15.54, Z:1.14 [[ 8.93768914e-01 -4.48470719e-01 -7.15137547e-03 1.83702143e+02] [ 4.48462549e-01 8.93797245e-01 -2.79771491e-03 1.55406343e+01] [ 7.64657291e-03 -7.06613457e-04 9.99970515e-01 1.14437413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.73, Y:15.54, Z:1.15 [[ 8.93684144e-01 -4.48639623e-01 -7.15116634e-03 1.83731633e+02] [ 4.48631454e-01 8.93712475e-01 -2.79824937e-03 1.55444744e+01] [ 7.64649211e-03 -7.07487061e-04 9.99970515e-01 1.14966931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.76, Y:15.55, Z:1.15 [[ 8.94263554e-01 -4.47483590e-01 -7.15072156e-03 1.83757547e+02] [ 4.47475375e-01 8.94291872e-01 -2.79938550e-03 1.55514146e+01] [ 7.64751124e-03 -6.96383388e-04 9.99970515e-01 1.14886726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.78, Y:15.56, Z:1.15 [[ 8.95283255e-01 -4.45439972e-01 -7.15021474e-03 1.83784238e+02] [ 4.45431682e-01 8.95311551e-01 -2.80067943e-03 1.55588676e+01] [ 7.64920441e-03 -6.77530781e-04 9.99970515e-01 1.14881698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.81, Y:15.57, Z:1.15 [[ 8.96577711e-01 -4.42828731e-01 -7.15006682e-03 1.83809971e+02] [ 4.42820356e-01 8.96605982e-01 -2.80105700e-03 1.55665229e+01] [ 7.65118120e-03 -6.54829864e-04 9.99970515e-01 1.14871248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.84, Y:15.57, Z:1.15 [[ 8.97975137e-01 -4.39988107e-01 -7.14974459e-03 1.83837235e+02] [ 4.39979637e-01 8.98003379e-01 -2.80187926e-03 1.55748792e+01] [ 7.65328836e-03 -6.29724113e-04 9.99970515e-01 1.14830666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.86, Y:15.58, Z:1.15 [[ 8.99451730e-01 -4.36961638e-01 -7.14927561e-03 1.83864407e+02] [ 4.36953063e-01 8.99479941e-01 -2.80307541e-03 1.55834007e+01] [ 7.65546642e-03 -6.02666850e-04 9.99970515e-01 1.15133936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.89, Y:15.59, Z:1.15 [[ 9.02532448e-01 -4.30562510e-01 -7.14876716e-03 1.83891569e+02] [ 4.30553725e-01 9.02560594e-01 -2.80437152e-03 1.55896271e+01] [ 7.65965278e-03 -5.46892030e-04 9.99970515e-01 1.15346225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.92, Y:15.60, Z:1.15 [[ 9.03624510e-01 -4.28265857e-01 -7.14853086e-03 1.83919322e+02] [ 4.28256995e-01 9.03652632e-01 -2.80497375e-03 1.55989822e+01] [ 7.66106320e-03 -5.26765314e-04 9.99970515e-01 1.15482199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.95, Y:15.61, Z:1.15 [[ 9.04696360e-01 -4.25996874e-01 -7.15261093e-03 1.83945284e+02] [ 4.25988023e-01 9.04724485e-01 -2.79457714e-03 1.56076520e+01] [ 7.66162337e-03 -5.18682818e-04 9.99970515e-01 1.15425878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.97, Y:15.62, Z:1.15 [[ 9.05319903e-01 -4.24670200e-01 -7.14800378e-03 1.83971620e+02] [ 4.24661216e-01 9.05347986e-01 -2.80631208e-03 1.56167137e+01] [ 7.66318794e-03 -4.94869794e-04 9.99970515e-01 1.15485672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.00, Y:15.63, Z:1.15 [[ 9.05620952e-01 -4.24027834e-01 -7.14751055e-03 1.83996834e+02] [ 4.24018820e-01 9.05649026e-01 -2.80756775e-03 1.56252148e+01] [ 7.66362284e-03 -4.88086813e-04 9.99970515e-01 1.15318101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.02, Y:15.63, Z:1.15 [[ 9.05788478e-01 -4.23669863e-01 -7.14702136e-03 1.84023582e+02] [ 4.23660828e-01 9.05816545e-01 -2.80881251e-03 1.56338225e+01] [ 7.66389940e-03 -4.83722977e-04 9.99970515e-01 1.15407034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.05, Y:15.64, Z:1.15 [[ 9.05262113e-01 -4.24793409e-01 -7.14612206e-03 1.84051665e+02] [ 4.24784391e-01 9.05290185e-01 -2.81109964e-03 1.56396709e+01] [ 7.66345076e-03 -4.90779103e-04 9.99970515e-01 1.15265075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.08, Y:15.65, Z:1.15 [[ 9.04815219e-01 -4.25744465e-01 -7.14635310e-03 1.84078211e+02] [ 4.25735481e-01 9.04843302e-01 -2.81051217e-03 1.56470154e+01] [ 7.66288973e-03 -4.99461894e-04 9.99970515e-01 1.15078746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.11, Y:15.65, Z:1.15 [[ 9.04272518e-01 -4.26895941e-01 -7.14619980e-03 1.84105835e+02] [ 4.26886990e-01 9.04300612e-01 -2.81090189e-03 1.56549858e+01] [ 7.66227546e-03 -5.08798390e-04 9.99970515e-01 1.14988583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.13, Y:15.66, Z:1.15 [[ 9.03971833e-01 -4.27532254e-01 -7.14815191e-03 1.84131626e+02] [ 4.27523362e-01 9.03999946e-01 -2.80594078e-03 1.56629327e+01] [ 7.66155913e-03 -5.19510505e-04 9.99970515e-01 1.14626077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.16, Y:15.67, Z:1.15 [[ 9.03839535e-01 -4.27811939e-01 -7.14418601e-03 1.84157955e+02] [ 4.27802976e-01 9.03867625e-01 -2.81601410e-03 1.56714943e+01] [ 7.66212290e-03 -5.11079159e-04 9.99970515e-01 1.14605053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.18, Y:15.68, Z:1.15 [[ 9.04205598e-01 -4.27037683e-01 -7.14517898e-03 1.84184376e+02] [ 4.27028716e-01 9.04233687e-01 -2.81349235e-03 1.56806671e+01] [ 7.66237879e-03 -5.07221075e-04 9.99970515e-01 1.14749723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.21, Y:15.69, Z:1.15 [[ 9.04579635e-01 -4.26244846e-01 -7.14249505e-03 1.84209982e+02] [ 4.26235801e-01 9.04607698e-01 -2.82030650e-03 1.56911163e+01] [ 7.66329712e-03 -4.93195271e-04 9.99970515e-01 1.15013182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.23, Y:15.70, Z:1.16 [[ 9.06223283e-01 -4.22739037e-01 -7.14621717e-03 1.84233615e+02] [ 4.22729958e-01 9.06251335e-01 -2.81085742e-03 1.57045115e+01] [ 7.66452801e-03 -4.73655643e-04 9.99970515e-01 1.15688537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.26, Y:15.72, Z:1.16 [[ 9.06934006e-01 -4.21212140e-01 -7.14441209e-03 1.84259001e+02] [ 4.21202977e-01 9.06962031e-01 -2.81543794e-03 1.57178075e+01] [ 7.66560714e-03 -4.55831232e-04 9.99970515e-01 1.16017925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.015898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:184.28, Y:15.73, Z:1.16 [[ 9.07255569e-01 -4.20519079e-01 -7.14397795e-03 1.84283506e+02] [ 4.20509886e-01 9.07283584e-01 -2.81653911e-03 1.57311025e+01] [ 7.66602236e-03 -4.48792562e-04 9.99970515e-01 1.16029812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.31, Y:15.74, Z:1.16 [[ 9.07542516e-01 -4.19899455e-01 -7.14345491e-03 1.84307497e+02] [ 4.19890233e-01 9.07570522e-01 -2.81786505e-03 1.57434718e+01] [ 7.66640910e-03 -4.42134615e-04 9.99970515e-01 1.16138687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.33, Y:15.76, Z:1.16 [[ 9.07393258e-01 -4.20221905e-01 -7.14322786e-03 1.84332215e+02] [ 4.20212688e-01 9.07421266e-01 -2.81844051e-03 1.57568375e+01] [ 7.66628730e-03 -4.44241059e-04 9.99970515e-01 1.16141841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.105898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:184.36, Y:15.77, Z:1.16 [[ 9.05817244e-01 -4.23608429e-01 -7.14271911e-03 1.84355441e+02] [ 4.23599307e-01 9.05845283e-01 -2.81972925e-03 1.57740436e+01] [ 7.66465948e-03 -4.71491488e-04 9.99970515e-01 1.16046048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.38, Y:15.79, Z:1.16 [[ 9.04623302e-01 -4.26152170e-01 -7.14207880e-03 1.84380455e+02] [ 4.26143114e-01 9.04651362e-01 -2.82135073e-03 1.57871279e+01] [ 7.66341605e-03 -4.91288087e-04 9.99970515e-01 1.15985791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.41, Y:15.80, Z:1.16 [[ 9.02967316e-01 -4.29649876e-01 -7.14220521e-03 1.84405837e+02] [ 4.29640931e-01 9.02995411e-01 -2.82103068e-03 1.57997809e+01] [ 7.66143401e-03 -5.21285189e-04 9.99970515e-01 1.15929498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.43, Y:15.81, Z:1.16 [[ 9.01413613e-01 -4.32900096e-01 -7.14170462e-03 1.84430935e+02] [ 4.32891243e-01 9.01441738e-01 -2.82229741e-03 1.58122615e+01] [ 7.65960344e-03 -5.47524080e-04 9.99970515e-01 1.15885651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.225898227 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:184.45, Y:15.83, Z:1.16 [[ 9.00052863e-01 -4.35722214e-01 -7.14119692e-03 1.84454906e+02] [ 4.35713438e-01 9.00081012e-01 -2.82358145e-03 1.58250937e+01] [ 7.65795290e-03 -5.70142898e-04 9.99970515e-01 1.15663255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.48, Y:15.84, Z:1.16 [[ 8.99552724e-01 -4.36753827e-01 -7.14085206e-03 1.84478397e+02] [ 4.36745076e-01 8.99580881e-01 -2.82445333e-03 1.58421046e+01] [ 7.65736478e-03 -5.77987289e-04 9.99970515e-01 1.15936142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.50, Y:15.86, Z:1.16 [[ 8.99902803e-01 -4.36032063e-01 -7.14034744e-03 1.84502860e+02] [ 4.36023280e-01 8.99930950e-01 -2.82572846e-03 1.58559754e+01] [ 7.65792786e-03 -5.70476753e-04 9.99970515e-01 1.15928604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.53, Y:15.87, Z:1.16 [[ 9.00485934e-01 -4.34826523e-01 -7.13984601e-03 1.84527905e+02] [ 4.34817692e-01 9.00514066e-01 -2.82699485e-03 1.58697642e+01] [ 7.65878410e-03 -5.58862262e-04 9.99970515e-01 1.15926946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.55, Y:15.88, Z:1.16 [[ 9.00407639e-01 -4.34988636e-01 -7.13933675e-03 1.84554306e+02] [ 4.34979800e-01 9.00435769e-01 -2.82828036e-03 1.58803956e+01] [ 7.65878400e-03 -5.58862036e-04 9.99970515e-01 1.15948819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.58, Y:15.89, Z:1.16 [[ 9.01046375e-01 -4.33664003e-01 -7.13882735e-03 1.84579136e+02] [ 4.33655115e-01 9.01074489e-01 -2.82956557e-03 1.58940198e+01] [ 7.65969593e-03 -5.46219199e-04 9.99970515e-01 1.15896023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.60, Y:15.91, Z:1.16 [[ 9.02117743e-01 -4.31430902e-01 -7.13831647e-03 1.84603328e+02] [ 4.31421935e-01 9.02145831e-01 -2.83085380e-03 1.59107304e+01] [ 7.66112025e-03 -5.25862860e-04 9.99970515e-01 1.15683228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.63, Y:15.92, Z:1.16 [[ 9.02455527e-01 -4.30723895e-01 -7.13786832e-03 1.84627745e+02] [ 4.30714897e-01 9.02483605e-01 -2.83198333e-03 1.59235953e+01] [ 7.66161203e-03 -5.18647214e-04 9.99970515e-01 1.15589797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.65, Y:15.94, Z:1.16 [[ 9.02668661e-01 -4.30277053e-01 -7.13770934e-03 1.84652318e+02] [ 4.30268038e-01 9.02696734e-01 -2.83238396e-03 1.59362680e+01] [ 7.66189673e-03 -5.14423957e-04 9.99970515e-01 1.15571595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.68, Y:15.95, Z:1.16 [[ 9.02550109e-01 -4.30525679e-01 -7.13720225e-03 1.84676927e+02] [ 4.30516662e-01 9.02578182e-01 -2.83366119e-03 1.59492217e+01] [ 7.66184694e-03 -5.15163264e-04 9.99970515e-01 1.15586277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.70, Y:15.96, Z:1.16 [[ 9.02214709e-01 -4.31228115e-01 -7.13669338e-03 1.84701204e+02] [ 4.31219109e-01 9.02242785e-01 -2.83494222e-03 1.59616579e+01] [ 7.66153690e-03 -5.19751994e-04 9.99970515e-01 1.15551397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.73, Y:15.97, Z:1.16 [[ 9.01631500e-01 -4.32446192e-01 -7.13647209e-03 1.84726694e+02] [ 4.32437220e-01 9.01659587e-01 -2.83549917e-03 1.59745306e+01] [ 7.66086930e-03 -5.29500781e-04 9.99970515e-01 1.15604224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.75, Y:15.99, Z:1.16 [[ 9.00273438e-01 -4.35266371e-01 -7.13599740e-03 1.84750810e+02] [ 4.35257477e-01 9.00301550e-01 -2.83669338e-03 1.59881358e+01] [ 7.65926676e-03 -5.52196521e-04 9.99970515e-01 1.15851390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.78, Y:16.00, Z:1.16 [[ 8.99759956e-01 -4.36326827e-01 -7.13589894e-03 1.84776232e+02] [ 4.36317965e-01 8.99788078e-01 -2.83694105e-03 1.59999248e+01] [ 7.65863028e-03 -5.60954946e-04 9.99970515e-01 1.15873577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.645898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.80, Y:16.01, Z:1.16 [[ 8.99533139e-01 -4.36794250e-01 -7.13540339e-03 1.84801726e+02] [ 4.36785393e-01 8.99561263e-01 -2.83818689e-03 1.60118195e+01] [ 7.65843620e-03 -5.63596809e-04 9.99970515e-01 1.15952680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.83, Y:16.02, Z:1.16 [[ 8.99965156e-01 -4.35903442e-01 -7.13489176e-03 1.84827785e+02] [ 4.35894547e-01 8.99993268e-01 -2.83947250e-03 1.60232543e+01] [ 7.65909038e-03 -5.54634099e-04 9.99970515e-01 1.16073040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.705898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:184.85, Y:16.04, Z:1.16 [[ 9.00473582e-01 -4.34852192e-01 -7.13437328e-03 1.84853197e+02] [ 4.34843254e-01 9.00501680e-01 -2.84077461e-03 1.60356023e+01] [ 7.65983219e-03 -5.44291603e-04 9.99970515e-01 1.15976697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.88, Y:16.05, Z:1.16 [[ 9.01364455e-01 -4.33002566e-01 -7.13421234e-03 1.84878844e+02] [ 4.32993567e-01 9.01392533e-01 -2.84117873e-03 1.60472029e+01] [ 7.66096341e-03 -5.28130531e-04 9.99970515e-01 1.16122695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.90, Y:16.06, Z:1.17 [[ 9.03318591e-01 -4.28910985e-01 -7.13370009e-03 1.84904153e+02] [ 4.28901849e-01 9.03346625e-01 -2.84246432e-03 1.60602174e+01] [ 7.66336807e-03 -4.92006291e-04 9.99970515e-01 1.16660268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.93, Y:16.07, Z:1.17 [[ 9.04006061e-01 -4.27460119e-01 -7.13353636e-03 1.84929622e+02] [ 4.27450934e-01 9.04034079e-01 -2.84287516e-03 1.60719740e+01] [ 7.66417573e-03 -4.79260407e-04 9.99970515e-01 1.16934811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.95, Y:16.08, Z:1.17 [[ 9.04356600e-01 -4.26718005e-01 -7.13337298e-03 1.84954395e+02] [ 4.26708794e-01 9.04384609e-01 -2.84328504e-03 1.60840832e+01] [ 7.66459366e-03 -4.72529387e-04 9.99970515e-01 1.17043899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.855898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:184.98, Y:16.10, Z:1.17 [[ 9.04437518e-01 -4.26546473e-01 -7.13321195e-03 1.84979006e+02] [ 4.26537253e-01 9.04465524e-01 -2.84368900e-03 1.60961357e+01] [ 7.66470980e-03 -4.70641610e-04 9.99970515e-01 1.16947902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.00, Y:16.11, Z:1.17 [[ 9.04635671e-01 -4.26126065e-01 -7.13299387e-03 1.85003412e+02] [ 4.26116828e-01 9.04663672e-01 -2.84423590e-03 1.61068323e+01] [ 7.66496348e-03 -4.66491472e-04 9.99970515e-01 1.16987991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.03, Y:16.12, Z:1.17 [[ 9.04683388e-01 -4.26024753e-01 -7.13277720e-03 1.85029625e+02] [ 4.26015509e-01 9.04711387e-01 -2.84477918e-03 1.61175185e+01] [ 7.66505110e-03 -4.65049241e-04 9.99970515e-01 1.17035059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94589822700001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:185.06, Y:16.13, Z:1.17 [[ 9.04880660e-01 -4.25605594e-01 -7.13228005e-03 1.85055874e+02] [ 4.25596327e-01 9.04908651e-01 -2.84602505e-03 1.61269926e+01] [ 7.66534610e-03 -4.60159172e-04 9.99970515e-01 1.17283529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.08, Y:16.14, Z:1.17 [[ 9.05403422e-01 -4.24492381e-01 -7.13176568e-03 1.85081006e+02] [ 4.24483070e-01 9.05431398e-01 -2.84731341e-03 1.61362070e+01] [ 7.66598742e-03 -4.49346483e-04 9.99970515e-01 1.17390158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.005898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:185.11, Y:16.15, Z:1.17 [[ 9.06073078e-01 -4.23061130e-01 -7.13141385e-03 1.85106990e+02] [ 4.23051767e-01 9.06101038e-01 -2.84819434e-03 1.61465912e+01] [ 7.66674180e-03 -4.36285021e-04 9.99970515e-01 1.17373669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.13, Y:16.16, Z:1.17 [[ 9.07226850e-01 -4.20581256e-01 -7.13089759e-03 1.85133706e+02] [ 4.20571807e-01 9.07254780e-01 -2.84948630e-03 1.61563716e+01] [ 7.66798145e-03 -4.13924002e-04 9.99970515e-01 1.17402112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.16, Y:16.17, Z:1.17 [[ 9.08616947e-01 -4.17569633e-01 -7.13057558e-03 1.85159299e+02] [ 4.17560085e-01 9.08644844e-01 -2.85029185e-03 1.61655808e+01] [ 7.66935606e-03 -3.87620266e-04 9.99970515e-01 1.17326672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.095898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.19, Y:16.18, Z:1.17 [[ 9.10217269e-01 -4.14069660e-01 -7.13022201e-03 1.85185433e+02] [ 4.14059997e-01 9.10245126e-01 -2.85117607e-03 1.61750885e+01] [ 7.67083534e-03 -3.57150007e-04 9.99970515e-01 1.17407169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.21, Y:16.18, Z:1.18 [[ 9.13584645e-01 -4.06586108e-01 -7.12970832e-03 1.85211686e+02] [ 4.06576208e-01 9.13612418e-01 -2.85246004e-03 1.61834148e+01] [ 7.67356068e-03 -2.92806071e-04 9.99970515e-01 1.17610504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.24, Y:16.19, Z:1.18 [[ 9.15035057e-01 -4.03311317e-01 -7.12919536e-03 1.85237747e+02] [ 4.03301307e-01 9.15062791e-01 -2.85374152e-03 1.61926063e+01] [ 7.67460765e-03 -2.63940268e-04 9.99970515e-01 1.17599416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.26, Y:16.20, Z:1.17 [[ 9.16200973e-01 -4.00655662e-01 -7.12867266e-03 1.85264698e+02] [ 4.00645561e-01 9.16228674e-01 -2.85504663e-03 1.62018553e+01] [ 7.67538489e-03 -2.40274562e-04 9.99970515e-01 1.17494683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.29, Y:16.21, Z:1.17 [[ 9.17088931e-01 -3.98618969e-01 -7.12814247e-03 1.85291827e+02] [ 3.98608797e-01 9.17116605e-01 -2.85636972e-03 1.62104188e+01] [ 7.67594098e-03 -2.21795244e-04 9.99970515e-01 1.17407735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.245898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:185.32, Y:16.22, Z:1.17 [[ 9.17722502e-01 -3.97158164e-01 -7.12760911e-03 1.85317372e+02] [ 3.97147937e-01 9.17750157e-01 -2.85770000e-03 1.62182833e+01] [ 7.67632327e-03 -2.08139657e-04 9.99970515e-01 1.17135621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.34, Y:16.22, Z:1.17 [[ 9.18913373e-01 -3.94394996e-01 -7.12737633e-03 1.85344753e+02] [ 3.94384682e-01 9.18940995e-01 -2.85828047e-03 1.62249805e+01] [ 7.67692982e-03 -1.84415898e-04 9.99970515e-01 1.17245878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.37, Y:16.23, Z:1.17 [[ 9.19746576e-01 -3.92448014e-01 -7.12684725e-03 1.85370831e+02] [ 3.92437631e-01 9.19774172e-01 -2.85959908e-03 1.62331381e+01] [ 7.67733401e-03 -1.66736592e-04 9.99970515e-01 1.16922476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.335898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:185.40, Y:16.24, Z:1.17 [[ 9.20578209e-01 -3.90493268e-01 -7.12523376e-03 1.85398487e+02] [ 3.90482796e-01 9.20605771e-01 -2.86361853e-03 1.62417315e+01] [ 7.67775508e-03 -1.46096378e-04 9.99970515e-01 1.16757605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.43, Y:16.25, Z:1.17 [[ 9.21817515e-01 -3.87558623e-01 -7.12617610e-03 1.85425412e+02] [ 3.87548081e-01 9.21845051e-01 -2.86127158e-03 1.62503630e+01] [ 7.67814064e-03 -1.24165609e-04 9.99970515e-01 1.16757642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.45, Y:16.26, Z:1.17 [[ 9.23095614e-01 -3.84504495e-01 -7.12601315e-03 1.85451741e+02] [ 3.84493859e-01 9.23123114e-01 -2.86167735e-03 1.62594976e+01] [ 7.67851525e-03 -9.83064860e-05 9.99970515e-01 1.16933792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.48, Y:16.27, Z:1.17 [[ 9.24580458e-01 -3.80920206e-01 -7.12547850e-03 1.85477324e+02] [ 3.80909453e-01 9.24607912e-01 -2.86300798e-03 1.62691363e+01] [ 7.67885139e-03 -6.70808843e-05 9.99970515e-01 1.17152768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.50, Y:16.28, Z:1.17 [[ 9.27680531e-01 -3.73306934e-01 -7.12501397e-03 1.85503842e+02] [ 3.73295946e-01 9.27707892e-01 -2.86416358e-03 1.62808903e+01] [ 7.67914381e-03 -2.71004112e-06 9.99970515e-01 1.17355626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.53, Y:16.29, Z:1.17 [[ 9.29104284e-01 -3.69749199e-01 -7.12454718e-03 1.85529319e+02] [ 3.69738097e-01 9.29131600e-01 -2.86532424e-03 1.62925584e+01] [ 7.67909326e-03 2.79685032e-05 9.99970515e-01 1.17274997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.55, Y:16.30, Z:1.17 [[ 9.30258376e-01 -3.66835933e-01 -7.12401482e-03 1.85554552e+02] [ 3.66824736e-01 9.30285652e-01 -2.86664721e-03 1.63041657e+01] [ 7.67895798e-03 5.34577162e-05 9.99970515e-01 1.17117739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.58, Y:16.32, Z:1.17 [[ 9.31320024e-01 -3.64132214e-01 -7.12348257e-03 1.85579356e+02] [ 3.64120928e-01 9.31347263e-01 -2.86796922e-03 1.63155789e+01] [ 7.67875598e-03 7.71880790e-05 9.99970515e-01 1.17326186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.60, Y:16.33, Z:1.17 [[ 9.32004813e-01 -3.62375938e-01 -7.12094982e-03 1.85604941e+02] [ 3.62364553e-01 9.32032011e-01 -2.87425778e-03 1.63282109e+01] [ 7.67851505e-03 9.84422893e-05 9.99970515e-01 1.17107073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.63, Y:16.34, Z:1.17 [[ 9.31715086e-01 -3.63120179e-01 -7.12279534e-03 1.85630488e+02] [ 3.63108850e-01 9.31742308e-01 -2.86967706e-03 1.63394591e+01] [ 7.67864741e-03 8.73713807e-05 9.99970515e-01 1.17239415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.65, Y:16.35, Z:1.17 [[ 9.31135559e-01 -3.64603681e-01 -7.12223729e-03 1.85654835e+02] [ 3.64592384e-01 9.31162795e-01 -2.87106140e-03 1.63501565e+01] [ 7.67876193e-03 7.66338885e-05 9.99970515e-01 1.17113665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.68, Y:16.36, Z:1.17 [[ 9.30246712e-01 -3.66865554e-01 -7.12185828e-03 1.85681031e+02] [ 3.66854317e-01 9.30273971e-01 -2.87200125e-03 1.63611935e+01] [ 7.67891772e-03 5.89852629e-05 9.99970515e-01 1.17135582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.71, Y:16.37, Z:1.17 [[ 9.29451283e-01 -3.68876129e-01 -7.12133598e-03 1.85706934e+02] [ 3.68864941e-01 9.29478563e-01 -2.87329575e-03 1.63716776e+01] [ 7.67901935e-03 4.37772525e-05 9.99970515e-01 1.17200742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.73, Y:16.38, Z:1.17 [[ 9.29008702e-01 -3.69989359e-01 -7.12081598e-03 1.85732700e+02] [ 3.69978194e-01 9.29035991e-01 -2.87458387e-03 1.63817007e+01] [ 7.67905978e-03 3.59667925e-05 9.99970515e-01 1.17417958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.755898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:185.76, Y:16.39, Z:1.18 [[ 9.28799523e-01 -3.70514159e-01 -7.12065434e-03 1.85759916e+02] [ 3.70503006e-01 9.28826818e-01 -2.87498421e-03 1.63920693e+01] [ 7.67907707e-03 3.20601227e-05 9.99970515e-01 1.17667646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.78, Y:16.40, Z:1.18 [[ 9.29067298e-01 -3.69842209e-01 -7.12018010e-03 1.85784765e+02] [ 3.69831027e-01 9.29094580e-01 -2.87615824e-03 1.64019967e+01] [ 7.67904546e-03 3.88810439e-05 9.99970515e-01 1.17803457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.81, Y:16.41, Z:1.18 [[ 9.29602834e-01 -3.68494068e-01 -7.11981088e-03 1.85810515e+02] [ 3.68482840e-01 9.29630098e-01 -2.87707194e-03 1.64123377e+01] [ 7.67897443e-03 5.10060909e-05 9.99970515e-01 1.17796028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.845898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:185.84, Y:16.42, Z:1.18 [[ 9.30285421e-01 -3.66767436e-01 -7.11928782e-03 1.85836837e+02] [ 3.66756147e-01 9.30312659e-01 -2.87836566e-03 1.64229951e+01] [ 7.67885438e-03 6.66590315e-05 9.99970515e-01 1.17723046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.875898227 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:185.86, Y:16.43, Z:1.18 [[ 9.31308335e-01 -3.64162200e-01 -7.11874522e-03 1.85862284e+02] [ 3.64150825e-01 9.31335538e-01 -2.87970700e-03 1.64328060e+01] [ 7.67862084e-03 8.95981839e-05 9.99970515e-01 1.17694293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.89, Y:16.44, Z:1.18 [[ 9.33291664e-01 -3.59048740e-01 -7.11850930e-03 1.85887695e+02] [ 3.59037211e-01 9.33318801e-01 -2.88029005e-03 1.64425967e+01] [ 7.67800308e-03 1.32340963e-04 9.99970515e-01 1.17778152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.935898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:185.91, Y:16.45, Z:1.18 [[ 9.33916028e-01 -3.57421575e-01 -7.11827383e-03 1.85912650e+02] [ 3.57409995e-01 9.33943144e-01 -2.88087188e-03 1.64523735e+01] [ 7.67774880e-03 1.46350218e-04 9.99970515e-01 1.17705157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.94, Y:16.46, Z:1.18 [[ 9.34315928e-01 -3.56374915e-01 -7.11804026e-03 1.85939328e+02] [ 3.56363300e-01 9.34343029e-01 -2.88144887e-03 1.64618366e+01] [ 7.67756739e-03 1.55575260e-04 9.99970515e-01 1.17827905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.96, Y:16.47, Z:1.18 [[ 9.34469156e-01 -3.55972946e-01 -7.11748835e-03 1.85964957e+02] [ 3.55961309e-01 9.34496247e-01 -2.88281149e-03 1.64702731e+01] [ 7.67746905e-03 1.60347945e-04 9.99970515e-01 1.17838473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.025898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:185.99, Y:16.48, Z:1.18 [[ 9.34168471e-01 -3.56761282e-01 -7.11724775e-03 1.85992362e+02] [ 3.56749663e-01 9.34195570e-01 -2.88340538e-03 1.64779223e+01] [ 7.67758872e-03 1.54510661e-04 9.99970515e-01 1.17558792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.02, Y:16.49, Z:1.17 [[ 9.34280077e-01 -3.56468918e-01 -7.11670596e-03 1.86018451e+02] [ 3.56457280e-01 9.34307169e-01 -2.88474197e-03 1.64868679e+01] [ 7.67751025e-03 1.58355299e-04 9.99970515e-01 1.17474312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.05, Y:16.50, Z:1.17 [[ 9.34489437e-01 -3.55919719e-01 -7.11653767e-03 1.86045646e+02] [ 3.55908063e-01 9.34516520e-01 -2.88515709e-03 1.64959244e+01] [ 7.67740632e-03 1.63315684e-04 9.99970515e-01 1.17381410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.07, Y:16.50, Z:1.17 [[ 9.34856228e-01 -3.54955201e-01 -7.11606698e-03 1.86072637e+02] [ 3.54943508e-01 9.34883295e-01 -2.88631756e-03 1.65046853e+01] [ 7.67720557e-03 1.72490177e-04 9.99970515e-01 1.17343150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.10, Y:16.51, Z:1.17 [[ 9.35341334e-01 -3.53674933e-01 -7.11551766e-03 1.86098237e+02] [ 3.53663192e-01 9.35368381e-01 -2.88767114e-03 1.65129140e+01] [ 7.67692713e-03 1.84461491e-04 9.99970515e-01 1.17301896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.12, Y:16.52, Z:1.17 [[ 9.35962221e-01 -3.52028544e-01 -7.11514301e-03 1.86124815e+02] [ 3.52016748e-01 9.35989244e-01 -2.88859396e-03 1.65216040e+01] [ 7.67656485e-03 1.98965310e-04 9.99970515e-01 1.17348927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.15, Y:16.53, Z:1.17 [[ 9.37363383e-01 -3.48280449e-01 -7.11460604e-03 1.86151746e+02] [ 3.48268535e-01 9.37390354e-01 -2.88991593e-03 1.65297246e+01] [ 7.67566429e-03 2.31107945e-04 9.99970515e-01 1.17417659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.18, Y:16.54, Z:1.17 [[ 9.38079595e-01 -3.46346739e-01 -7.11405920e-03 1.86177132e+02] [ 3.46334760e-01 9.38106537e-01 -2.89126145e-03 1.65389100e+01] [ 7.67512441e-03 2.48387384e-04 9.99970515e-01 1.17290593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.20, Y:16.55, Z:1.17 [[ 9.38519682e-01 -3.45152431e-01 -7.11382120e-03 1.86202147e+02] [ 3.45140413e-01 9.38546606e-01 -2.89184690e-03 1.65481411e+01] [ 7.67478074e-03 2.58788039e-04 9.99970515e-01 1.17292057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.23, Y:16.56, Z:1.17 [[ 9.38456633e-01 -3.45323825e-01 -7.11358784e-03 1.86228434e+02] [ 3.45311808e-01 9.38483558e-01 -2.89242082e-03 1.65590537e+01] [ 7.67480705e-03 2.58005628e-04 9.99970515e-01 1.17313920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.25, Y:16.57, Z:1.18 [[ 9.38780679e-01 -3.44441927e-01 -7.11305936e-03 1.86254898e+02] [ 3.44429875e-01 9.38807588e-01 -2.89371988e-03 1.65694547e+01] [ 7.67451256e-03 2.66618163e-04 9.99970515e-01 1.17510066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.28, Y:16.58, Z:1.18 [[ 9.38997960e-01 -3.43849157e-01 -7.11258232e-03 1.86280213e+02] [ 3.43837079e-01 9.39024857e-01 -2.89489196e-03 1.65797386e+01] [ 7.67429775e-03 2.72728111e-04 9.99970515e-01 1.17643990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.31, Y:16.59, Z:1.18 [[ 9.39173189e-01 -3.43370261e-01 -7.11237935e-03 1.86306299e+02] [ 3.43358165e-01 9.39200078e-01 -2.89539054e-03 1.65895538e+01] [ 7.67413824e-03 2.77179640e-04 9.99970515e-01 1.17813473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.33, Y:16.60, Z:1.18 [[ 9.39201531e-01 -3.43292740e-01 -7.11183501e-03 1.86333986e+02] [ 3.43280632e-01 9.39228416e-01 -2.89672697e-03 1.65963810e+01] [ 7.67406286e-03 2.79255186e-04 9.99970515e-01 1.17767488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.36, Y:16.60, Z:1.18 [[ 9.39086549e-01 -3.43607164e-01 -7.11127976e-03 1.86359609e+02] [ 3.43595054e-01 9.39113433e-01 -2.89808941e-03 1.66042223e+01] [ 7.67410263e-03 2.78156230e-04 9.99970515e-01 1.17710555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.39, Y:16.61, Z:1.18 [[ 9.38871806e-01 -3.44193503e-01 -7.11090066e-03 1.86386764e+02] [ 3.44181404e-01 9.38898694e-01 -2.89901929e-03 1.66128702e+01] [ 7.67423895e-03 2.74367708e-04 9.99970515e-01 1.17848075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.41, Y:16.62, Z:1.18 [[ 9.38717018e-01 -3.44615441e-01 -7.11035111e-03 1.86412839e+02] [ 3.44603343e-01 9.38743907e-01 -2.90036655e-03 1.66212581e+01] [ 7.67430988e-03 2.72372676e-04 9.99970515e-01 1.18037365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.44, Y:16.63, Z:1.18 [[ 9.38696228e-01 -3.44672071e-01 -7.11014629e-03 1.86439108e+02] [ 3.44659971e-01 9.38723116e-01 -2.90086856e-03 1.66294575e+01] [ 7.67430706e-03 2.72451556e-04 9.99970515e-01 1.18218754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.47, Y:16.64, Z:1.18 [[ 9.39031463e-01 -3.43757704e-01 -7.10997851e-03 1.86466534e+02] [ 3.43745575e-01 9.39058338e-01 -2.90127974e-03 1.66355867e+01] [ 7.67402186e-03 2.80369309e-04 9.99970515e-01 1.18422115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.49, Y:16.64, Z:1.18 [[ 9.39450928e-01 -3.42609704e-01 -7.10945126e-03 1.86493466e+02] [ 3.42597532e-01 9.39477784e-01 -2.90257117e-03 1.66446125e+01] [ 7.67362056e-03 2.91142719e-04 9.99970515e-01 1.18367245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.52, Y:16.65, Z:1.18 [[ 9.39965687e-01 -3.41194915e-01 -7.10890489e-03 1.86518545e+02] [ 3.41182693e-01 9.39992520e-01 -2.90390869e-03 1.66536508e+01] [ 7.67311630e-03 3.04139207e-04 9.99970515e-01 1.18211971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.54, Y:16.66, Z:1.18 [[ 9.40563797e-01 -3.39542648e-01 -7.10866807e-03 1.86544500e+02] [ 3.39530374e-01 9.40590606e-01 -2.90448831e-03 1.66630433e+01] [ 7.67254406e-03 3.18247824e-04 9.99970515e-01 1.18077557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.57, Y:16.67, Z:1.18 [[ 9.41563764e-01 -3.36759778e-01 -7.10850817e-03 1.86571595e+02] [ 3.36747422e-01 9.41590535e-01 -2.90487959e-03 1.66714186e+01] [ 7.67155062e-03 3.41357557e-04 9.99970515e-01 1.18011868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.60, Y:16.68, Z:1.18 [[ 9.42021370e-01 -3.35477594e-01 -7.10798579e-03 1.86597835e+02] [ 3.35465192e-01 9.42048120e-01 -2.90615725e-03 1.66804360e+01] [ 7.67101529e-03 3.53180417e-04 9.99970515e-01 1.18043256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.62, Y:16.69, Z:1.18 [[ 9.42382509e-01 -3.34461793e-01 -7.10744459e-03 1.86624242e+02] [ 3.34449352e-01 9.42409241e-01 -2.90748023e-03 1.66902828e+01] [ 7.67056251e-03 3.62878279e-04 9.99970515e-01 1.18050482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.65, Y:16.70, Z:1.18 [[ 9.42782952e-01 -3.33331362e-01 -7.10689502e-03 1.86649801e+02] [ 3.33318879e-01 9.42809665e-01 -2.90882297e-03 1.66997418e+01] [ 7.67005123e-03 3.73526423e-04 9.99970515e-01 1.17864998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.68, Y:16.71, Z:1.18 [[ 9.42974017e-01 -3.32790473e-01 -7.10665678e-03 1.86676262e+02] [ 3.32777970e-01 9.43000720e-01 -2.90940489e-03 1.67093231e+01] [ 7.66980469e-03 3.78554397e-04 9.99970515e-01 1.17946587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.70, Y:16.72, Z:1.18 [[ 9.42917802e-01 -3.32949729e-01 -7.10610124e-03 1.86702569e+02] [ 3.32937220e-01 9.42944503e-01 -2.91076115e-03 1.67184474e+01] [ 7.66979623e-03 3.78722916e-04 9.99970515e-01 1.17884563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.73, Y:16.72, Z:1.18 [[ 9.42608960e-01 -3.33823097e-01 -7.10553377e-03 1.86729586e+02] [ 3.33810603e-01 9.42635667e-01 -2.91214576e-03 1.67238006e+01] [ 7.67007108e-03 3.73112175e-04 9.99970515e-01 1.17729210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.76, Y:16.73, Z:1.18 [[ 9.42359945e-01 -3.34525409e-01 -7.10528657e-03 1.86755766e+02] [ 3.34512930e-01 9.42386659e-01 -2.91274876e-03 1.67316790e+01] [ 7.67031575e-03 3.68047526e-04 9.99970515e-01 1.17658750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.78, Y:16.74, Z:1.18 [[ 9.41971821e-01 -3.35616755e-01 -7.10504810e-03 1.86782889e+02] [ 3.35604303e-01 9.41998548e-01 -2.91333035e-03 1.67402095e+01] [ 7.67070747e-03 3.59790377e-04 9.99970515e-01 1.17704249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.81, Y:16.75, Z:1.18 [[ 9.41583665e-01 -3.36704214e-01 -7.10449515e-03 1.86809137e+02] [ 3.36691783e-01 9.41610401e-01 -2.91467816e-03 1.67481890e+01] [ 7.67105095e-03 3.52388205e-04 9.99970515e-01 1.17680182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.84, Y:16.76, Z:1.18 [[ 9.41184479e-01 -3.37818452e-01 -7.10425502e-03 1.86836146e+02] [ 3.37806048e-01 9.41211228e-01 -2.91526335e-03 1.67559106e+01] [ 7.67143434e-03 3.43940300e-04 9.99970515e-01 1.17700393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.87, Y:16.76, Z:1.18 [[ 9.40566168e-01 -3.39536184e-01 -7.10371000e-03 1.86865186e+02] [ 3.39523819e-01 9.40592935e-01 -2.91659079e-03 1.67612819e+01] [ 7.67198755e-03 3.31367871e-04 9.99970515e-01 1.18045183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.89, Y:16.77, Z:1.18 [[ 9.40469345e-01 -3.39804289e-01 -7.10321147e-03 1.86892422e+02] [ 3.39791922e-01 9.40496112e-01 -2.91780443e-03 1.67692368e+01] [ 7.67202523e-03 3.30491742e-04 9.99970515e-01 1.18116811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.92, Y:16.78, Z:1.18 [[ 9.40510355e-01 -3.39690769e-01 -7.10303442e-03 1.86918752e+02] [ 3.39678396e-01 9.40537119e-01 -2.91823539e-03 1.67774614e+01] [ 7.67196515e-03 3.31883267e-04 9.99970515e-01 1.18236920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.94, Y:16.79, Z:1.18 [[ 9.40646031e-01 -3.39314889e-01 -7.10279711e-03 1.86944970e+02] [ 3.39302501e-01 9.40672788e-01 -2.91881287e-03 1.67859473e+01] [ 7.67180462e-03 3.35572916e-04 9.99970515e-01 1.18256588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.97, Y:16.79, Z:1.18 [[ 9.40745333e-01 -3.39039483e-01 -7.10256165e-03 1.86971339e+02] [ 3.39027083e-01 9.40772084e-01 -2.91938571e-03 1.67947600e+01] [ 7.67167875e-03 3.38437728e-04 9.99970515e-01 1.18383174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.00, Y:16.80, Z:1.18 [[ 9.40975195e-01 -3.38401010e-01 -7.10201311e-03 1.86997832e+02] [ 3.38388581e-01 9.41001933e-01 -2.92071954e-03 1.68004964e+01] [ 7.67138251e-03 3.45084501e-04 9.99970515e-01 1.18389686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.02, Y:16.81, Z:1.19 [[ 9.41010300e-01 -3.38303383e-01 -7.10177434e-03 1.87024062e+02] [ 3.38290948e-01 9.41037035e-01 -2.92129999e-03 1.68090390e+01] [ 7.67131834e-03 3.46507407e-04 9.99970515e-01 1.18626682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.225898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:187.05, Y:16.82, Z:1.19 [[ 9.40980712e-01 -3.38385687e-01 -7.10122759e-03 1.87051593e+02] [ 3.38373244e-01 9.41007442e-01 -2.92262847e-03 1.68180427e+01] [ 7.67128365e-03 3.47271602e-04 9.99970515e-01 1.18839999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.08, Y:16.83, Z:1.19 [[ 9.41025623e-01 -3.38260781e-01 -7.10074570e-03 1.87077850e+02] [ 3.38248326e-01 9.41052348e-01 -2.92379877e-03 1.68266454e+01] [ 7.67117987e-03 3.49554215e-04 9.99970515e-01 1.19245059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.10, Y:16.84, Z:1.20 [[ 9.40906029e-01 -3.38593305e-01 -7.10057483e-03 1.87104618e+02] [ 3.38580856e-01 9.40932757e-01 -2.92421369e-03 1.68354865e+01] [ 7.67128263e-03 3.47291592e-04 9.99970515e-01 1.19527386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.13, Y:16.84, Z:1.19 [[ 9.41416033e-01 -3.37172719e-01 -7.10000440e-03 1.87130978e+02] [ 3.37160219e-01 9.41442737e-01 -2.92559804e-03 1.68422028e+01] [ 7.67067942e-03 3.60365867e-04 9.99970515e-01 1.19320404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.345898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:187.16, Y:16.85, Z:1.19 [[ 9.41857960e-01 -3.35936268e-01 -7.09975592e-03 1.87157933e+02] [ 3.35923728e-01 9.41884646e-01 -2.92620091e-03 1.68515770e+01] [ 7.67016811e-03 3.71089141e-04 9.99970515e-01 1.19021231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.18, Y:16.86, Z:1.19 [[ 9.42570476e-01 -3.33931878e-01 -7.09922956e-03 1.87184300e+02] [ 3.33919272e-01 9.42597130e-01 -2.92747736e-03 1.68604340e+01] [ 7.66929142e-03 3.88784155e-04 9.99970515e-01 1.19001862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.21, Y:16.87, Z:1.19 [[ 9.43369754e-01 -3.31667177e-01 -7.09866698e-03 1.87210638e+02] [ 3.31654497e-01 9.43396373e-01 -2.92884090e-03 1.68688811e+01] [ 7.66825707e-03 4.08675093e-04 9.99970515e-01 1.18787119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.435898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.24, Y:16.88, Z:1.19 [[ 9.44710387e-01 -3.27829065e-01 -7.09849190e-03 1.87237928e+02] [ 3.27816273e-01 9.44736953e-01 -2.92926517e-03 1.68763902e+01] [ 7.66650587e-03 4.40306077e-04 9.99970515e-01 1.18662529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.26, Y:16.89, Z:1.19 [[ 9.45130962e-01 -3.26614579e-01 -7.09795340e-03 1.87264426e+02] [ 3.26601743e-01 9.45157507e-01 -2.93056943e-03 1.68861028e+01] [ 7.66585064e-03 4.51567946e-04 9.99970515e-01 1.18732603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.29, Y:16.90, Z:1.19 [[ 9.45289660e-01 -3.26155002e-01 -7.09741190e-03 1.87290973e+02] [ 3.26142144e-01 9.45316194e-01 -2.93188027e-03 1.68963384e+01] [ 7.66554582e-03 4.56710968e-04 9.99970515e-01 1.18698142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.32, Y:16.91, Z:1.19 [[ 9.45231501e-01 -3.26323526e-01 -7.09686977e-03 1.87316319e+02] [ 3.26310663e-01 9.45258032e-01 -2.93319196e-03 1.69060628e+01] [ 7.66554270e-03 4.56761160e-04 9.99970515e-01 1.18695005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.34, Y:16.92, Z:1.19 [[ 9.45014742e-01 -3.26950723e-01 -7.09663417e-03 1.87342875e+02] [ 3.26937873e-01 9.45041280e-01 -2.93376186e-03 1.69159657e+01] [ 7.66580780e-03 4.52289720e-04 9.99970515e-01 1.18740690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.37, Y:16.93, Z:1.19 [[ 9.44880482e-01 -3.27338539e-01 -7.09609378e-03 1.87368748e+02] [ 3.27325691e-01 9.44907021e-01 -2.93506837e-03 1.69257183e+01] [ 7.66590982e-03 4.50555018e-04 9.99970515e-01 1.18821957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.40, Y:16.93, Z:1.19 [[ 9.44753331e-01 -3.27705350e-01 -7.09555010e-03 1.87395486e+02] [ 3.27692502e-01 9.44779870e-01 -2.93638213e-03 1.69340621e+01] [ 7.66600103e-03 4.48998237e-04 9.99970515e-01 1.19064945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.42, Y:16.94, Z:1.19 [[ 9.44837924e-01 -3.27461384e-01 -7.09498344e-03 1.87421392e+02] [ 3.27448519e-01 9.44864454e-01 -2.93775068e-03 1.69429689e+01] [ 7.66579756e-03 4.52456434e-04 9.99970515e-01 1.19001611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.45, Y:16.95, Z:1.19 [[ 9.44700838e-01 -3.27856663e-01 -7.09473816e-03 1.87447859e+02] [ 3.27843805e-01 9.44727371e-01 -2.93834290e-03 1.69520261e+01] [ 7.66594863e-03 4.49889051e-04 9.99970515e-01 1.18945985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.48, Y:16.96, Z:1.19 [[ 9.44521868e-01 -3.28371914e-01 -7.09420130e-03 1.87475476e+02] [ 3.28359060e-01 9.44548403e-01 -2.93963851e-03 1.69610857e+01] [ 7.66611123e-03 4.47107589e-04 9.99970515e-01 1.18860428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.50, Y:16.97, Z:1.19 [[ 9.44210832e-01 -3.29265218e-01 -7.09372921e-03 1.87502437e+02] [ 3.29252380e-01 9.44237376e-01 -2.94077727e-03 1.69702301e+01] [ 7.66645993e-03 4.41086527e-04 9.99970515e-01 1.18811735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.53, Y:16.98, Z:1.19 [[ 9.43836836e-01 -3.30335760e-01 -7.09319028e-03 1.87530678e+02] [ 3.30322943e-01 9.43863389e-01 -2.94207660e-03 1.69773253e+01] [ 7.66687573e-03 4.33796786e-04 9.99970515e-01 1.19063868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.56, Y:16.99, Z:1.19 [[ 9.43915077e-01 -3.30112133e-01 -7.09271801e-03 1.87557977e+02] [ 3.30099301e-01 9.43941624e-01 -2.94321471e-03 1.69866239e+01] [ 7.66670264e-03 4.36843480e-04 9.99970515e-01 1.19353595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.58, Y:17.00, Z:1.19 [[ 9.44064097e-01 -3.29685730e-01 -7.09223920e-03 1.87584174e+02] [ 3.29672877e-01 9.44090634e-01 -2.94436805e-03 1.69960342e+01] [ 7.66643273e-03 4.41553261e-04 9.99970515e-01 1.19459216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.61, Y:17.01, Z:1.19 [[ 9.44521162e-01 -3.28373989e-01 -7.09206925e-03 1.87610337e+02] [ 3.28361097e-01 9.44547679e-01 -2.94477736e-03 1.70059079e+01] [ 7.66578584e-03 4.52644894e-04 9.99970515e-01 1.19482439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.64, Y:17.02, Z:1.19 [[ 9.44873695e-01 -3.27358230e-01 -7.09150230e-03 1.87636270e+02] [ 3.27345299e-01 9.44900193e-01 -2.94614203e-03 1.70171702e+01] [ 7.66520573e-03 4.62362166e-04 9.99970515e-01 1.19326105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.66, Y:17.03, Z:1.19 [[ 9.45107296e-01 -3.26683199e-01 -7.09132667e-03 1.87661777e+02] [ 3.26670246e-01 9.45133783e-01 -2.94656471e-03 1.70280472e+01] [ 7.66484559e-03 4.68294380e-04 9.99970515e-01 1.19186491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94589822700001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:187.69, Y:17.04, Z:1.19 [[ 9.45348061e-01 -3.25985833e-01 -7.09078525e-03 1.87687738e+02] [ 3.25972851e-01 9.45374535e-01 -2.94786702e-03 1.70390546e+01] [ 7.66441070e-03 4.75356890e-04 9.99970515e-01 1.18993746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.71, Y:17.05, Z:1.19 [[ 9.45495827e-01 -3.25557007e-01 -7.09061717e-03 1.87713375e+02] [ 3.25544009e-01 9.45522293e-01 -2.94827126e-03 1.70493714e+01] [ 7.66416697e-03 4.79270225e-04 9.99970515e-01 1.19050789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.005898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:187.74, Y:17.06, Z:1.19 [[ 9.45221001e-01 -3.26354088e-01 -7.09008164e-03 1.87739054e+02] [ 3.26341104e-01 9.45247472e-01 -2.94955855e-03 1.70600857e+01] [ 7.66448224e-03 4.74199618e-04 9.99970515e-01 1.19113865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.035898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:187.77, Y:17.07, Z:1.19 [[ 9.44032810e-01 -3.29775367e-01 -7.08953031e-03 1.87766442e+02] [ 3.29762468e-01 9.44059324e-01 -2.95088313e-03 1.70702673e+01] [ 7.66606576e-03 4.47869475e-04 9.99970515e-01 1.19405357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.79, Y:17.08, Z:1.20 [[ 9.43229265e-01 -3.32066709e-01 -7.08903973e-03 1.87792679e+02] [ 3.32053866e-01 9.43255806e-01 -2.95206121e-03 1.70794469e+01] [ 7.66705913e-03 4.30527477e-04 9.99970515e-01 1.19562112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.82, Y:17.09, Z:1.20 [[ 9.42176633e-01 -3.35041700e-01 -7.08886638e-03 1.87818934e+02] [ 3.35028938e-01 9.42203212e-01 -2.95247742e-03 1.70884684e+01] [ 7.66835573e-03 4.06779861e-04 9.99970515e-01 1.19629756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.84, Y:17.10, Z:1.20 [[ 9.41223702e-01 -3.37709488e-01 -7.08831113e-03 1.87844643e+02] [ 3.37696791e-01 9.41250313e-01 -2.95380987e-03 1.70969078e+01] [ 7.66940469e-03 3.86495939e-04 9.99970515e-01 1.19575309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.87, Y:17.11, Z:1.20 [[ 9.41161336e-01 -3.37883264e-01 -7.08806929e-03 1.87870865e+02] [ 3.37870567e-01 9.41187947e-01 -2.95439007e-03 1.71080342e+01] [ 7.66944434e-03 3.85707717e-04 9.99970515e-01 1.19597183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.90, Y:17.11, Z:1.20 [[ 9.39633347e-01 -3.42109544e-01 -7.08752357e-03 1.87898490e+02] [ 3.42096958e-01 9.39660011e-01 -2.95569867e-03 1.71143003e+01] [ 7.67103520e-03 3.52652784e-04 9.99970515e-01 1.19528457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.92, Y:17.12, Z:1.20 [[ 9.39329907e-01 -3.42941833e-01 -7.08697235e-03 1.87924427e+02] [ 3.42929260e-01 9.39356577e-01 -2.95701976e-03 1.71223967e+01] [ 7.67127986e-03 3.47286914e-04 9.99970515e-01 1.19526726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.95, Y:17.13, Z:1.20 [[ 9.39325824e-01 -3.42953022e-01 -7.08673189e-03 1.87950727e+02] [ 3.42940445e-01 9.39352492e-01 -2.95759593e-03 1.71307152e+01] [ 7.67125572e-03 3.47819247e-04 9.99970515e-01 1.19595911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.98, Y:17.14, Z:1.20 [[ 9.39573898e-01 -3.42272803e-01 -7.08649358e-03 1.87976860e+02] [ 3.42260203e-01 9.39600555e-01 -2.95816682e-03 1.71390645e+01] [ 7.67097335e-03 3.53991606e-04 9.99970515e-01 1.19678782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.00, Y:17.15, Z:1.20 [[ 9.39971419e-01 -3.41179598e-01 -7.08612373e-03 1.88003810e+02] [ 3.41166960e-01 9.39998058e-01 -2.95905251e-03 1.71475460e+01] [ 7.67051089e-03 3.63873498e-04 9.99970515e-01 1.19791729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.03, Y:17.16, Z:1.20 [[ 9.40565195e-01 -3.39539258e-01 -7.08558127e-03 1.88030806e+02] [ 3.39526564e-01 9.40591808e-01 -2.96035087e-03 1.71557643e+01] [ 7.66979504e-03 3.78659933e-04 9.99970515e-01 1.19896923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.06, Y:17.16, Z:1.20 [[ 9.42182066e-01 -3.35026503e-01 -7.08503629e-03 1.88059184e+02] [ 3.35013671e-01 9.42208612e-01 -2.96165462e-03 1.71610617e+01] [ 7.66781500e-03 4.16833847e-04 9.99970515e-01 1.19877621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.09, Y:17.17, Z:1.20 [[ 9.43080620e-01 -3.32488728e-01 -7.08446945e-03 1.88086029e+02] [ 3.32475815e-01 9.43107127e-01 -2.96300990e-03 1.71695486e+01] [ 7.66658103e-03 4.38942462e-04 9.99970515e-01 1.19590467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.11, Y:17.18, Z:1.19 [[ 9.44013774e-01 -3.29829970e-01 -7.08420623e-03 1.88113125e+02] [ 3.29816977e-01 9.44040242e-01 -2.96363911e-03 1.71781248e+01] [ 7.66527276e-03 4.61224652e-04 9.99970515e-01 1.19399091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.455898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:188.14, Y:17.19, Z:1.19 [[ 9.45416840e-01 -3.25786457e-01 -7.08395450e-03 1.88139845e+02] [ 3.25773347e-01 9.45443250e-01 -2.96424069e-03 1.71856419e+01] [ 7.66318644e-03 4.94679505e-04 9.99970515e-01 1.19347609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.17, Y:17.19, Z:1.20 [[ 9.46078655e-01 -3.23859544e-01 -7.08341071e-03 1.88167777e+02] [ 3.23846371e-01 9.46105033e-01 -2.96553958e-03 1.71938966e+01] [ 7.66206882e-03 5.11696843e-04 9.99970515e-01 1.19593513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.515898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:188.19, Y:17.20, Z:1.20 [[ 9.46405406e-01 -3.22903453e-01 -7.08293956e-03 1.88194603e+02] [ 3.22890244e-01 9.46431767e-01 -2.96666446e-03 1.72026271e+01] [ 7.66146519e-03 5.20655193e-04 9.99970515e-01 1.19634583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.22, Y:17.21, Z:1.20 [[ 9.46762270e-01 -3.21855617e-01 -7.08277192e-03 1.88220332e+02] [ 3.21842377e-01 9.46788615e-01 -2.96706462e-03 1.72100837e+01] [ 7.66085423e-03 5.29568689e-04 9.99970515e-01 1.19684813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.25, Y:17.22, Z:1.20 [[ 9.46938971e-01 -3.21335374e-01 -7.08254608e-03 1.88247132e+02] [ 3.21322115e-01 9.46965307e-01 -2.96760363e-03 1.72188008e+01] [ 7.66052144e-03 5.34360844e-04 9.99970515e-01 1.19571765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.27, Y:17.23, Z:1.20 [[ 9.47432170e-01 -3.19878301e-01 -7.08203142e-03 1.88271766e+02] [ 3.19864992e-01 9.47458481e-01 -2.96883131e-03 1.72259967e+01] [ 7.65959545e-03 5.47472372e-04 9.99970515e-01 1.19870032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.635898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:188.30, Y:17.24, Z:1.20 [[ 9.46790552e-01 -3.21772746e-01 -7.06753607e-03 1.88302642e+02] [ 3.21759232e-01 9.46816759e-01 -3.00343561e-03 1.72354334e+01] [ 7.65808532e-03 5.69579483e-04 9.99970514e-01 1.19780654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.33, Y:17.24, Z:1.20 [[ 9.46833542e-01 -3.21645886e-01 -7.08295330e-03 1.88329369e+02] [ 3.21632643e-01 9.46859885e-01 -2.96662629e-03 1.72441231e+01] [ 7.66076750e-03 5.30792289e-04 9.99970515e-01 1.19967506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.36, Y:17.25, Z:1.20 [[ 9.46936945e-01 -3.21341341e-01 -7.08277868e-03 1.88355408e+02] [ 3.21328086e-01 9.46963282e-01 -2.96704315e-03 1.72538472e+01] [ 7.66056497e-03 5.33707065e-04 9.99970515e-01 1.20126890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.38, Y:17.26, Z:1.20 [[ 9.47273857e-01 -3.20346815e-01 -7.08222614e-03 1.88380742e+02] [ 3.20333523e-01 9.47300176e-01 -2.96836144e-03 1.72643228e+01] [ 7.65989921e-03 5.43176742e-04 9.99970515e-01 1.20118112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.41, Y:17.28, Z:1.20 [[ 9.48189844e-01 -3.17625358e-01 -7.08184937e-03 1.88405771e+02] [ 3.17611983e-01 9.48216121e-01 -2.96926007e-03 1.72764150e+01] [ 7.65823603e-03 5.66142021e-04 9.99970515e-01 1.19770423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.785898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:188.43, Y:17.29, Z:1.20 [[ 9.48315161e-01 -3.17251012e-01 -7.08167849e-03 1.88430967e+02] [ 3.17237624e-01 9.48341432e-01 -2.96966757e-03 1.72891532e+01] [ 7.65797916e-03 5.69605921e-04 9.99970515e-01 1.19629916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.46, Y:17.30, Z:1.20 [[ 9.48433876e-01 -3.16895944e-01 -7.08113236e-03 1.88456770e+02] [ 3.16882537e-01 9.48460137e-01 -2.97096924e-03 1.73008756e+01] [ 7.65765987e-03 5.73880691e-04 9.99970515e-01 1.19712059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.48, Y:17.31, Z:1.20 [[ 9.48204211e-01 -3.17582493e-01 -7.08058837e-03 1.88481641e+02] [ 3.17569095e-01 9.48230476e-01 -2.97226513e-03 1.73128289e+01] [ 7.65796905e-03 5.69738278e-04 9.99970515e-01 1.19813085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.51, Y:17.32, Z:1.20 [[ 9.47743683e-01 -3.18954195e-01 -7.08041964e-03 1.88507526e+02] [ 3.18940832e-01 9.47769966e-01 -2.97266704e-03 1.73247720e+01] [ 7.65875370e-03 5.59091476e-04 9.99970515e-01 1.19925256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.905898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:188.53, Y:17.34, Z:1.20 [[ 9.47024163e-01 -3.21084270e-01 -7.07994776e-03 1.88532753e+02] [ 3.21070958e-01 9.47050472e-01 -2.97379046e-03 1.73366506e+01] [ 7.65990521e-03 5.43085815e-04 9.99970515e-01 1.19931526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.935898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:188.56, Y:17.35, Z:1.20 [[ 9.45816024e-01 -3.24625832e-01 -7.07940772e-03 1.88558976e+02] [ 3.24612609e-01 9.45842378e-01 -2.97507553e-03 1.73487174e+01] [ 7.66179020e-03 5.15809096e-04 9.99970515e-01 1.19741724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.58, Y:17.36, Z:1.20 [[ 9.45610953e-01 -3.25222714e-01 -7.07893737e-03 1.88584652e+02] [ 3.25209499e-01 9.45637311e-01 -2.97619427e-03 1.73599378e+01] [ 7.66203328e-03 5.12184226e-04 9.99970515e-01 1.19584840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.61, Y:17.37, Z:1.20 [[ 9.45382704e-01 -3.25885614e-01 -7.07877029e-03 1.88609913e+02] [ 3.25872415e-01 9.45409070e-01 -2.97659160e-03 1.73721504e+01] [ 7.66236202e-03 5.07242246e-04 9.99970515e-01 1.19520292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.63, Y:17.38, Z:1.20 [[ 9.45390506e-01 -3.25862992e-01 -7.07823731e-03 1.88634001e+02] [ 3.25849782e-01 9.45416867e-01 -2.97785848e-03 1.73832501e+01] [ 7.66225881e-03 5.08797047e-04 9.99970515e-01 1.19545573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.66, Y:17.40, Z:1.20 [[ 9.46119478e-01 -3.23740382e-01 -7.07800532e-03 1.88660160e+02] [ 3.23727110e-01 9.46145807e-01 -2.97840978e-03 1.73957806e+01] [ 7.66105658e-03 5.26589304e-04 9.99970515e-01 1.20093089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.69, Y:17.41, Z:1.20 [[ 9.46752028e-01 -3.21885859e-01 -7.07754341e-03 1.88685648e+02] [ 3.21872527e-01 9.46778326e-01 -2.97950702e-03 1.74075996e+01] [ 7.65992588e-03 5.42787535e-04 9.99970515e-01 1.20443108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.115898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:188.71, Y:17.42, Z:1.21 [[ 9.47307194e-01 -3.20248327e-01 -7.07737944e-03 1.88710654e+02] [ 3.20234946e-01 9.47333468e-01 -2.97989646e-03 1.74200841e+01] [ 7.65894526e-03 5.56453132e-04 9.99970515e-01 1.20605366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.74, Y:17.43, Z:1.21 [[ 9.48075888e-01 -3.17965453e-01 -7.07685527e-03 1.88735179e+02] [ 3.17951999e-01 9.48102125e-01 -2.98114076e-03 1.74311646e+01] [ 7.65748129e-03 5.76247390e-04 9.99970515e-01 1.20642338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.76, Y:17.44, Z:1.20 [[ 9.48708600e-01 -3.16072640e-01 -7.07662653e-03 1.88760597e+02] [ 3.16059130e-01 9.48734808e-01 -2.98168365e-03 1.74431719e+01] [ 7.65627053e-03 5.92116498e-04 9.99970515e-01 1.20442522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.78, Y:17.46, Z:1.20 [[ 9.49592765e-01 -3.13406294e-01 -7.07646538e-03 1.88784880e+02] [ 3.13392708e-01 9.49618933e-01 -2.98206607e-03 1.74564875e+01] [ 7.65454377e-03 6.14035713e-04 9.99970515e-01 1.20295083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.81, Y:17.47, Z:1.20 [[ 9.50092662e-01 -3.11887584e-01 -7.07594814e-03 1.88809717e+02] [ 3.11873947e-01 9.50118804e-01 -2.98329289e-03 1.74690190e+01] [ 7.65344339e-03 6.27600803e-04 9.99970515e-01 1.20442069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.83, Y:17.48, Z:1.20 [[ 9.50777682e-01 -3.09793055e-01 -7.07542469e-03 1.88833150e+02] [ 3.09779352e-01 9.50803789e-01 -2.98453381e-03 1.74820777e+01] [ 7.65192846e-03 6.45807662e-04 9.99970515e-01 1.20469296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.86, Y:17.50, Z:1.21 [[ 9.51556671e-01 -3.07392002e-01 -7.07519746e-03 1.88857531e+02] [ 3.07378228e-01 9.51582742e-01 -2.98507239e-03 1.74953708e+01] [ 7.65022318e-03 6.65703889e-04 9.99970515e-01 1.20591912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.88, Y:17.51, Z:1.20 [[ 9.52913431e-01 -3.03159929e-01 -7.07465806e-03 1.88879495e+02] [ 3.03146030e-01 9.52939435e-01 -2.98635024e-03 1.75117590e+01] [ 7.64706238e-03 7.01078746e-04 9.99970515e-01 1.20414273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.90, Y:17.53, Z:1.20 [[ 9.53212306e-01 -3.02218882e-01 -7.07442375e-03 1.88904274e+02] [ 3.02204954e-01 9.53238294e-01 -2.98690519e-03 1.75261577e+01] [ 7.64631077e-03 7.09228877e-04 9.99970515e-01 1.20384853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.93, Y:17.54, Z:1.20 [[ 9.53125351e-01 -3.02493016e-01 -7.07390387e-03 1.88928390e+02] [ 3.02479086e-01 9.53151338e-01 -2.98813591e-03 1.75402222e+01] [ 7.64639119e-03 7.08360110e-04 9.99970515e-01 1.20470294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.95, Y:17.55, Z:1.21 [[ 9.52829849e-01 -3.03422555e-01 -7.07337036e-03 1.88952675e+02] [ 3.03408641e-01 9.52855844e-01 -2.98939829e-03 1.75536743e+01] [ 7.64695315e-03 7.02266229e-04 9.99970515e-01 1.20557860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.98, Y:17.57, Z:1.21 [[ 9.52339908e-01 -3.04956841e-01 -7.07283480e-03 1.88978322e+02] [ 3.04942959e-01 9.52365921e-01 -2.99066488e-03 1.75668525e+01] [ 7.64795054e-03 6.91318346e-04 9.99970515e-01 1.20761624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.00, Y:17.58, Z:1.21 [[ 9.51729518e-01 -3.06856493e-01 -7.07235779e-03 1.89003383e+02] [ 3.06842655e-01 9.51755554e-01 -2.99179248e-03 1.75799646e+01] [ 7.64920676e-03 6.77276164e-04 9.99970515e-01 1.21004547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.03, Y:17.60, Z:1.21 [[ 9.50588825e-01 -3.10372157e-01 -7.07180097e-03 1.89026416e+02] [ 3.10358406e-01 9.50614907e-01 -2.99310808e-03 1.75961535e+01] [ 7.65153683e-03 6.50422216e-04 9.99970515e-01 1.21252958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.05, Y:17.61, Z:1.21 [[ 9.50109653e-01 -3.11835918e-01 -7.07162780e-03 1.89050237e+02] [ 3.11822204e-01 9.50135755e-01 -2.99351716e-03 1.76098180e+01] [ 7.65249259e-03 6.39078980e-04 9.99970515e-01 1.21245373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.07, Y:17.63, Z:1.21 [[ 9.49386534e-01 -3.14030581e-01 -7.07125145e-03 1.89073833e+02] [ 3.14016921e-01 9.49412664e-01 -2.99440590e-03 1.76270486e+01] [ 7.65387071e-03 6.22356030e-04 9.99970515e-01 1.21126783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.10, Y:17.64, Z:1.21 [[ 9.49005371e-01 -3.15180599e-01 -7.07069630e-03 1.89098340e+02] [ 3.15166961e-01 9.49031513e-01 -2.99571622e-03 1.76409933e+01] [ 7.65450524e-03 6.14500917e-04 9.99970515e-01 1.21095970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.12, Y:17.65, Z:1.21 [[ 9.48686522e-01 -3.16139046e-01 -7.07013553e-03 1.89123183e+02] [ 3.16125425e-01 9.48712672e-01 -2.99703910e-03 1.76546331e+01] [ 7.65500825e-03 6.08201002e-04 9.99970515e-01 1.20956238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.15, Y:17.67, Z:1.21 [[ 9.48306389e-01 -3.17277494e-01 -7.06996172e-03 1.89147708e+02] [ 3.17263901e-01 9.48332554e-01 -2.99744905e-03 1.76681574e+01] [ 7.65569798e-03 5.99456447e-04 9.99970515e-01 1.20843590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.17, Y:17.68, Z:1.21 [[ 9.47788078e-01 -3.18822493e-01 -7.06942262e-03 1.89172678e+02] [ 3.18808933e-01 9.47814260e-01 -2.99871998e-03 1.76810272e+01] [ 7.65655895e-03 5.88355963e-04 9.99970515e-01 1.20872486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.715898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:189.20, Y:17.69, Z:1.21 [[ 9.47165184e-01 -3.20668279e-01 -7.06886617e-03 1.89196722e+02] [ 3.20654761e-01 9.47191387e-01 -3.00003112e-03 1.76931752e+01] [ 7.65758397e-03 5.74859441e-04 9.99970515e-01 1.20767218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.22, Y:17.71, Z:1.21 [[ 9.46147402e-01 -3.23658968e-01 -7.06862435e-03 1.89221709e+02] [ 3.23645528e-01 9.46173646e-01 -3.00060077e-03 1.77053509e+01] [ 7.65931742e-03 5.51281957e-04 9.99970515e-01 1.20794219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.25, Y:17.72, Z:1.21 [[ 9.45851042e-01 -3.24524029e-01 -7.06828616e-03 1.89247270e+02] [ 3.24510607e-01 9.45877295e-01 -3.00139721e-03 1.77163101e+01] [ 7.65975691e-03 5.45140852e-04 9.99970515e-01 1.21133946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.27, Y:17.73, Z:1.21 [[ 9.45539745e-01 -3.25430048e-01 -7.06220421e-03 1.89273619e+02] [ 3.25416545e-01 9.45565956e-01 -3.01571396e-03 1.77273134e+01] [ 7.65918382e-03 5.53319318e-04 9.99970515e-01 1.21043289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.30, Y:17.74, Z:1.21 [[ 9.45609050e-01 -3.25228492e-01 -7.06774293e-03 1.89299536e+02] [ 3.25215080e-01 9.45635308e-01 -3.00267684e-03 1.77382384e+01] [ 7.66006333e-03 5.40821811e-04 9.99970515e-01 1.21177453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.33, Y:17.75, Z:1.21 [[ 9.46356531e-01 -3.23047010e-01 -7.06719324e-03 1.89325525e+02] [ 3.23033528e-01 9.46382753e-01 -3.00397007e-03 1.77492622e+01] [ 7.65869334e-03 5.59886330e-04 9.99970515e-01 1.21282610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.35, Y:17.76, Z:1.21 [[ 9.46742026e-01 -3.21915516e-01 -7.06664225e-03 1.89350277e+02] [ 3.21901993e-01 9.46768227e-01 -3.00526567e-03 1.77606564e+01] [ 7.65791400e-03 5.70445091e-04 9.99970515e-01 1.21207190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.38, Y:17.77, Z:1.21 [[ 9.47022722e-01 -3.21088820e-01 -7.06640381e-03 1.89376013e+02] [ 3.21075270e-01 9.47048909e-01 -3.00582623e-03 1.77722160e+01] [ 7.65736721e-03 5.77738227e-04 9.99970515e-01 1.21194251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.40, Y:17.78, Z:1.21 [[ 9.47139957e-01 -3.20742850e-01 -7.06584694e-03 1.89400563e+02] [ 3.20729281e-01 9.47166134e-01 -3.00713471e-03 1.77832100e+01] [ 7.65704788e-03 5.81953428e-04 9.99970515e-01 1.21115978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.43, Y:17.80, Z:1.21 [[ 9.46841641e-01 -3.21622429e-01 -7.06546676e-03 1.89426053e+02] [ 3.21608877e-01 9.46867827e-01 -3.00802768e-03 1.77956080e+01] [ 7.65751233e-03 5.75809028e-04 9.99970515e-01 1.21105775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.45, Y:17.81, Z:1.21 [[ 9.46454072e-01 -3.22761174e-01 -7.06491380e-03 1.89451831e+02] [ 3.22747645e-01 9.46480270e-01 -3.00932586e-03 1.78071927e+01] [ 7.65809507e-03 5.68004428e-04 9.99970515e-01 1.21166771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.48, Y:17.82, Z:1.21 [[ 9.45983084e-01 -3.24139013e-01 -7.06436240e-03 1.89477546e+02] [ 3.24125512e-01 9.46009296e-01 -3.01061971e-03 1.78182714e+01] [ 7.65881180e-03 5.58255229e-04 9.99970515e-01 1.21233351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.50, Y:17.83, Z:1.21 [[ 9.45514020e-01 -3.25504749e-01 -7.06380883e-03 1.89501936e+02] [ 3.25491276e-01 9.45540246e-01 -3.01191799e-03 1.78290525e+01] [ 7.65950915e-03 5.48602536e-04 9.99970515e-01 1.21268914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.53, Y:17.84, Z:1.21 [[ 9.45454920e-01 -3.25676373e-01 -7.06356811e-03 1.89528064e+02] [ 3.25662901e-01 9.45481147e-01 -3.01248242e-03 1.78403891e+01] [ 7.65956483e-03 5.47824238e-04 9.99970515e-01 1.21290786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.135898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:189.55, Y:17.85, Z:1.21 [[ 9.44833895e-01 -3.27473702e-01 -7.06302105e-03 1.89553585e+02] [ 3.27460270e-01 9.44860142e-01 -3.01376450e-03 1.78518820e+01] [ 7.66049569e-03 5.34648070e-04 9.99970515e-01 1.21319852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.58, Y:17.86, Z:1.21 [[ 9.44341421e-01 -3.28891170e-01 -7.06244758e-03 1.89579237e+02] [ 3.28877767e-01 9.44367684e-01 -3.01510776e-03 1.78624364e+01] [ 7.66118959e-03 5.24609158e-04 9.99970515e-01 1.21448466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.195898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:189.61, Y:17.87, Z:1.21 [[ 9.43596116e-01 -3.31023405e-01 -7.06226914e-03 1.89605538e+02] [ 3.31010059e-01 9.43622407e-01 -3.01552567e-03 1.78724162e+01] [ 7.66232498e-03 5.07756182e-04 9.99970515e-01 1.21465008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.63, Y:17.88, Z:1.21 [[ 9.43492482e-01 -3.31318682e-01 -7.06169638e-03 1.89631194e+02] [ 3.31305334e-01 9.43518773e-01 -3.01686635e-03 1.78815775e+01] [ 7.66238729e-03 5.06813049e-04 9.99970515e-01 1.21445758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.66, Y:17.89, Z:1.21 [[ 9.43469521e-01 -3.31384064e-01 -7.06144745e-03 1.89658144e+02] [ 3.31370714e-01 9.43495811e-01 -3.01744890e-03 1.78909966e+01] [ 7.66238057e-03 5.06914186e-04 9.99970515e-01 1.21393932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.285898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:189.68, Y:17.90, Z:1.21 [[ 9.43568131e-01 -3.31103195e-01 -7.06091787e-03 1.89684018e+02] [ 3.31089828e-01 9.43594412e-01 -3.01868763e-03 1.79001736e+01] [ 7.66213976e-03 5.10539366e-04 9.99970515e-01 1.21203090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.71, Y:17.91, Z:1.21 [[ 9.44303652e-01 -3.28999634e-01 -7.06067211e-03 1.89711895e+02] [ 3.28986204e-01 9.44329901e-01 -3.01926235e-03 1.79064411e+01] [ 7.66094000e-03 5.28236750e-04 9.99970515e-01 1.21206275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.74, Y:17.91, Z:1.21 [[ 9.44630412e-01 -3.28060267e-01 -7.06012169e-03 1.89738332e+02] [ 3.28046801e-01 9.44656643e-01 -3.02054887e-03 1.79149042e+01] [ 7.66031292e-03 5.37251993e-04 9.99970515e-01 1.21181432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.77, Y:17.92, Z:1.21 [[ 9.44983520e-01 -3.27041754e-01 -7.05957352e-03 1.89765609e+02] [ 3.27028251e-01 9.45009731e-01 -3.02182952e-03 1.79218132e+01] [ 7.65963010e-03 5.46899122e-04 9.99970515e-01 1.21257023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.79, Y:17.93, Z:1.21 [[ 9.45079793e-01 -3.26763455e-01 -7.05902532e-03 1.89792201e+02] [ 3.26749934e-01 9.45105995e-01 -3.02310957e-03 1.79318910e+01] [ 7.65936887e-03 5.50543711e-04 9.99970515e-01 1.21378563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.82, Y:17.94, Z:1.22 [[ 9.45191207e-01 -3.26441053e-01 -7.05847981e-03 1.89818093e+02] [ 3.26427514e-01 9.45217399e-01 -3.02438270e-03 1.79418887e+01] [ 7.65908060e-03 5.54537922e-04 9.99970515e-01 1.21509923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.84, Y:17.95, Z:1.22 [[ 9.45238925e-01 -3.26302866e-01 -7.05793172e-03 1.89843735e+02] [ 3.26289313e-01 9.45265111e-01 -3.02566124e-03 1.79518841e+01] [ 7.65889854e-03 5.57045090e-04 9.99970515e-01 1.21651095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.87, Y:17.96, Z:1.22 [[ 9.45093101e-01 -3.26724999e-01 -7.05738179e-03 1.89869939e+02] [ 3.26711448e-01 9.45119287e-01 -3.02694342e-03 1.79624677e+01] [ 7.65904573e-03 5.55015918e-04 9.99970515e-01 1.21804053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.90, Y:17.97, Z:1.22 [[ 9.44216812e-01 -3.29248863e-01 -7.05680034e-03 1.89895406e+02] [ 3.29235372e-01 9.44243030e-01 -3.02829836e-03 1.79705122e+01] [ 7.66039832e-03 5.36021942e-04 9.99970515e-01 1.21728880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.92, Y:17.98, Z:1.22 [[ 9.43144340e-01 -3.32308531e-01 -7.05654727e-03 1.89921292e+02] [ 3.32295121e-01 9.43170599e-01 -3.02888794e-03 1.79801640e+01] [ 7.66205322e-03 5.11822284e-04 9.99970515e-01 1.21833964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.95, Y:17.99, Z:1.22 [[ 9.41862248e-01 -3.35925168e-01 -7.05599462e-03 1.89947460e+02] [ 3.35911850e-01 9.41888554e-01 -3.03017483e-03 1.79898571e+01] [ 7.66387256e-03 4.83815070e-04 9.99970515e-01 1.22000133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.97, Y:18.00, Z:1.22 [[ 9.40612081e-01 -3.39409980e-01 -7.05542842e-03 1.89972668e+02] [ 3.39396749e-01 9.40638430e-01 -3.03149260e-03 1.79993592e+01] [ 7.66552595e-03 4.56869094e-04 9.99970515e-01 1.22253445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.00, Y:18.01, Z:1.22 [[ 9.39362963e-01 -3.42851934e-01 -7.05518168e-03 1.89997548e+02] [ 3.42838796e-01 9.39389358e-01 -3.03206671e-03 1.80092999e+01] [ 7.66711253e-03 4.29421179e-04 9.99970515e-01 1.22395653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.02, Y:18.02, Z:1.23 [[ 9.37098934e-01 -3.48992572e-01 -7.05494028e-03 1.90023670e+02] [ 3.48979603e-01 9.37125413e-01 -3.03262830e-03 1.80193829e+01] [ 7.66972858e-03 3.79842497e-04 9.99970515e-01 1.22648710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.05, Y:18.03, Z:1.23 [[ 9.36066446e-01 -3.51752532e-01 -7.05438773e-03 1.90049755e+02] [ 3.51739631e-01 9.36092959e-01 -3.03391307e-03 1.80304423e+01] [ 7.67074929e-03 3.58636492e-04 9.99970515e-01 1.22714159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.07, Y:18.04, Z:1.23 [[ 9.35066702e-01 -3.54401617e-01 -7.05382534e-03 1.90074689e+02] [ 3.54388781e-01 9.35093246e-01 -3.03522006e-03 1.80418899e+01] [ 7.67167134e-03 3.38336640e-04 9.99970515e-01 1.22686862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.10, Y:18.05, Z:1.23 [[ 9.34223280e-01 -3.56619004e-01 -7.05326461e-03 1.90099772e+02] [ 3.56606221e-01 9.34249850e-01 -3.03652254e-03 1.80535786e+01] [ 7.67239305e-03 3.21552006e-04 9.99970515e-01 1.22650947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.795898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:190.12, Y:18.07, Z:1.22 [[ 9.33040920e-01 -3.59701129e-01 -7.05267483e-03 1.90124387e+02] [ 3.59688423e-01 9.33067527e-01 -3.03789175e-03 1.80656580e+01] [ 7.67335495e-03 2.97711824e-04 9.99970515e-01 1.22444306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.15, Y:18.08, Z:1.23 [[ 9.32583564e-01 -3.60885245e-01 -7.05241872e-03 1.90150367e+02] [ 3.60872569e-01 9.32610185e-01 -3.03848619e-03 1.80762922e+01] [ 7.67370236e-03 2.88617821e-04 9.99970515e-01 1.22508152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.18, Y:18.09, Z:1.23 [[ 9.31861944e-01 -3.62744522e-01 -7.05185458e-03 1.90175940e+02] [ 3.62731889e-01 9.31888586e-01 -3.03979491e-03 1.80878034e+01] [ 7.67421174e-03 2.74736668e-04 9.99970515e-01 1.22618635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.20, Y:18.10, Z:1.23 [[ 9.30218654e-01 -3.66938054e-01 -7.05129110e-03 1.90201094e+02] [ 3.66925532e-01 9.30245347e-01 -3.04110143e-03 1.80999398e+01] [ 7.67532658e-03 2.41590538e-04 9.99970515e-01 1.22603183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.23, Y:18.11, Z:1.22 [[ 9.29229053e-01 -3.69436942e-01 -7.05072620e-03 1.90226126e+02] [ 3.69424481e-01 9.29255776e-01 -3.04241058e-03 1.81116642e+01] [ 7.67590690e-03 2.22385429e-04 9.99970515e-01 1.22437159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.25, Y:18.12, Z:1.22 [[ 9.28331367e-01 -3.71686923e-01 -7.05015923e-03 1.90250233e+02] [ 3.71674517e-01 9.28358115e-01 -3.04372385e-03 1.81229109e+01] [ 7.67638488e-03 2.05219798e-04 9.99970515e-01 1.22079114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.975898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:190.28, Y:18.13, Z:1.22 [[ 9.27493275e-01 -3.73773511e-01 -7.04184092e-03 1.90276448e+02] [ 3.73761019e-01 9.27519983e-01 -3.06297797e-03 1.81346952e+01] [ 7.67630820e-03 2.08925834e-04 9.99970515e-01 1.21901683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.30, Y:18.15, Z:1.22 [[ 9.26960327e-01 -3.75093134e-01 -7.04937163e-03 1.90301894e+02] [ 3.75080813e-01 9.26987113e-01 -3.04554703e-03 1.81460538e+01] [ 7.67704044e-03 1.79017225e-04 9.99970515e-01 1.21761065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.33, Y:18.16, Z:1.22 [[ 9.26548426e-01 -3.76109464e-01 -7.04880939e-03 1.90327348e+02] [ 3.76097162e-01 9.26575222e-01 -3.04684775e-03 1.81580827e+01] [ 7.67720040e-03 1.72014773e-04 9.99970515e-01 1.21904623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.35, Y:18.17, Z:1.22 [[ 9.25736735e-01 -3.78102951e-01 -7.04673172e-03 1.90352592e+02] [ 3.78090670e-01 9.25763540e-01 -3.05165280e-03 1.81712206e+01] [ 7.67744623e-03 1.60723578e-04 9.99970515e-01 1.21977423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.38, Y:18.18, Z:1.22 [[ 9.25237826e-01 -3.79322145e-01 -7.04814408e-03 1.90378089e+02] [ 3.79309924e-01 9.25264659e-01 -3.04838729e-03 1.81832402e+01] [ 7.67771944e-03 1.47052228e-04 9.99970515e-01 1.22202456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.40, Y:18.19, Z:1.22 [[ 9.24662355e-01 -3.80722814e-01 -7.04756751e-03 1.90403158e+02] [ 3.80710624e-01 9.24689202e-01 -3.04971970e-03 1.81947793e+01] [ 7.67790744e-03 1.36877170e-04 9.99970515e-01 1.22339873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.43, Y:18.21, Z:1.22 [[ 9.24200417e-01 -3.81842806e-01 -7.04699191e-03 1.90428087e+02] [ 3.81830638e-01 9.24227275e-01 -3.05104915e-03 1.82053381e+01] [ 7.67804329e-03 1.29023481e-04 9.99970515e-01 1.22354407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.46, Y:18.22, Z:1.22 [[ 9.23033123e-01 -3.84655946e-01 -7.04674115e-03 1.90455480e+02] [ 3.84643856e-01 9.23060015e-01 -3.05162820e-03 1.82158395e+01] [ 7.67839192e-03 1.06268223e-04 9.99970515e-01 1.21983177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.48, Y:18.23, Z:1.22 [[ 9.22668511e-01 -3.85529725e-01 -7.04627733e-03 1.90481531e+02] [ 3.85517652e-01 9.22695411e-01 -3.05269879e-03 1.82265029e+01] [ 7.67847388e-03 1.00164762e-04 9.99970515e-01 1.21834449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.245898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:190.51, Y:18.24, Z:1.22 [[ 9.22397587e-01 -3.86177485e-01 -7.04570478e-03 1.90507372e+02] [ 3.86165421e-01 9.22424491e-01 -3.05401968e-03 1.82381862e+01] [ 7.67852428e-03 9.62128284e-05 9.99970515e-01 1.21903516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.275898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:190.53, Y:18.25, Z:1.22 [[ 9.22486881e-01 -3.85964145e-01 -7.04513537e-03 1.90533548e+02] [ 3.85952064e-01 9.22513777e-01 -3.05533266e-03 1.82503972e+01] [ 7.67848330e-03 9.94197542e-05 9.99970515e-01 1.22140366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.56, Y:18.26, Z:1.23 [[ 9.22840427e-01 -3.85118059e-01 -7.04463387e-03 1.90559133e+02] [ 3.85105945e-01 9.22867309e-01 -3.05648852e-03 1.82626693e+01] [ 7.67837122e-03 1.07720786e-04 9.99970515e-01 1.22506889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.58, Y:18.27, Z:1.23 [[ 9.23255518e-01 -3.84121894e-01 -7.04413315e-03 1.90583247e+02] [ 3.84109742e-01 9.23282382e-01 -3.05764205e-03 1.82739595e+01] [ 7.67823129e-03 1.17264730e-04 9.99970515e-01 1.22776999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.61, Y:18.29, Z:1.23 [[ 9.23988079e-01 -3.82356398e-01 -7.04374286e-03 1.90608628e+02] [ 3.82344188e-01 9.24014917e-01 -3.05854089e-03 1.82855151e+01] [ 7.67797615e-03 1.32921178e-04 9.99970515e-01 1.22913923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.63, Y:18.30, Z:1.23 [[ 9.24099688e-01 -3.82086588e-01 -7.04316922e-03 1.90633181e+02] [ 3.82074360e-01 9.24126518e-01 -3.05986130e-03 1.82973384e+01] [ 7.67791141e-03 1.36602497e-04 9.99970515e-01 1.22761713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.66, Y:18.31, Z:1.23 [[ 9.23968491e-01 -3.82403745e-01 -7.04292040e-03 1.90658613e+02] [ 3.82391522e-01 9.23995323e-01 -3.06043391e-03 1.83099285e+01] [ 7.67794690e-03 1.34591447e-04 9.99970515e-01 1.22585935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.68, Y:18.32, Z:1.22 [[ 9.23727077e-01 -3.82986543e-01 -7.04235310e-03 1.90682609e+02] [ 3.82974326e-01 9.23753913e-01 -3.06173876e-03 1.83216078e+01] [ 7.67800597e-03 1.31170564e-04 9.99970515e-01 1.22380195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.71, Y:18.33, Z:1.22 [[ 9.23134940e-01 -3.84411616e-01 -7.04210698e-03 1.90707684e+02] [ 3.84399437e-01 9.23161793e-01 -3.06230474e-03 1.83335137e+01] [ 7.67818961e-03 1.19938546e-04 9.99970515e-01 1.22331628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.73, Y:18.35, Z:1.22 [[ 9.21480369e-01 -3.88361102e-01 -7.04153741e-03 1.90733646e+02] [ 3.88349028e-01 9.21507269e-01 -3.06361386e-03 1.83455960e+01] [ 7.67861636e-03 8.84858254e-05 9.99970515e-01 1.22446913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.76, Y:18.36, Z:1.23 [[ 9.20506746e-01 -3.90663225e-01 -7.04103672e-03 1.90758513e+02] [ 3.90651210e-01 9.20533671e-01 -3.06476415e-03 1.83570903e+01] [ 7.67880203e-03 7.05465663e-05 9.99970515e-01 1.22676864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.78, Y:18.37, Z:1.23 [[ 9.19619153e-01 -3.92748061e-01 -7.04085862e-03 1.90783911e+02] [ 3.92736103e-01 9.19646105e-01 -3.06517325e-03 1.83692588e+01] [ 7.67893906e-03 5.35926531e-05 9.99970515e-01 1.22808179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.605898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:190.81, Y:18.38, Z:1.23 [[ 9.18944121e-01 -3.94324912e-01 -7.04028312e-03 1.90808635e+02] [ 3.94312990e-01 9.18971089e-01 -3.06649452e-03 1.83814036e+01] [ 7.67901183e-03 4.18620223e-05 9.99970515e-01 1.22711177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.83, Y:18.39, Z:1.22 [[ 9.18911159e-01 -3.94401730e-01 -7.03968404e-03 1.90832716e+02] [ 3.94389800e-01 9.18938123e-01 -3.06786920e-03 1.83934272e+01] [ 7.67900696e-03 4.27196595e-05 9.99970515e-01 1.22420298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.665898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:190.86, Y:18.41, Z:1.22 [[ 9.19077542e-01 -3.94013937e-01 -7.03481094e-03 1.90858637e+02] [ 3.94001910e-01 9.19104463e-01 -3.07904500e-03 1.84074162e+01] [ 7.67891278e-03 5.81521640e-05 9.99970515e-01 1.22299658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.88, Y:18.42, Z:1.22 [[ 9.19548785e-01 -3.92912822e-01 -7.03889881e-03 1.90883445e+02] [ 3.92900835e-01 9.19575723e-01 -3.06967132e-03 1.84203599e+01] [ 7.67891369e-03 5.71233128e-05 9.99970515e-01 1.22469454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.91, Y:18.43, Z:1.23 [[ 9.20051922e-01 -3.91733229e-01 -7.03830719e-03 1.90907311e+02] [ 3.91721197e-01 9.20078840e-01 -3.07102723e-03 1.84326778e+01] [ 7.67882093e-03 6.84503855e-05 9.99970515e-01 1.22625407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.93, Y:18.45, Z:1.23 [[ 9.20609406e-01 -3.90421296e-01 -7.03790414e-03 1.90932483e+02] [ 3.90409219e-01 9.20636304e-01 -3.07195062e-03 1.84458814e+01] [ 7.67870500e-03 8.04039738e-05 9.99970515e-01 1.22521005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.96, Y:18.46, Z:1.22 [[ 9.20653519e-01 -3.90317273e-01 -7.03732288e-03 1.90958162e+02] [ 3.90305183e-01 9.20680411e-01 -3.07328162e-03 1.84576518e+01] [ 7.67868022e-03 8.27239507e-05 9.99970515e-01 1.22276779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.98, Y:18.47, Z:1.22 [[ 9.20570457e-01 -3.90513139e-01 -7.03714215e-03 1.90983162e+02] [ 3.90501051e-01 9.20597351e-01 -3.07369540e-03 1.84689731e+01] [ 7.67869285e-03 8.15417761e-05 9.99970515e-01 1.21980493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.01, Y:18.48, Z:1.22 [[ 9.20341729e-01 -3.91051894e-01 -7.03687235e-03 1.91009040e+02] [ 3.91039817e-01 9.20368627e-01 -3.07431295e-03 1.84809518e+01] [ 7.67873244e-03 7.77212167e-05 9.99970515e-01 1.21759944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.03, Y:18.49, Z:1.22 [[ 9.19945065e-01 -3.91984141e-01 -7.03637073e-03 1.91034691e+02] [ 3.91972082e-01 9.19971971e-01 -3.07546060e-03 1.84929112e+01] [ 7.67879563e-03 7.11939111e-05 9.99970515e-01 1.21705664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.06, Y:18.51, Z:1.22 [[ 9.19130511e-01 -3.93890343e-01 -7.03579904e-03 1.91060168e+02] [ 3.93878330e-01 9.19157437e-01 -3.07676792e-03 1.85052053e+01] [ 7.67891618e-03 5.67024966e-05 9.99970515e-01 1.22177070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.08, Y:18.52, Z:1.22 [[ 9.18819124e-01 -3.94616166e-01 -7.03552881e-03 1.91084733e+02] [ 3.94604170e-01 9.18846058e-01 -3.07738572e-03 1.85159108e+01] [ 7.67895407e-03 5.13118445e-05 9.99970515e-01 1.22277561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.11, Y:18.53, Z:1.22 [[ 9.18789515e-01 -3.94685138e-01 -7.03341553e-03 1.91109863e+02] [ 3.94673107e-01 9.18816434e-01 -3.08221561e-03 1.85270595e+01] [ 7.67892246e-03 5.60074267e-05 9.99970515e-01 1.22298673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.14, Y:18.54, Z:1.23 [[ 9.18561641e-01 -3.95215186e-01 -7.03337490e-03 1.91136536e+02] [ 3.95203169e-01 9.18588566e-01 -3.08230844e-03 1.85384420e+01] [ 7.67895287e-03 5.16782428e-05 9.99970515e-01 1.22565139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.16, Y:18.55, Z:1.22 [[ 9.18525559e-01 -3.95299014e-01 -7.03474841e-03 1.91161803e+02] [ 3.95287024e-01 9.18552496e-01 -3.07917050e-03 1.85489221e+01] [ 7.67897877e-03 4.75520375e-05 9.99970515e-01 1.22431265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.19, Y:18.56, Z:1.22 [[ 9.18962549e-01 -3.94282072e-01 -7.03434092e-03 1.91187847e+02] [ 3.94270045e-01 9.18989469e-01 -3.08010113e-03 1.85586999e+01] [ 7.67891388e-03 5.70676716e-05 9.99970515e-01 1.22302606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.21, Y:18.57, Z:1.22 [[ 9.19591742e-01 -3.92812365e-01 -7.03376054e-03 1.91213330e+02] [ 3.92800285e-01 9.19618639e-01 -3.08142592e-03 1.85695141e+01] [ 7.67879949e-03 7.07906875e-05 9.99970515e-01 1.22485960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.115898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:191.24, Y:18.58, Z:1.23 [[ 9.20435997e-01 -3.90830020e-01 -7.03358045e-03 1.91238594e+02] [ 3.90817879e-01 9.20462866e-01 -3.08183693e-03 1.85808398e+01] [ 7.67862401e-03 8.77846529e-05 9.99970515e-01 1.22833102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.26, Y:18.59, Z:1.23 [[ 9.21423845e-01 -3.88495340e-01 -7.03340814e-03 1.91263983e+02] [ 3.88483128e-01 9.21450682e-01 -3.08223013e-03 1.85917666e+01] [ 7.67837077e-03 1.07679938e-04 9.99970515e-01 1.23296126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.29, Y:18.60, Z:1.24 [[ 9.22478825e-01 -3.85983623e-01 -7.03283160e-03 1.91289065e+02] [ 3.85971328e-01 9.22505624e-01 -3.08354506e-03 1.86032553e+01] [ 7.67802460e-03 1.30033673e-04 9.99970515e-01 1.23557655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.31, Y:18.62, Z:1.23 [[ 9.24420684e-01 -3.81309516e-01 -7.03225697e-03 1.91314418e+02] [ 3.81297075e-01 9.24447416e-01 -3.08485500e-03 1.86150544e+01] [ 7.67723635e-03 1.70324756e-04 9.99970515e-01 1.23463648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.34, Y:18.63, Z:1.23 [[ 9.25095479e-01 -3.79669477e-01 -7.03165251e-03 1.91339294e+02] [ 3.79656978e-01 9.25122183e-01 -3.08623220e-03 1.86266354e+01] [ 7.67688589e-03 1.85443512e-04 9.99970515e-01 1.23281327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.37, Y:18.64, Z:1.23 [[ 9.25520973e-01 -3.78631072e-01 -7.03138982e-03 1.91365159e+02] [ 3.78618539e-01 9.25547661e-01 -3.08683059e-03 1.86384363e+01] [ 7.67665637e-03 1.94711904e-04 9.99970515e-01 1.23127130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.295898227 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:191.39, Y:18.65, Z:1.23 [[ 9.25760377e-01 -3.78045357e-01 -7.03081284e-03 1.91390089e+02] [ 3.78032797e-01 9.25787053e-01 -3.08814419e-03 1.86499550e+01] [ 7.67649407e-03 2.01003689e-04 9.99970515e-01 1.23131505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.42, Y:18.66, Z:1.23 [[ 9.26261611e-01 -3.76815689e-01 -7.02602807e-03 1.91416220e+02] [ 3.76803011e-01 9.26288231e-01 -3.09903197e-03 1.86609587e+01] [ 7.67589098e-03 2.23085809e-04 9.99970515e-01 1.23260993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.44, Y:18.67, Z:1.23 [[ 9.26426345e-01 -3.76410421e-01 -7.03007268e-03 1.91441513e+02] [ 3.76397801e-01 9.26452993e-01 -3.08982954e-03 1.86726988e+01] [ 7.67607591e-03 2.16395594e-04 9.99970515e-01 1.23456018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.47, Y:18.68, Z:1.24 [[ 9.26704404e-01 -3.75725343e-01 -7.02952243e-03 1.91466918e+02] [ 3.75712694e-01 9.26731038e-01 -3.09108089e-03 1.86846542e+01] [ 7.67587404e-03 2.23437468e-04 9.99970515e-01 1.23518910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.49, Y:18.70, Z:1.23 [[ 9.26987696e-01 -3.75025874e-01 -7.02893988e-03 1.91491708e+02] [ 3.75013195e-01 9.27014315e-01 -3.09240500e-03 1.86968014e+01] [ 7.67565978e-03 2.30676180e-04 9.99970515e-01 1.23485192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.52, Y:18.71, Z:1.23 [[ 9.27298187e-01 -3.74257497e-01 -7.02833338e-03 1.91516349e+02] [ 3.74244785e-01 9.27324792e-01 -3.09378283e-03 1.87085319e+01] [ 7.67541920e-03 2.38542095e-04 9.99970515e-01 1.23347494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.54, Y:18.72, Z:1.23 [[ 9.27591731e-01 -3.73529365e-01 -7.02807021e-03 1.91541309e+02] [ 3.73516628e-01 9.27618323e-01 -3.09438055e-03 1.87196832e+01] [ 7.67520870e-03 2.45220724e-04 9.99970515e-01 1.23111222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.57, Y:18.73, Z:1.23 [[ 9.28120433e-01 -3.72213744e-01 -7.02782941e-03 1.91567409e+02] [ 3.72200965e-01 9.28147005e-01 -3.09492734e-03 1.87296745e+01] [ 7.67483331e-03 2.56700411e-04 9.99970515e-01 1.22658556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.59, Y:18.74, Z:1.23 [[ 9.28348166e-01 -3.71645396e-01 -7.02726157e-03 1.91593500e+02] [ 3.71632592e-01 9.28374725e-01 -3.09621613e-03 1.87399319e+01] [ 7.67462650e-03 2.62807139e-04 9.99970515e-01 1.22652395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.62, Y:18.75, Z:1.23 [[ 9.28740807e-01 -3.70663107e-01 -7.02666483e-03 1.91618445e+02] [ 3.70650264e-01 9.28767348e-01 -3.09756980e-03 1.87492961e+01] [ 7.67429171e-03 2.72404299e-04 9.99970515e-01 1.22840383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.65, Y:18.76, Z:1.23 [[ 9.29020950e-01 -3.69960457e-01 -7.02393480e-03 1.91645409e+02] [ 3.69947547e-01 9.29047458e-01 -3.10376003e-03 1.87596492e+01] [ 7.67383725e-03 2.84970640e-04 9.99970515e-01 1.22675125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.67, Y:18.77, Z:1.22 [[ 9.29319768e-01 -3.69209163e-01 -7.02582289e-03 1.91672105e+02] [ 3.69196264e-01 9.29346282e-01 -3.09948016e-03 1.87693091e+01] [ 7.67377885e-03 2.86500628e-04 9.99970515e-01 1.22245214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.655898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:191.70, Y:18.78, Z:1.22 [[ 9.29120327e-01 -3.69710824e-01 -7.02309809e-03 1.91698433e+02] [ 3.69697893e-01 9.29146825e-01 -3.10565451e-03 1.87799370e+01] [ 7.67368338e-03 2.89102174e-04 9.99970515e-01 1.22238842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.73, Y:18.79, Z:1.22 [[ 9.29743698e-01 -3.68140331e-01 -7.02511503e-03 1.91725821e+02] [ 3.68127390e-01 9.29770191e-01 -3.10108538e-03 1.87870591e+01] [ 7.67337714e-03 2.97077329e-04 9.99970515e-01 1.22224672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:18.80, Z:1.22 [[ 9.30301762e-01 -3.66727812e-01 -7.02454383e-03 1.91753608e+02] [ 3.66714820e-01 9.30328230e-01 -3.10237872e-03 1.87966136e+01] [ 7.67285999e-03 3.10144058e-04 9.99970515e-01 1.22413923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.78, Y:18.81, Z:1.23 [[ 9.31005259e-01 -3.64938175e-01 -7.02404321e-03 1.91781296e+02] [ 3.64925124e-01 9.31031698e-01 -3.10351175e-03 1.88050651e+01] [ 7.67219679e-03 3.26135924e-04 9.99970515e-01 1.22700148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.775898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:191.81, Y:18.81, Z:1.23 [[ 9.32192166e-01 -3.61895615e-01 -7.02354255e-03 1.91808683e+02] [ 3.61882469e-01 9.32218558e-01 -3.10464437e-03 1.88112173e+01] [ 7.67103389e-03 3.52428241e-04 9.99970515e-01 1.23213690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.84, Y:18.82, Z:1.23 [[ 9.32525274e-01 -3.61036510e-01 -7.01802384e-03 1.91837328e+02] [ 3.61023246e-01 9.32551607e-01 -3.11712497e-03 1.88205771e+01] [ 7.67006532e-03 3.73128066e-04 9.99970515e-01 1.23110418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.86, Y:18.83, Z:1.23 [[ 9.32794171e-01 -3.60341104e-01 -7.02298216e-03 1.91863100e+02] [ 3.60327905e-01 9.32820537e-01 -3.10591339e-03 1.88295926e+01] [ 7.67037025e-03 3.66601457e-04 9.99970515e-01 1.23059234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.89, Y:18.84, Z:1.23 [[ 9.33004693e-01 -3.59795669e-01 -7.02273299e-03 1.91889035e+02] [ 3.59782451e-01 9.33031049e-01 -3.10647667e-03 1.88383979e+01] [ 7.67012478e-03 3.71701224e-04 9.99970515e-01 1.22981482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.92, Y:18.85, Z:1.23 [[ 9.33078350e-01 -3.59604614e-01 -7.02234552e-03 1.91915270e+02] [ 3.59591383e-01 9.33104700e-01 -3.10735231e-03 1.88471131e+01] [ 7.67000184e-03 3.74228229e-04 9.99970515e-01 1.23027813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.94, Y:18.86, Z:1.23 [[ 9.33032975e-01 -3.59722339e-01 -7.02178200e-03 1.91942432e+02] [ 3.59709102e-01 9.33059322e-01 -3.10862520e-03 1.88560676e+01] [ 7.66998108e-03 3.74650923e-04 9.99970515e-01 1.23244041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.97, Y:18.86, Z:1.24 [[ 9.33278333e-01 -3.59085304e-01 -7.02120651e-03 1.91970273e+02] [ 3.59072040e-01 9.33304666e-01 -3.10992448e-03 1.88629798e+01] [ 7.66965297e-03 3.81306188e-04 9.99970515e-01 1.23761411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.00, Y:18.87, Z:1.24 [[ 9.33781919e-01 -3.57773717e-01 -7.02102764e-03 1.91996878e+02] [ 3.57760412e-01 9.33808232e-01 -3.11032823e-03 1.88726406e+01] [ 7.66908710e-03 3.92522525e-04 9.99970515e-01 1.23821247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.02, Y:18.88, Z:1.24 [[ 9.34610591e-01 -3.55603371e-01 -7.02045506e-03 1.92022318e+02] [ 3.55589995e-01 9.34636867e-01 -3.11162010e-03 1.88828258e+01] [ 7.66807872e-03 4.11749518e-04 9.99970515e-01 1.23739930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.05, Y:18.89, Z:1.24 [[ 9.35683375e-01 -3.52770944e-01 -7.02020646e-03 1.92048314e+02] [ 3.52757485e-01 9.35709608e-01 -3.11218087e-03 1.88942388e+01] [ 7.66676162e-03 4.35585527e-04 9.99970515e-01 1.23897686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.07, Y:18.91, Z:1.24 [[ 9.37257717e-01 -3.48566721e-01 -7.01527152e-03 1.92073699e+02] [ 3.48553061e-01 9.37283846e-01 -3.12330768e-03 1.89075542e+01] [ 7.66398179e-03 4.82149869e-04 9.99970515e-01 1.23720235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.10, Y:18.92, Z:1.24 [[ 9.37643224e-01 -3.47528288e-01 -7.01954205e-03 1.92097609e+02] [ 3.47514671e-01 9.37669376e-01 -3.11368010e-03 1.89191076e+01] [ 7.66410153e-03 4.80127197e-04 9.99970515e-01 1.23859481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.135898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:192.12, Y:18.93, Z:1.24 [[ 9.37533689e-01 -3.47823680e-01 -7.01929095e-03 1.92123059e+02] [ 3.47810067e-01 9.37559843e-01 -3.11424608e-03 1.89316791e+01] [ 7.66421385e-03 4.78330557e-04 9.99970515e-01 1.23865052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.15, Y:18.94, Z:1.24 [[ 9.37320077e-01 -3.48398925e-01 -7.01873908e-03 1.92149407e+02] [ 3.48385319e-01 9.37346234e-01 -3.11548936e-03 1.89423617e+01] [ 7.66442179e-03 4.74985073e-04 9.99970515e-01 1.23866714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.18, Y:18.95, Z:1.24 [[ 9.36734675e-01 -3.49969847e-01 -7.01816973e-03 1.92175362e+02] [ 3.49956275e-01 9.36760851e-01 -3.11677138e-03 1.89529933e+01] [ 7.66512265e-03 4.63535287e-04 9.99970515e-01 1.23546750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.225898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:192.20, Y:18.96, Z:1.23 [[ 9.35832797e-01 -3.52374417e-01 -7.01759087e-03 1.92200490e+02] [ 3.52360903e-01 9.35859002e-01 -3.11807416e-03 1.89639799e+01] [ 7.66620516e-03 4.45271411e-04 9.99970515e-01 1.22976963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.255898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:192.23, Y:18.97, Z:1.23 [[ 9.34422326e-01 -3.56097840e-01 -7.01741053e-03 1.92227651e+02] [ 3.56084427e-01 9.34448584e-01 -3.11847999e-03 1.89731447e+01] [ 7.66789332e-03 4.15186719e-04 9.99970515e-01 1.22836322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.26, Y:18.98, Z:1.23 [[ 9.34146353e-01 -3.56821181e-01 -7.01690724e-03 1.92255037e+02] [ 3.56807780e-01 9.34172616e-01 -3.11961204e-03 1.89829160e+01] [ 7.66814624e-03 4.10487118e-04 9.99970515e-01 1.23302010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.28, Y:18.99, Z:1.24 [[ 9.33984831e-01 -3.57243762e-01 -7.01640450e-03 1.92280429e+02] [ 3.57230365e-01 9.34011096e-01 -3.12074235e-03 1.89935093e+01] [ 7.66826539e-03 4.08253278e-04 9.99970515e-01 1.23641777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.345898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:192.31, Y:19.00, Z:1.24 [[ 9.34370369e-01 -3.56234173e-01 -7.01622584e-03 1.92306531e+02] [ 3.56220744e-01 9.34396618e-01 -3.12114396e-03 1.90036626e+01] [ 7.66779584e-03 4.16979241e-04 9.99970515e-01 1.23544431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.375898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:192.33, Y:19.01, Z:1.23 [[ 9.34747560e-01 -3.55243314e-01 -7.01329263e-03 1.92333163e+02] [ 3.55229808e-01 9.34773770e-01 -3.12773599e-03 1.90139656e+01] [ 7.66694929e-03 4.32312993e-04 9.99970515e-01 1.23019380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.36, Y:19.02, Z:1.23 [[ 9.35546242e-01 -3.53134552e-01 -7.01554479e-03 1.92360138e+02] [ 3.53121024e-01 9.35572440e-01 -3.12267619e-03 1.90232740e+01] [ 7.66627522e-03 4.44071610e-04 9.99970515e-01 1.23061516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.39, Y:19.03, Z:1.23 [[ 9.36462267e-01 -3.50698180e-01 -7.01497377e-03 1.92386848e+02] [ 3.50684574e-01 9.36488425e-01 -3.12395845e-03 1.90338847e+01] [ 7.66500828e-03 4.65426119e-04 9.99970515e-01 1.23322761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.41, Y:19.04, Z:1.24 [[ 9.38942095e-01 -3.44003693e-01 -7.01445847e-03 1.92412126e+02] [ 3.43989892e-01 9.38968151e-01 -3.12511505e-03 1.90441722e+01] [ 7.66140422e-03 5.21399253e-04 9.99970515e-01 1.23780096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.44, Y:19.06, Z:1.24 [[ 9.40277806e-01 -3.40335787e-01 -7.01423872e-03 1.92436708e+02] [ 3.40321882e-01 9.40303806e-01 -3.12560820e-03 1.90555010e+01] [ 7.65927169e-03 5.51841102e-04 9.99970515e-01 1.23737233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.46, Y:19.07, Z:1.24 [[ 9.41431830e-01 -3.37130409e-01 -7.01398493e-03 1.92462333e+02] [ 3.37116411e-01 9.41457780e-01 -3.12617761e-03 1.90677669e+01] [ 7.65730022e-03 5.78553677e-04 9.99970515e-01 1.23615791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.49, Y:19.08, Z:1.24 [[ 9.42394847e-01 -3.34429014e-01 -7.01341701e-03 1.92487621e+02] [ 3.34414932e-01 9.42420751e-01 -3.12745119e-03 1.90803961e+01] [ 7.65550015e-03 6.01902509e-04 9.99970515e-01 1.23543752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.51, Y:19.09, Z:1.24 [[ 9.43079212e-01 -3.32494241e-01 -7.01284788e-03 1.92512897e+02] [ 3.32480097e-01 9.43105082e-01 -3.12872687e-03 1.90936555e+01] [ 7.65413614e-03 6.19004932e-04 9.99970515e-01 1.23516587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.54, Y:19.11, Z:1.24 [[ 9.43513291e-01 -3.31260468e-01 -7.01228119e-03 1.92538051e+02] [ 3.31246281e-01 9.43539138e-01 -3.12999645e-03 1.91089259e+01] [ 7.65320584e-03 6.30401188e-04 9.99970515e-01 1.23733817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.56, Y:19.12, Z:1.24 [[ 9.43265302e-01 -3.31965969e-01 -7.01177693e-03 1.92562969e+02] [ 3.31951792e-01 9.43291155e-01 -3.13112568e-03 1.91216179e+01] [ 7.65357433e-03 6.25910296e-04 9.99970515e-01 1.23781308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.675898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:192.59, Y:19.14, Z:1.24 [[ 9.42439823e-01 -3.34302286e-01 -7.01159804e-03 1.92587695e+02] [ 3.34288170e-01 9.42465709e-01 -3.13152622e-03 1.91359162e+01] [ 7.65506709e-03 6.07380736e-04 9.99970515e-01 1.23814818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.705898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:192.61, Y:19.15, Z:1.24 [[ 9.41650526e-01 -3.36519142e-01 -7.01101541e-03 1.92612281e+02] [ 3.36505078e-01 9.41676440e-01 -3.13283009e-03 1.91494431e+01] [ 7.65636533e-03 5.90788818e-04 9.99970515e-01 1.23693288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.64, Y:19.17, Z:1.24 [[ 9.40071804e-01 -3.40904461e-01 -7.01083459e-03 1.92635444e+02] [ 3.40890515e-01 9.40097782e-01 -3.13323469e-03 1.91654602e+01] [ 7.65900373e-03 5.55538570e-04 9.99970515e-01 1.23534625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.66, Y:19.18, Z:1.23 [[ 9.39367295e-01 -3.42840978e-01 -7.01065554e-03 1.92659150e+02] [ 3.42827083e-01 9.39393300e-01 -3.13363528e-03 1.91795845e+01] [ 7.66010142e-03 5.40191907e-04 9.99970515e-01 1.23469835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.68, Y:19.19, Z:1.24 [[ 9.38713749e-01 -3.44626393e-01 -7.01040818e-03 1.92683519e+02] [ 3.44612543e-01 9.38739779e-01 -3.13418855e-03 1.91935854e+01] [ 7.66107312e-03 5.26231296e-04 9.99970515e-01 1.23681574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.71, Y:19.21, Z:1.24 [[ 9.38014787e-01 -3.46524345e-01 -7.00984498e-03 1.92708021e+02] [ 3.46510538e-01 9.38040839e-01 -3.13544769e-03 1.92069643e+01] [ 7.66202982e-03 5.12111144e-04 9.99970515e-01 1.23859747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.73, Y:19.22, Z:1.24 [[ 9.37453046e-01 -3.48041170e-01 -7.00926359e-03 1.92731610e+02] [ 3.48027396e-01 9.37479116e-01 -3.13674684e-03 1.92195609e+01] [ 7.66275527e-03 5.01137124e-04 9.99970515e-01 1.23943365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.76, Y:19.23, Z:1.24 [[ 9.36854403e-01 -3.49649397e-01 -7.00901056e-03 1.92756730e+02] [ 3.49635663e-01 9.36880494e-01 -3.13731214e-03 1.92326821e+01] [ 7.66356457e-03 4.88604639e-04 9.99970515e-01 1.23962675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.78, Y:19.24, Z:1.24 [[ 9.36790645e-01 -3.49820195e-01 -7.00844012e-03 1.92782656e+02] [ 3.49806456e-01 9.36816734e-01 -3.13858592e-03 1.92444890e+01] [ 7.66356472e-03 4.88600326e-04 9.99970515e-01 1.23984547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.81, Y:19.26, Z:1.24 [[ 9.35898025e-01 -3.52201330e-01 -7.00786769e-03 1.92807069e+02] [ 3.52187648e-01 9.35924143e-01 -3.13986353e-03 1.92581479e+01] [ 7.66469667e-03 4.70507634e-04 9.99970515e-01 1.23873924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.83, Y:19.27, Z:1.24 [[ 9.35612857e-01 -3.52958183e-01 -7.00727475e-03 1.92832237e+02] [ 3.52944513e-01 9.35638982e-01 -3.14118625e-03 1.92702269e+01] [ 7.66498680e-03 4.65755070e-04 9.99970515e-01 1.23922609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.86, Y:19.28, Z:1.24 [[ 9.35420896e-01 -3.53466616e-01 -7.00709095e-03 1.92857014e+02] [ 3.53452957e-01 9.35447026e-01 -3.14159618e-03 1.92823742e+01] [ 7.66521176e-03 4.62037700e-04 9.99970515e-01 1.23982080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.88, Y:19.29, Z:1.24 [[ 9.35447566e-01 -3.53396032e-01 -7.00690963e-03 1.92881344e+02] [ 3.53382367e-01 9.35473693e-01 -3.14200055e-03 1.92944181e+01] [ 7.66515015e-03 4.63058456e-04 9.99970515e-01 1.24271803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.91, Y:19.31, Z:1.24 [[ 9.35476988e-01 -3.53318183e-01 -7.00468434e-03 1.92907400e+02] [ 3.53304479e-01 9.35503095e-01 -3.14696183e-03 1.93073835e+01] [ 7.66478272e-03 4.69124022e-04 9.99970515e-01 1.24078078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.93, Y:19.32, Z:1.24 [[ 9.36153793e-01 -3.51520965e-01 -7.00628452e-03 1.92931962e+02] [ 3.51507238e-01 9.36179887e-01 -3.14339519e-03 1.93199429e+01] [ 7.66411196e-03 4.79941614e-04 9.99970515e-01 1.23967526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.96, Y:19.33, Z:1.24 [[ 9.36624496e-01 -3.50264857e-01 -7.00601362e-03 1.92956790e+02] [ 3.50251090e-01 9.36650569e-01 -3.14399887e-03 1.93321068e+01] [ 7.66341896e-03 4.90882455e-04 9.99970515e-01 1.23682253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.98, Y:19.34, Z:1.24 [[ 9.37234333e-01 -3.48629783e-01 -7.00574825e-03 1.92982458e+02] [ 3.48615966e-01 9.37260380e-01 -3.14459008e-03 1.93447291e+01] [ 7.66250802e-03 5.04902094e-04 9.99970515e-01 1.23537735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.01, Y:19.36, Z:1.23 [[ 9.37724099e-01 -3.47310295e-01 -7.00524451e-03 1.93007007e+02] [ 3.47296434e-01 9.37750122e-01 -3.14571185e-03 1.93574063e+01] [ 7.66170701e-03 5.16913375e-04 9.99970515e-01 1.23361355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.03, Y:19.37, Z:1.24 [[ 9.38657585e-01 -3.44779454e-01 -7.00466763e-03 1.93031965e+02] [ 3.44765513e-01 9.38683566e-01 -3.14699589e-03 1.93714567e+01] [ 7.66018592e-03 5.38983729e-04 9.99970515e-01 1.23639215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:19.38, Z:1.24 [[ 9.38971313e-01 -3.43924143e-01 -7.00416219e-03 1.93056853e+02] [ 3.43910169e-01 9.38997276e-01 -3.14812043e-03 1.93840048e+01] [ 7.65960384e-03 5.47192170e-04 9.99970515e-01 1.23832399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.08, Y:19.40, Z:1.24 [[ 9.39201653e-01 -3.43294626e-01 -7.00389370e-03 1.93082229e+02] [ 3.43280631e-01 9.39227605e-01 -3.14871765e-03 1.93970049e+01] [ 7.65918816e-03 5.52979770e-04 9.99970515e-01 1.24088478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.11, Y:19.41, Z:1.24 [[ 9.39289111e-01 -3.43055271e-01 -7.00339598e-03 1.93106429e+02] [ 3.43041261e-01 9.39315055e-01 -3.14982430e-03 1.94129374e+01] [ 7.65895911e-03 5.56141877e-04 9.99970515e-01 1.24024167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.13, Y:19.43, Z:1.24 [[ 9.39082033e-01 -3.43621732e-01 -7.00288904e-03 1.93129694e+02] [ 3.43607729e-01 9.39107981e-01 -3.15095095e-03 1.94267777e+01] [ 7.65920421e-03 5.52754621e-04 9.99970515e-01 1.23923325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.15, Y:19.44, Z:1.24 [[ 9.38893896e-01 -3.44135460e-01 -7.00263671e-03 1.93154910e+02] [ 3.44121467e-01 9.38919850e-01 -3.15151163e-03 1.94418363e+01] [ 7.65946151e-03 5.49177418e-04 9.99970515e-01 1.24049903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.18, Y:19.46, Z:1.25 [[ 9.39000099e-01 -3.43845581e-01 -7.00213297e-03 1.93178730e+02] [ 3.43831572e-01 9.39026044e-01 -3.15263046e-03 1.94558065e+01] [ 7.65920327e-03 5.52765933e-04 9.99970515e-01 1.24695640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.425898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:193.20, Y:19.47, Z:1.25 [[ 9.39139039e-01 -3.43465974e-01 -6.99932567e-03 1.93203052e+02] [ 3.43451909e-01 9.39164952e-01 -3.15886466e-03 1.94712397e+01] [ 7.65848388e-03 5.62681358e-04 9.99970515e-01 1.24668739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.23, Y:19.49, Z:1.25 [[ 9.39504375e-01 -3.42465338e-01 -7.00156838e-03 1.93226789e+02] [ 3.42451281e-01 9.39530294e-01 -3.15388587e-03 1.94857682e+01] [ 7.65828219e-03 5.65393514e-04 9.99970515e-01 1.25285803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.25, Y:19.51, Z:1.25 [[ 9.40409224e-01 -3.39972765e-01 -7.00073624e-03 1.93248819e+02] [ 3.39958626e-01 9.40435098e-01 -3.15573246e-03 1.95061885e+01] [ 7.65660116e-03 5.87719244e-04 9.99970515e-01 1.25327486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.27, Y:19.52, Z:1.25 [[ 9.40784438e-01 -3.38933073e-01 -7.00090868e-03 1.93272821e+02] [ 3.38918909e-01 9.40810298e-01 -3.15534986e-03 1.95220721e+01] [ 7.65597941e-03 5.95763722e-04 9.99970515e-01 1.25185744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.30, Y:19.54, Z:1.25 [[ 9.40908699e-01 -3.38587972e-01 -7.00031828e-03 1.93295658e+02] [ 3.38573789e-01 9.40934549e-01 -3.15665915e-03 1.95371681e+01] [ 7.65564814e-03 6.00003776e-04 9.99970515e-01 1.25004094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.32, Y:19.55, Z:1.25 [[ 9.40781410e-01 -3.38941499e-01 -6.99991632e-03 1.93318766e+02] [ 3.38927318e-01 9.40807261e-01 -3.15755024e-03 1.95519943e+01] [ 7.65579692e-03 5.98101700e-04 9.99970515e-01 1.24928629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.34, Y:19.57, Z:1.25 [[ 9.40081267e-01 -3.40878593e-01 -6.99966382e-03 1.93341509e+02] [ 3.40864462e-01 9.40107145e-01 -3.15810990e-03 1.95680885e+01] [ 7.65696603e-03 5.82943315e-04 9.99970515e-01 1.25273228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.37, Y:19.58, Z:1.26 [[ 9.39518647e-01 -3.42426224e-01 -6.99948624e-03 1.93365983e+02] [ 3.42412132e-01 9.39544547e-01 -3.15850343e-03 1.95810745e+01] [ 7.65788353e-03 5.70763858e-04 9.99970515e-01 1.25531051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.39, Y:19.59, Z:1.26 [[ 9.38945843e-01 -3.43993778e-01 -6.99891573e-03 1.93390556e+02] [ 3.43979720e-01 9.38971761e-01 -3.15976711e-03 1.95941014e+01] [ 7.65872445e-03 5.59365115e-04 9.99970515e-01 1.25680841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.42, Y:19.61, Z:1.26 [[ 9.38593541e-01 -3.44953893e-01 -6.99834153e-03 1.93415105e+02] [ 3.44939853e-01 9.38619468e-01 -3.16103835e-03 1.96069215e+01] [ 7.65919209e-03 5.52923282e-04 9.99970515e-01 1.25606222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.44, Y:19.62, Z:1.25 [[ 9.38416446e-01 -3.45435384e-01 -6.99776124e-03 1.93439933e+02] [ 3.45421347e-01 9.38442376e-01 -3.16232245e-03 1.96202230e+01] [ 7.65937375e-03 5.50399279e-04 9.99970515e-01 1.25381053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.46, Y:19.63, Z:1.25 [[ 9.38844647e-01 -3.44269907e-01 -6.99717402e-03 1.93464150e+02] [ 3.44255829e-01 9.38870553e-01 -3.16362123e-03 1.96333867e+01] [ 7.65858024e-03 5.61330915e-04 9.99970515e-01 1.24901024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.49, Y:19.65, Z:1.25 [[ 9.39060262e-01 -3.43681345e-01 -6.99689993e-03 1.93489251e+02] [ 3.43667246e-01 9.39086158e-01 -3.16422733e-03 1.96455884e+01] [ 7.65817777e-03 5.66794818e-04 9.99970515e-01 1.24919852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.52, Y:19.66, Z:1.25 [[ 9.39175737e-01 -3.43365674e-01 -6.99632492e-03 1.93515138e+02] [ 3.43351557e-01 9.39201623e-01 -3.16549821e-03 1.96576935e+01] [ 7.65788314e-03 5.70760062e-04 9.99970515e-01 1.24710035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.54, Y:19.67, Z:1.25 [[ 9.39381373e-01 -3.42802642e-01 -6.99884584e-03 1.93540081e+02] [ 3.42788550e-01 9.39407273e-01 -3.15992842e-03 1.96692021e+01] [ 7.65799849e-03 5.69253682e-04 9.99970515e-01 1.24874282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.57, Y:19.68, Z:1.25 [[ 9.39597973e-01 -3.42208586e-01 -6.99523364e-03 1.93565890e+02] [ 3.42194419e-01 9.39623831e-01 -3.16790473e-03 1.96811369e+01] [ 7.65697243e-03 5.82826952e-04 9.99970515e-01 1.24655498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.905898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:193.59, Y:19.69, Z:1.24 [[ 9.39687037e-01 -3.41963956e-01 -6.99471514e-03 1.93590568e+02] [ 3.41949774e-01 9.39712887e-01 -3.16904915e-03 1.96924872e+01] [ 7.65672454e-03 5.86073151e-04 9.99970515e-01 1.24335426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.62, Y:19.70, Z:1.24 [[ 9.39583026e-01 -3.42249639e-01 -6.99445798e-03 1.93615750e+02] [ 3.42235461e-01 9.39608878e-01 -3.16961662e-03 1.97044570e+01] [ 7.65685496e-03 5.84366428e-04 9.99970515e-01 1.24442540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.64, Y:19.72, Z:1.25 [[ 9.39510790e-01 -3.42447896e-01 -6.99386932e-03 1.93640470e+02] [ 3.42433714e-01 9.39536640e-01 -3.17091501e-03 1.97166811e+01] [ 7.65686965e-03 5.84172216e-04 9.99970515e-01 1.24541010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.67, Y:19.73, Z:1.25 [[ 9.39462610e-01 -3.42580062e-01 -6.99328204e-03 1.93665860e+02] [ 3.42565873e-01 9.39488456e-01 -3.17220969e-03 1.97298082e+01] [ 7.65684354e-03 5.84512623e-04 9.99970515e-01 1.24673810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.69, Y:19.74, Z:1.25 [[ 9.39491769e-01 -3.42500097e-01 -6.99277061e-03 1.93690685e+02] [ 3.42485898e-01 9.39517610e-01 -3.17333668e-03 1.97430190e+01] [ 7.65669925e-03 5.86398376e-04 9.99970515e-01 1.24802574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.71, Y:19.76, Z:1.25 [[ 9.39692335e-01 -3.41949440e-01 -6.99258883e-03 1.93714872e+02] [ 3.41935223e-01 9.39718166e-01 -3.17373718e-03 1.97574473e+01] [ 7.65632040e-03 5.91324080e-04 9.99970515e-01 1.25127110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.74, Y:19.77, Z:1.25 [[ 9.39537270e-01 -3.42375324e-01 -6.98973576e-03 1.93740614e+02] [ 3.42361072e-01 9.39563081e-01 -3.18002093e-03 1.97717505e+01] [ 7.65605836e-03 5.94734751e-04 9.99970515e-01 1.24819251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.77, Y:19.79, Z:1.25 [[ 9.39360591e-01 -3.42859730e-01 -6.99182333e-03 1.93765261e+02] [ 3.42845525e-01 9.39386429e-01 -3.17542441e-03 1.97857737e+01] [ 7.65674910e-03 5.85753207e-04 9.99970515e-01 1.24740115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.79, Y:19.80, Z:1.25 [[ 9.39247876e-01 -3.43168399e-01 -6.99124578e-03 1.93789182e+02] [ 3.43154193e-01 9.39273713e-01 -3.17669547e-03 1.97999005e+01] [ 7.65683488e-03 5.84629164e-04 9.99970515e-01 1.24815411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.81, Y:19.82, Z:1.26 [[ 9.39483719e-01 -3.42522221e-01 -6.99066456e-03 1.93813465e+02] [ 3.42507988e-01 9.39509541e-01 -3.17797399e-03 1.98167601e+01] [ 7.65632277e-03 5.91296363e-04 9.99970515e-01 1.25649829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.84, Y:19.83, Z:1.26 [[ 9.39640775e-01 -3.42091183e-01 -6.98838322e-03 1.93838772e+02] [ 3.42076901e-01 9.39666570e-01 -3.18299103e-03 1.98311389e+01] [ 7.65562325e-03 6.00303682e-04 9.99970515e-01 1.25968823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.86, Y:19.84, Z:1.26 [[ 9.40009614e-01 -3.41076332e-01 -6.99003606e-03 1.93862648e+02] [ 3.41062049e-01 9.40035409e-01 -3.17935714e-03 1.98448277e+01] [ 7.65528488e-03 6.04590251e-04 9.99970515e-01 1.26132469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.89, Y:19.86, Z:1.26 [[ 9.40256947e-01 -3.40393913e-01 -6.98978101e-03 1.93887016e+02] [ 3.40379608e-01 9.40282729e-01 -3.17991777e-03 1.98591859e+01] [ 7.65479502e-03 6.10760860e-04 9.99970515e-01 1.26131043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.91, Y:19.87, Z:1.26 [[ 9.40481469e-01 -3.39773097e-01 -6.98918780e-03 1.93909827e+02] [ 3.39758765e-01 9.40507236e-01 -3.18122106e-03 1.98730827e+01] [ 7.65427503e-03 6.17241642e-04 9.99970515e-01 1.25869432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.93, Y:19.89, Z:1.25 [[ 9.40670869e-01 -3.39248390e-01 -6.98892998e-03 1.93934137e+02] [ 3.39234040e-01 9.40696626e-01 -3.18178736e-03 1.98898252e+01] [ 7.65387910e-03 6.22131733e-04 9.99970515e-01 1.25426470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.96, Y:19.90, Z:1.25 [[ 9.40430796e-01 -3.39913341e-01 -6.98840111e-03 1.93958590e+02] [ 3.39899000e-01 9.40456559e-01 -3.18294855e-03 1.99032844e+01] [ 7.65421433e-03 6.17992290e-04 9.99970515e-01 1.25250061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.98, Y:19.92, Z:1.25 [[ 9.40003428e-01 -3.41093427e-01 -6.98779547e-03 1.93982859e+02] [ 3.41079108e-01 9.40029203e-01 -3.18427761e-03 1.99162352e+01] [ 7.65486797e-03 6.09840824e-04 9.99970515e-01 1.25210949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.01, Y:19.93, Z:1.25 [[ 9.39282822e-01 -3.43072812e-01 -6.98753194e-03 1.94007346e+02] [ 3.43058544e-01 9.39308625e-01 -3.18485578e-03 1.99289368e+01] [ 7.65608645e-03 5.94347797e-04 9.99970515e-01 1.25268323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.03, Y:19.94, Z:1.26 [[ 9.37164344e-01 -3.48818246e-01 -6.98734908e-03 1.94032556e+02] [ 3.48804133e-01 9.37190232e-01 -3.18525693e-03 1.99419304e+01] [ 7.65955104e-03 5.47892983e-04 9.99970515e-01 1.25655083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.06, Y:19.95, Z:1.26 [[ 9.35903183e-01 -3.52188042e-01 -6.98682050e-03 1.94058241e+02] [ 3.52174013e-01 9.35929116e-01 -3.18641592e-03 1.99534016e+01] [ 7.66138633e-03 5.21600185e-04 9.99970515e-01 1.25609429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.08, Y:19.96, Z:1.25 [[ 9.34827700e-01 -3.55032907e-01 -6.98620603e-03 1.94083460e+02] [ 3.55018948e-01 9.34853670e-01 -3.18776258e-03 1.99645422e+01] [ 7.66284097e-03 4.99773245e-04 9.99970515e-01 1.25123968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.11, Y:19.98, Z:1.25 [[ 9.33869987e-01 -3.57544450e-01 -6.98662587e-03 1.94109750e+02] [ 3.57530567e-01 9.33895999e-01 -3.18684265e-03 1.99753056e+01] [ 7.66421986e-03 4.78164396e-04 9.99970515e-01 1.25017881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.14, Y:19.99, Z:1.25 [[ 9.33009961e-01 -3.59782735e-01 -6.98549966e-03 1.94136090e+02] [ 3.59768896e-01 9.33035996e-01 -3.18930938e-03 1.99856934e+01] [ 7.66518108e-03 4.62491924e-04 9.99970515e-01 1.24729833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.595898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:194.16, Y:19.99, Z:1.24 [[ 9.32299764e-01 -3.61619076e-01 -6.98531260e-03 1.94161635e+02] [ 3.61605285e-01 9.32325825e-01 -3.18971903e-03 1.99949175e+01] [ 7.66605058e-03 4.47848346e-04 9.99970515e-01 1.24431360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.19, Y:20.00, Z:1.25 [[ 9.31249079e-01 -3.64316295e-01 -6.98505790e-03 1.94190469e+02] [ 3.64302576e-01 9.31275177e-01 -3.19027670e-03 1.99998261e+01] [ 7.66728082e-03 4.26267655e-04 9.99970515e-01 1.25015239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.22, Y:20.01, Z:1.25 [[ 9.30853850e-01 -3.65324954e-01 -6.98487012e-03 1.94218225e+02] [ 3.65311260e-01 9.30879962e-01 -3.19068777e-03 2.00078230e+01] [ 7.66771349e-03 4.18412291e-04 9.99970515e-01 1.25352977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.25, Y:20.01, Z:1.25 [[ 9.30654945e-01 -3.65831371e-01 -6.98433253e-03 1.94245582e+02] [ 3.65817682e-01 9.30681060e-01 -3.19186410e-03 2.00147954e+01] [ 7.66787002e-03 4.15531775e-04 9.99970515e-01 1.25391846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.27, Y:20.02, Z:1.26 [[ 9.30422574e-01 -3.66421964e-01 -6.98414192e-03 1.94272727e+02] [ 3.66408289e-01 9.30448696e-01 -3.19228113e-03 2.00214821e+01] [ 7.66810766e-03 4.11122935e-04 9.99970515e-01 1.25550322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.30, Y:20.02, Z:1.26 [[ 9.30444166e-01 -3.66367139e-01 -6.98372912e-03 1.94301965e+02] [ 3.66353456e-01 9.30470284e-01 -3.19318395e-03 2.00231777e+01] [ 7.66803009e-03 4.12566079e-04 9.99970515e-01 1.25606494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.33, Y:20.04, Z:1.26 [[ 9.30376199e-01 -3.66539712e-01 -6.98346847e-03 1.94327782e+02] [ 3.66526029e-01 9.30402316e-01 -3.19375390e-03 2.00351869e+01] [ 7.66807287e-03 4.11769649e-04 9.99970515e-01 1.25628362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.805898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:194.36, Y:20.04, Z:1.26 [[ 9.30636748e-01 -3.65877688e-01 -6.98287584e-03 1.94355451e+02] [ 3.65863977e-01 9.30662851e-01 -3.19504909e-03 2.00430289e+01] [ 7.66770032e-03 4.18647369e-04 9.99970515e-01 1.25569204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.38, Y:20.05, Z:1.26 [[ 9.31187089e-01 -3.64474764e-01 -6.98226700e-03 1.94382784e+02] [ 3.64461004e-01 9.31213166e-01 -3.19637908e-03 2.00509511e+01] [ 7.66697846e-03 4.31662889e-04 9.99970515e-01 1.25834616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.41, Y:20.06, Z:1.26 [[ 9.31954422e-01 -3.62508224e-01 -6.98165759e-03 1.94409023e+02] [ 3.62494398e-01 9.31980464e-01 -3.19770961e-03 2.00593659e+01] [ 7.66596451e-03 4.49307844e-04 9.99970515e-01 1.25941160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.43, Y:20.07, Z:1.26 [[ 9.32892948e-01 -3.60086114e-01 -6.98124308e-03 1.94434297e+02] [ 3.60072215e-01 9.32918951e-01 -3.19861432e-03 2.00679191e+01] [ 7.66471057e-03 4.70213084e-04 9.99970515e-01 1.26029372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.46, Y:20.08, Z:1.26 [[ 9.34540909e-01 -3.55787233e-01 -6.98098981e-03 1.94461666e+02] [ 3.55773210e-01 9.34566845e-01 -3.19916699e-03 2.00759400e+01] [ 7.66242439e-03 5.06103281e-04 9.99970515e-01 1.26004627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.49, Y:20.09, Z:1.26 [[ 9.35136158e-01 -3.54219761e-01 -6.98040712e-03 1.94488267e+02] [ 3.54205685e-01 9.35162066e-01 -3.20043788e-03 2.00866217e+01] [ 7.66147028e-03 5.20345307e-04 9.99970515e-01 1.26059415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.51, Y:20.10, Z:1.26 [[ 9.35710082e-01 -3.52700893e-01 -6.98009456e-03 1.94513937e+02] [ 3.52686770e-01 9.35735965e-01 -3.20111929e-03 2.00968461e+01] [ 7.66056315e-03 5.33532586e-04 9.99970515e-01 1.26039413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.54, Y:20.11, Z:1.26 [[ 9.36437374e-01 -3.50765354e-01 -6.97930599e-03 1.94539554e+02] [ 3.50751164e-01 9.36463220e-01 -3.20283766e-03 2.01065301e+01] [ 7.65930785e-03 5.51257184e-04 9.99970515e-01 1.26442880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.57, Y:20.12, Z:1.27 [[ 9.36644375e-01 -3.50212233e-01 -6.97903237e-03 1.94565190e+02] [ 3.50198024e-01 9.36670210e-01 -3.20343378e-03 2.01175955e+01] [ 7.65893341e-03 5.56434885e-04 9.99970515e-01 1.26540740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.59, Y:20.13, Z:1.26 [[ 9.36906886e-01 -3.49509353e-01 -6.97842758e-03 1.94589620e+02] [ 3.49495114e-01 9.36932705e-01 -3.20475073e-03 2.01283056e+01] [ 7.65840738e-03 5.63626687e-04 9.99970515e-01 1.26408877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.62, Y:20.14, Z:1.26 [[ 9.37254790e-01 -3.48575336e-01 -6.97816417e-03 1.94615147e+02] [ 3.48561067e-01 9.37280592e-01 -3.20532418e-03 2.01394404e+01] [ 7.65779480e-03 5.71889093e-04 9.99970515e-01 1.26164562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.64, Y:20.15, Z:1.26 [[ 9.37614433e-01 -3.47606802e-01 -6.97758489e-03 1.94640131e+02] [ 3.47592497e-01 9.37640215e-01 -3.20658470e-03 2.01512336e+01] [ 7.65709485e-03 5.81183934e-04 9.99970515e-01 1.25975203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.67, Y:20.16, Z:1.26 [[ 9.38001004e-01 -3.46562315e-01 -6.97699521e-03 1.94665553e+02] [ 3.46547973e-01 9.38026765e-01 -3.20786723e-03 2.01635421e+01] [ 7.65633414e-03 5.91119137e-04 9.99970515e-01 1.25974392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.69, Y:20.18, Z:1.26 [[ 9.38393694e-01 -3.45497619e-01 -6.97640383e-03 1.94690113e+02] [ 3.45483238e-01 9.38419434e-01 -3.20915284e-03 2.01760970e+01] [ 7.65554760e-03 6.01218197e-04 9.99970515e-01 1.26232586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.72, Y:20.19, Z:1.26 [[ 9.39241204e-01 -3.43186974e-01 -6.97579597e-03 1.94715276e+02] [ 3.43172520e-01 9.39266903e-01 -3.21047362e-03 2.01878741e+01] [ 7.65392700e-03 6.21507627e-04 9.99970515e-01 1.26361071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.74, Y:20.20, Z:1.26 [[ 9.39516094e-01 -3.42433716e-01 -6.97560728e-03 1.94741143e+02] [ 3.42419238e-01 9.39541779e-01 -3.21088355e-03 2.01994336e+01] [ 7.65338926e-03 6.28094637e-04 9.99970515e-01 1.26178370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.77, Y:20.21, Z:1.26 [[ 9.39540332e-01 -3.42367220e-01 -6.97502379e-03 1.94766128e+02] [ 3.42352731e-01 9.39566011e-01 -3.21215056e-03 2.02109076e+01] [ 7.65323034e-03 6.30026560e-04 9.99970515e-01 1.25983377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.79, Y:20.22, Z:1.26 [[ 9.38969103e-01 -3.43930779e-01 -6.97444410e-03 1.94791484e+02] [ 3.43916323e-01 9.38994801e-01 -3.21340873e-03 2.02219613e+01] [ 7.65415692e-03 6.18666343e-04 9.99970515e-01 1.25792916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.82, Y:20.23, Z:1.26 [[ 9.38394238e-01 -3.45496193e-01 -6.97386757e-03 1.94817259e+02] [ 3.45481771e-01 9.38419955e-01 -3.21465946e-03 2.02322420e+01] [ 7.65506909e-03 6.07273794e-04 9.99970515e-01 1.25841522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.84, Y:20.24, Z:1.26 [[ 9.37691932e-01 -3.47397774e-01 -6.97331637e-03 1.94843019e+02] [ 3.47383395e-01 9.37717673e-01 -3.21585468e-03 2.02422669e+01] [ 7.65618276e-03 5.93066673e-04 9.99970515e-01 1.25947546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.87, Y:20.25, Z:1.26 [[ 9.37152211e-01 -3.48851135e-01 -6.97271053e-03 1.94868606e+02] [ 3.48836786e-01 9.37177969e-01 -3.21716776e-03 2.02523289e+01] [ 7.65698332e-03 5.82637948e-04 9.99970515e-01 1.26036258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.89, Y:20.26, Z:1.26 [[ 9.36858990e-01 -3.49637837e-01 -6.97244798e-03 1.94894409e+02] [ 3.49623506e-01 9.36884758e-01 -3.21773666e-03 2.02632116e+01] [ 7.65742273e-03 5.76833807e-04 9.99970515e-01 1.26179151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.92, Y:20.27, Z:1.26 [[ 9.36939883e-01 -3.49421018e-01 -6.97185958e-03 1.94920194e+02] [ 3.49406672e-01 9.36965643e-01 -3.21901103e-03 2.02749292e+01] [ 7.65718301e-03 5.80005567e-04 9.99970515e-01 1.26267625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.94, Y:20.29, Z:1.26 [[ 9.37912108e-01 -3.46802940e-01 -6.97127030e-03 1.94944615e+02] [ 3.46788512e-01 9.37937822e-01 -3.22028671e-03 2.02876212e+01] [ 7.65542298e-03 6.02789439e-04 9.99970515e-01 1.26121074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.97, Y:20.30, Z:1.26 [[ 9.38263435e-01 -3.45851315e-01 -6.97101434e-03 1.94969980e+02] [ 3.45836857e-01 9.38289131e-01 -3.22084069e-03 2.03002808e+01] [ 7.65475898e-03 6.11163358e-04 9.99970515e-01 1.25866879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.00, Y:20.31, Z:1.26 [[ 9.38450634e-01 -3.45343048e-01 -6.97042896e-03 1.94995486e+02] [ 3.45328567e-01 9.38476318e-01 -3.22210707e-03 2.03123211e+01] [ 7.65431478e-03 6.16700182e-04 9.99970515e-01 1.25675750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.02, Y:20.32, Z:1.26 [[ 9.38328623e-01 -3.45674436e-01 -6.96984385e-03 1.95020393e+02] [ 3.45659955e-01 9.38354307e-01 -3.22337224e-03 2.03239659e+01] [ 7.65442038e-03 6.15386529e-04 9.99970515e-01 1.25728757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.05, Y:20.34, Z:1.26 [[ 9.37941800e-01 -3.46722662e-01 -6.96966176e-03 1.95046041e+02] [ 3.46708207e-01 9.37967498e-01 -3.22376592e-03 2.03358736e+01] [ 7.65506890e-03 6.07265878e-04 9.99970515e-01 1.25898223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.07, Y:20.35, Z:1.26 [[ 9.36603638e-01 -3.50321356e-01 -6.96948187e-03 1.95071797e+02] [ 3.50306996e-01 9.36629390e-01 -3.22415478e-03 2.03481825e+01] [ 7.65731182e-03 5.78296837e-04 9.99970515e-01 1.26153172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.675898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:195.10, Y:20.36, Z:1.26 [[ 9.36016785e-01 -3.51886361e-01 -6.96897716e-03 1.95096916e+02] [ 3.51872036e-01 9.36042557e-01 -3.22524533e-03 2.03598149e+01] [ 7.65817904e-03 5.66695584e-04 9.99970515e-01 1.26107638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.12, Y:20.37, Z:1.26 [[ 9.35588349e-01 -3.53023914e-01 -6.96838414e-03 1.95122183e+02] [ 3.53009611e-01 9.35614132e-01 -3.22652608e-03 2.03713105e+01] [ 7.65875954e-03 5.58793629e-04 9.99970515e-01 1.26144589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.15, Y:20.38, Z:1.26 [[ 9.35511737e-01 -3.53226895e-01 -6.96775780e-03 1.95146648e+02] [ 3.53212588e-01 9.35537519e-01 -3.22787812e-03 2.03825653e+01] [ 7.65877220e-03 5.58618102e-04 9.99970515e-01 1.26087201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.17, Y:20.39, Z:1.26 [[ 9.35556307e-01 -3.53108836e-01 -6.96748550e-03 1.95170931e+02] [ 3.53094521e-01 9.35582084e-01 -3.22846577e-03 2.03942222e+01] [ 7.65865440e-03 5.60230559e-04 9.99970515e-01 1.26135027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.20, Y:20.41, Z:1.26 [[ 9.35782344e-01 -3.52509378e-01 -6.96722710e-03 1.95195105e+02] [ 3.52495043e-01 9.35808110e-01 -3.22902332e-03 2.04062084e+01] [ 7.65824862e-03 5.65750004e-04 9.99970515e-01 1.26186604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.825898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:195.22, Y:20.42, Z:1.26 [[ 9.36568448e-01 -3.50415472e-01 -6.96697113e-03 1.95220741e+02] [ 3.50401075e-01 9.36594179e-01 -3.22957551e-03 2.04185028e+01] [ 7.65691783e-03 5.83484356e-04 9.99970515e-01 1.26151793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.25, Y:20.43, Z:1.26 [[ 9.36814901e-01 -3.49756072e-01 -6.96640809e-03 1.95246352e+02] [ 3.49741648e-01 9.36840617e-01 -3.23078955e-03 2.04295541e+01] [ 7.65640232e-03 5.90208749e-04 9.99970515e-01 1.26058343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.27, Y:20.44, Z:1.26 [[ 9.36846969e-01 -3.49670180e-01 -6.96584912e-03 1.95271577e+02] [ 3.49655744e-01 9.36872678e-01 -3.23199429e-03 2.04408048e+01] [ 7.65624575e-03 5.92234895e-04 9.99970515e-01 1.26040062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:20.45, Z:1.26 [[ 9.36727138e-01 -3.49991076e-01 -6.96525924e-03 1.95297067e+02] [ 3.49976640e-01 9.36752848e-01 -3.23326504e-03 2.04519347e+01] [ 7.65634034e-03 5.91009081e-04 9.99970515e-01 1.25987351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:20.46, Z:1.26 [[ 9.36373853e-01 -3.50935192e-01 -6.96405680e-03 1.95322648e+02] [ 3.50920762e-01 9.36399566e-01 -3.23585473e-03 2.04627477e+01] [ 7.65671507e-03 5.86137641e-04 9.99970515e-01 1.26302036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.35, Y:20.47, Z:1.27 [[ 9.35908869e-01 -3.52173368e-01 -6.96472912e-03 1.95348971e+02] [ 3.52158983e-01 9.35934607e-01 -3.23440703e-03 2.04732714e+01] [ 7.65760302e-03 5.74418299e-04 9.99970515e-01 1.26596238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.38, Y:20.48, Z:1.27 [[ 9.34874640e-01 -3.54909718e-01 -6.96413299e-03 1.95375266e+02] [ 3.54895400e-01 9.34900415e-01 -3.23569007e-03 2.04805115e+01] [ 7.65914867e-03 5.53425828e-04 9.99970515e-01 1.26856714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.035898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:195.40, Y:20.49, Z:1.27 [[ 9.34305905e-01 -3.56404241e-01 -6.96372588e-03 1.95400307e+02] [ 3.56389957e-01 9.34331699e-01 -3.23656599e-03 2.04907985e+01] [ 7.65995567e-03 5.42140751e-04 9.99970515e-01 1.26812718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.065898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:195.43, Y:20.50, Z:1.27 [[ 9.34026674e-01 -3.57135533e-01 -6.95573652e-03 1.95427361e+02] [ 3.57121142e-01 9.34052409e-01 -3.25374348e-03 2.05010108e+01] [ 7.65904987e-03 5.55042625e-04 9.99970515e-01 1.26595145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:20.51, Z:1.27 [[ 9.33836461e-01 -3.57632469e-01 -6.96290118e-03 1.95453967e+02] [ 3.57618206e-01 9.33862266e-01 -3.23833842e-03 2.05113452e+01] [ 7.66052564e-03 5.34018259e-04 9.99970515e-01 1.26546832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.48, Y:20.52, Z:1.27 [[ 9.33789959e-01 -3.57753879e-01 -6.96231525e-03 1.95479106e+02] [ 3.57739610e-01 9.33815761e-01 -3.23959766e-03 2.05206324e+01] [ 7.66049835e-03 5.34407822e-04 9.99970515e-01 1.26610493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.51, Y:20.53, Z:1.27 [[ 9.33731666e-01 -3.57906004e-01 -6.96191559e-03 1.95506920e+02] [ 3.57891733e-01 9.33757467e-01 -3.24045631e-03 2.05263582e+01] [ 7.66051943e-03 5.34104628e-04 9.99970515e-01 1.27032542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.53, Y:20.54, Z:1.27 [[ 9.33719276e-01 -3.57938339e-01 -6.96133507e-03 1.95533492e+02] [ 3.57924059e-01 9.33745072e-01 -3.24170293e-03 2.05355583e+01] [ 7.66044208e-03 5.35211211e-04 9.99970515e-01 1.27016028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.56, Y:20.54, Z:1.27 [[ 9.33598077e-01 -3.58254350e-01 -6.96075612e-03 1.95559651e+02] [ 3.58240070e-01 9.33623873e-01 -3.24294560e-03 2.05447220e+01] [ 7.66052746e-03 5.33986013e-04 9.99970515e-01 1.26819379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.59, Y:20.55, Z:1.27 [[ 9.33262248e-01 -3.59128296e-01 -6.96017874e-03 1.95585975e+02] [ 3.59114031e-01 9.33288052e-01 -3.24418432e-03 2.05538765e+01] [ 7.66093005e-03 5.28176912e-04 9.99970515e-01 1.26645208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.61, Y:20.56, Z:1.27 [[ 9.32736677e-01 -3.60491131e-01 -6.95960359e-03 1.95613035e+02] [ 3.60476895e-01 9.32762497e-01 -3.24541771e-03 2.05627829e+01] [ 7.66160152e-03 5.18343837e-04 9.99970515e-01 1.26577721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:20.57, Z:1.27 [[ 9.32159137e-01 -3.61981926e-01 -6.95902919e-03 1.95639186e+02] [ 3.61967721e-01 9.32184975e-01 -3.24664890e-03 2.05707274e+01] [ 7.66233068e-03 5.07449501e-04 9.99970515e-01 1.26682377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.67, Y:20.57, Z:1.27 [[ 9.31032991e-01 -3.64868668e-01 -6.95877966e-03 1.95667882e+02] [ 3.64854540e-01 9.31058871e-01 -3.24718365e-03 2.05742386e+01] [ 7.66382911e-03 4.84292753e-04 9.99970515e-01 1.27163727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.69, Y:20.58, Z:1.27 [[ 9.30534638e-01 -3.66137775e-01 -6.95821051e-03 1.95694697e+02] [ 3.66123673e-01 9.30560532e-01 -3.24840280e-03 2.05818614e+01] [ 7.66439905e-03 4.75185744e-04 9.99970515e-01 1.27304906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.395898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:195.72, Y:20.59, Z:1.27 [[ 9.30261078e-01 -3.66832276e-01 -6.95761876e-03 1.95721432e+02] [ 3.66818184e-01 9.30286977e-01 -3.24966975e-03 2.05895754e+01] [ 7.66466587e-03 4.70860202e-04 9.99970515e-01 1.27276992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.75, Y:20.59, Z:1.27 [[ 9.30601777e-01 -3.65967112e-01 -6.95736114e-03 1.95750729e+02] [ 3.65952992e-01 9.30627661e-01 -3.25022121e-03 2.05941677e+01] [ 7.66418679e-03 4.78594513e-04 9.99970515e-01 1.26913193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.78, Y:20.60, Z:1.27 [[ 9.31091230e-01 -3.64720064e-01 -6.95680175e-03 1.95777665e+02] [ 3.64705900e-01 9.31117090e-01 -3.25141809e-03 2.06029132e+01] [ 7.66345441e-03 4.90180225e-04 9.99970515e-01 1.26753697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.80, Y:20.61, Z:1.27 [[ 9.31822091e-01 -3.62848730e-01 -6.95623547e-03 1.95804879e+02] [ 3.62834506e-01 9.31847918e-01 -3.25262917e-03 2.06116696e+01] [ 7.66236590e-03 5.06909456e-04 9.99970515e-01 1.26730872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:20.62, Z:1.27 [[ 9.32657468e-01 -3.60696087e-01 -6.95564069e-03 1.95830959e+02] [ 3.60681793e-01 9.32683256e-01 -3.25390058e-03 2.06207125e+01] [ 7.66107881e-03 5.26001720e-04 9.99970515e-01 1.26689925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.86, Y:20.63, Z:1.27 [[ 9.33352979e-01 -3.58892517e-01 -6.95538259e-03 1.95857508e+02] [ 3.58878169e-01 9.33378738e-01 -3.25445218e-03 2.06301908e+01] [ 7.66000476e-03 5.41417665e-04 9.99970515e-01 1.26820437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.88, Y:20.64, Z:1.27 [[ 9.34393025e-01 -3.56175947e-01 -6.95479264e-03 1.95883883e+02] [ 3.56161515e-01 9.34418737e-01 -3.25571244e-03 2.06377782e+01] [ 7.65829501e-03 5.65085512e-04 9.99970515e-01 1.26879320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.91, Y:20.65, Z:1.27 [[ 9.34746205e-01 -3.55248035e-01 -6.95453661e-03 1.95908776e+02] [ 3.55233573e-01 9.34771900e-01 -3.25625924e-03 2.06473062e+01] [ 7.65768510e-03 5.73291073e-04 9.99970515e-01 1.26847467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.93, Y:20.66, Z:1.27 [[ 9.35151755e-01 -3.54179097e-01 -6.95428316e-03 1.95934305e+02] [ 3.54164602e-01 9.35177431e-01 -3.25680045e-03 2.06572372e+01] [ 7.65697930e-03 5.82641725e-04 9.99970515e-01 1.26822822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.96, Y:20.67, Z:1.27 [[ 9.35561697e-01 -3.53094822e-01 -6.95403108e-03 1.95960046e+02] [ 3.53080294e-01 9.35587353e-01 -3.25733861e-03 2.06676782e+01] [ 7.65625293e-03 5.92109901e-04 9.99970515e-01 1.26804789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.99, Y:20.68, Z:1.27 [[ 9.35499224e-01 -3.53260316e-01 -6.95345669e-03 1.95985775e+02] [ 3.53245783e-01 9.35524879e-01 -3.25856430e-03 2.06799299e+01] [ 7.65625318e-03 5.92105123e-04 9.99970515e-01 1.26826662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.01, Y:20.69, Z:1.27 [[ 9.35994784e-01 -3.51945197e-01 -6.95288005e-03 1.96011987e+02] [ 3.51930619e-01 9.36020413e-01 -3.25979422e-03 2.06909252e+01] [ 7.65530657e-03 6.04219001e-04 9.99970515e-01 1.26849398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.04, Y:20.70, Z:1.27 [[ 9.37254666e-01 -3.48576185e-01 -6.95230240e-03 1.96037888e+02] [ 3.48561506e-01 9.37280237e-01 -3.26102573e-03 2.07018991e+01] [ 7.65297155e-03 6.33106591e-04 9.99970515e-01 1.27012071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.06, Y:20.71, Z:1.27 [[ 9.37803260e-01 -3.47097557e-01 -6.95212339e-03 1.96063317e+02] [ 3.47082835e-01 9.37828806e-01 -3.26140732e-03 2.07141726e+01] [ 7.65192809e-03 6.45595719e-04 9.99970515e-01 1.27180585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.09, Y:20.73, Z:1.27 [[ 9.38422789e-01 -3.45419085e-01 -6.95155725e-03 1.96086986e+02] [ 3.45404308e-01 9.38448304e-01 -3.26261357e-03 2.07263701e+01] [ 7.65064611e-03 6.60613104e-04 9.99970515e-01 1.27180288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.11, Y:20.74, Z:1.27 [[ 9.38889634e-01 -3.44148312e-01 -6.94222561e-03 1.96113795e+02] [ 3.44133355e-01 9.38915044e-01 -3.28249234e-03 2.07385193e+01] [ 7.64782426e-03 6.92846641e-04 9.99970515e-01 1.27287024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.14, Y:20.75, Z:1.27 [[ 9.39474298e-01 -3.42548864e-01 -6.95115201e-03 1.96137859e+02] [ 3.42534003e-01 9.39499764e-01 -3.26347929e-03 2.07509294e+01] [ 7.64850679e-03 6.84948990e-04 9.99970515e-01 1.27156968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.16, Y:20.76, Z:1.27 [[ 9.39147792e-01 -3.43443022e-01 -6.95088640e-03 1.96163280e+02] [ 3.43428181e-01 9.39173270e-01 -3.26404492e-03 2.07637379e+01] [ 7.64910015e-03 6.78290304e-04 9.99970515e-01 1.27185743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.19, Y:20.78, Z:1.27 [[ 9.38490785e-01 -3.45234326e-01 -6.95030005e-03 1.96188475e+02] [ 3.45219524e-01 9.38516285e-01 -3.26529297e-03 2.07755238e+01] [ 7.65026100e-03 6.65068079e-04 9.99970515e-01 1.27244119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.21, Y:20.79, Z:1.27 [[ 9.37442541e-01 -3.48070658e-01 -6.94971522e-03 1.96213794e+02] [ 3.48055924e-01 9.37468081e-01 -3.26653723e-03 2.07865157e+01] [ 7.65212195e-03 6.43301409e-04 9.99970515e-01 1.27302455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.24, Y:20.80, Z:1.27 [[ 9.36153161e-01 -3.51523781e-01 -6.94912101e-03 1.96239173e+02] [ 3.51509132e-01 9.36178750e-01 -3.26780083e-03 2.07965899e+01] [ 7.65432913e-03 6.16482580e-04 9.99970515e-01 1.27389429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.26, Y:20.81, Z:1.27 [[ 9.34792709e-01 -3.55125760e-01 -6.94886322e-03 1.96264844e+02] [ 3.55111206e-01 9.34818351e-01 -3.26834892e-03 2.08069165e+01] [ 7.65659975e-03 5.87609543e-04 9.99970515e-01 1.27456920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.29, Y:20.82, Z:1.28 [[ 9.33269008e-01 -3.59110958e-01 -6.94827611e-03 1.96291499e+02] [ 3.59096504e-01 9.33294707e-01 -3.26959661e-03 2.08154032e+01] [ 7.65893729e-03 5.56311525e-04 9.99970515e-01 1.27507272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.32, Y:20.83, Z:1.27 [[ 9.33144251e-01 -3.59435023e-01 -6.94767875e-03 1.96316516e+02] [ 3.59420569e-01 9.33169950e-01 -3.27086546e-03 2.08257781e+01] [ 7.65902864e-03 5.55050646e-04 9.99970515e-01 1.27482169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:20.84, Z:1.28 [[ 9.33385836e-01 -3.58807211e-01 -6.94741931e-03 1.96342579e+02] [ 3.58792736e-01 9.33411523e-01 -3.27141643e-03 2.08370098e+01] [ 7.65860904e-03 5.60810176e-04 9.99970515e-01 1.27527162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:20.85, Z:1.28 [[ 9.33758008e-01 -3.57837567e-01 -6.94682782e-03 1.96367931e+02] [ 3.57823056e-01 9.33783674e-01 -3.27267198e-03 2.08480429e+01] [ 7.65791938e-03 5.70148514e-04 9.99970515e-01 1.27540660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.39, Y:20.86, Z:1.28 [[ 9.33992306e-01 -3.57225590e-01 -6.94622129e-03 1.96394368e+02] [ 3.57211052e-01 9.34017958e-01 -3.27395882e-03 2.08585136e+01] [ 7.65743730e-03 5.76585329e-04 9.99970515e-01 1.27732785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.42, Y:20.87, Z:1.28 [[ 9.33789405e-01 -3.57755652e-01 -6.94560682e-03 1.96419152e+02] [ 3.57741119e-01 9.33815059e-01 -3.27526189e-03 2.08689305e+01] [ 7.65765569e-03 5.73675692e-04 9.99970515e-01 1.27806475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.44, Y:20.88, Z:1.28 [[ 9.33348674e-01 -3.58903907e-01 -6.94533946e-03 1.96444743e+02] [ 3.58889402e-01 9.33374344e-01 -3.27582873e-03 2.08799066e+01] [ 7.65830940e-03 5.64881678e-04 9.99970515e-01 1.27701168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.47, Y:20.89, Z:1.28 [[ 9.32842410e-01 -3.60217724e-01 -6.94472653e-03 1.96469815e+02] [ 3.60203245e-01 9.32868095e-01 -3.27712762e-03 2.08906216e+01] [ 7.65899326e-03 5.55530597e-04 9.99970515e-01 1.27625323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.49, Y:20.90, Z:1.28 [[ 9.32576053e-01 -3.60906751e-01 -6.94431058e-03 1.96494249e+02] [ 3.60892284e-01 9.32601744e-01 -3.27800880e-03 2.09018135e+01] [ 7.65933167e-03 5.50844399e-04 9.99970515e-01 1.27500646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.52, Y:20.91, Z:1.27 [[ 9.32013586e-01 -3.62357015e-01 -6.93317743e-03 1.96520121e+02] [ 3.62342414e-01 9.32039202e-01 -3.30158036e-03 2.09142550e+01] [ 7.65834397e-03 5.64933505e-04 9.99970515e-01 1.27320545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.54, Y:20.93, Z:1.27 [[ 9.31671644e-01 -3.63235095e-01 -6.94354876e-03 1.96544480e+02] [ 3.63220680e-01 9.31697366e-01 -3.27962242e-03 2.09266793e+01] [ 7.66056005e-03 5.33490706e-04 9.99970515e-01 1.27338251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.57, Y:20.94, Z:1.28 [[ 9.31264827e-01 -3.64276838e-01 -6.94314194e-03 1.96569244e+02] [ 3.64262446e-01 9.31290561e-01 -3.28048344e-03 2.09394211e+01] [ 7.66108669e-03 5.25872978e-04 9.99970515e-01 1.27521218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.59, Y:20.95, Z:1.28 [[ 9.30952044e-01 -3.65075462e-01 -6.94254478e-03 1.96594010e+02] [ 3.65061083e-01 9.30977785e-01 -3.28174674e-03 2.09520691e+01] [ 7.66144017e-03 5.20695924e-04 9.99970515e-01 1.27566855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.445898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:196.62, Y:20.96, Z:1.27 [[ 9.30549061e-01 -3.66101427e-01 -6.94194800e-03 1.96618473e+02] [ 3.66087067e-01 9.30574812e-01 -3.28300864e-03 2.09648957e+01] [ 7.66191610e-03 5.13643222e-04 9.99970515e-01 1.27444963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.64, Y:20.98, Z:1.27 [[ 9.30112490e-01 -3.67209170e-01 -6.94134504e-03 1.96643814e+02] [ 3.67194831e-01 9.30138253e-01 -3.28428300e-03 2.09768092e+01] [ 7.66242938e-03 5.05926620e-04 9.99970515e-01 1.27062902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.67, Y:20.99, Z:1.27 [[ 9.29871622e-01 -3.67818688e-01 -6.94115784e-03 1.96669157e+02] [ 3.67804363e-01 9.29897393e-01 -3.28467858e-03 2.09894327e+01] [ 7.66273075e-03 5.01341257e-04 9.99970515e-01 1.26965687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.69, Y:21.00, Z:1.27 [[ 9.29670020e-01 -3.68327949e-01 -6.94097331e-03 1.96693229e+02] [ 3.68313635e-01 9.29695797e-01 -3.28506848e-03 2.10011298e+01] [ 7.66297624e-03 4.97574574e-04 9.99970515e-01 1.26990193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.72, Y:21.01, Z:1.27 [[ 9.29525255e-01 -3.68693135e-01 -6.94071599e-03 1.96718504e+02] [ 3.68678827e-01 9.29551035e-01 -3.28561204e-03 2.10133726e+01] [ 7.66313234e-03 4.95164341e-04 9.99970515e-01 1.27178794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.595898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:196.74, Y:21.03, Z:1.27 [[ 9.29457389e-01 -3.68864191e-01 -6.94053431e-03 1.96743720e+02] [ 3.68849885e-01 9.29483171e-01 -3.28599579e-03 2.10254276e+01] [ 7.66319601e-03 4.94177786e-04 9.99970515e-01 1.27458930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.77, Y:21.04, Z:1.28 [[ 9.30093878e-01 -3.67256334e-01 -6.93992448e-03 1.96769706e+02] [ 3.67241975e-01 9.30119630e-01 -3.28728323e-03 2.10350746e+01] [ 7.66223558e-03 5.08850434e-04 9.99970515e-01 1.27709263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.79, Y:21.04, Z:1.28 [[ 9.30536903e-01 -3.66132370e-01 -6.93973568e-03 1.96793528e+02] [ 3.66117976e-01 9.30562635e-01 -3.28768174e-03 2.10447618e+01] [ 7.66158544e-03 5.18547200e-04 9.99970515e-01 1.27860123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.82, Y:21.06, Z:1.28 [[ 9.30641663e-01 -3.65866267e-01 -6.92602951e-03 1.96821373e+02] [ 3.65851652e-01 9.30667271e-01 -3.31659456e-03 2.10562165e+01] [ 7.65925905e-03 5.52661739e-04 9.99970515e-01 1.27724663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.85, Y:21.06, Z:1.28 [[ 9.31433010e-01 -3.63846670e-01 -6.93890758e-03 1.96847554e+02] [ 3.63832200e-01 9.31458700e-01 -3.28942884e-03 2.10643532e+01] [ 7.66015356e-03 5.39284596e-04 9.99970515e-01 1.27747448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.87, Y:21.07, Z:1.28 [[ 9.31795966e-01 -3.62916151e-01 -6.93864913e-03 1.96873430e+02] [ 3.62901652e-01 9.31821639e-01 -3.28997392e-03 2.10745962e+01] [ 7.65956808e-03 5.47537201e-04 9.99970515e-01 1.27864289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.90, Y:21.08, Z:1.28 [[ 9.32142547e-01 -3.62025048e-01 -6.93806147e-03 1.96898313e+02] [ 3.62010514e-01 9.32168201e-01 -3.29121273e-03 2.10847136e+01] [ 7.65894173e-03 5.56228214e-04 9.99970515e-01 1.28065807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.92, Y:21.10, Z:1.28 [[ 9.32368036e-01 -3.61443928e-01 -6.93780623e-03 1.96923604e+02] [ 3.61429375e-01 9.32393678e-01 -3.29175069e-03 2.10959762e+01] [ 7.65854997e-03 5.61596152e-04 9.99970515e-01 1.28186682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.95, Y:21.11, Z:1.28 [[ 9.32716160e-01 -3.60544644e-01 -6.93720834e-03 1.96948074e+02] [ 3.60530057e-01 9.32741783e-01 -3.29301023e-03 2.11070830e+01] [ 7.65790128e-03 5.70371733e-04 9.99970515e-01 1.28225124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.97, Y:21.12, Z:1.28 [[ 9.32973543e-01 -3.59878101e-01 -6.93694887e-03 1.96973227e+02] [ 3.59863491e-01 9.32999153e-01 -3.29355673e-03 2.11191532e+01] [ 7.65744637e-03 5.76446646e-04 9.99970515e-01 1.28196737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.00, Y:21.13, Z:1.28 [[ 9.33903680e-01 -3.57457415e-01 -6.93633577e-03 1.96997942e+02] [ 3.57442730e-01 9.33929247e-01 -3.29484744e-03 2.11306734e+01] [ 7.65581449e-03 5.97727358e-04 9.99970515e-01 1.27966396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.02, Y:21.14, Z:1.28 [[ 9.34150561e-01 -3.56811745e-01 -6.93606973e-03 1.97023185e+02] [ 3.56797037e-01 9.34176115e-01 -3.29540739e-03 2.11436239e+01] [ 7.65535074e-03 6.03637528e-04 9.99970515e-01 1.27973312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.05, Y:21.16, Z:1.28 [[ 9.34197330e-01 -3.56689288e-01 -6.93550125e-03 1.97047583e+02] [ 3.56674569e-01 9.34222877e-01 -3.29660337e-03 2.11569098e+01] [ 7.65516705e-03 6.05961147e-04 9.99970515e-01 1.27998066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.985898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:197.07, Y:21.17, Z:1.28 [[ 9.34154325e-01 -3.56801910e-01 -6.93492957e-03 1.97071990e+02] [ 3.56787185e-01 9.34179870e-01 -3.29780556e-03 2.11712751e+01] [ 7.65513492e-03 6.06365326e-04 9.99970515e-01 1.27977273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.10, Y:21.19, Z:1.28 [[ 9.34243124e-01 -3.56569349e-01 -6.93432978e-03 1.97095622e+02] [ 3.56554608e-01 9.34268659e-01 -3.29906627e-03 2.11854236e+01] [ 7.65487289e-03 6.09662739e-04 9.99970515e-01 1.27844940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.12, Y:21.20, Z:1.28 [[ 9.33877803e-01 -3.57525058e-01 -6.93414373e-03 1.97120266e+02] [ 3.57510340e-01 9.33903352e-01 -3.29945726e-03 2.11978669e+01] [ 7.65545872e-03 6.02261811e-04 9.99970515e-01 1.27864137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.14, Y:21.21, Z:1.28 [[ 9.33428956e-01 -3.58695288e-01 -6.93353347e-03 1.97144371e+02] [ 3.58680593e-01 9.33454518e-01 -3.30073917e-03 2.12100588e+01] [ 7.65609773e-03 5.94081627e-04 9.99970515e-01 1.27966285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.17, Y:21.22, Z:1.28 [[ 9.32535052e-01 -3.61012890e-01 -6.93326721e-03 1.97169715e+02] [ 3.60998255e-01 9.32560648e-01 -3.30129837e-03 2.12229791e+01] [ 7.65750342e-03 5.75679083e-04 9.99970515e-01 1.28100115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.19, Y:21.23, Z:1.28 [[ 9.31814185e-01 -3.62869486e-01 -6.93267031e-03 1.97192193e+02] [ 3.62854892e-01 9.31839804e-01 -3.30255136e-03 2.12337732e+01] [ 7.65853326e-03 5.61810870e-04 9.99970515e-01 1.28037950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.22, Y:21.25, Z:1.28 [[ 9.30612607e-01 -3.65940319e-01 -6.91801214e-03 1.97220713e+02] [ 3.65925582e-01 9.30638145e-01 -3.33329451e-03 2.12464762e+01] [ 7.65795284e-03 5.70528270e-04 9.99970515e-01 1.28150998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.25, Y:21.26, Z:1.28 [[ 9.29156782e-01 -3.69620927e-01 -6.93144035e-03 1.97247370e+02] [ 3.69606500e-01 9.29182496e-01 -3.30513322e-03 2.12554273e+01] [ 7.66221945e-03 5.09081543e-04 9.99970515e-01 1.28199590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.27, Y:21.27, Z:1.28 [[ 9.28917013e-01 -3.70223104e-01 -6.93083808e-03 1.97272588e+02] [ 3.70208685e-01 9.28942731e-01 -3.30639569e-03 2.12655254e+01] [ 7.66245573e-03 5.05510760e-04 9.99970515e-01 1.28195487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.30, Y:21.28, Z:1.28 [[ 9.28858380e-01 -3.70370189e-01 -6.93057507e-03 1.97298257e+02] [ 3.70355770e-01 9.28884098e-01 -3.30694691e-03 2.12756325e+01] [ 7.66249552e-03 5.04906879e-04 9.99970515e-01 1.28205899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.33, Y:21.28, Z:1.28 [[ 9.29518808e-01 -3.68709590e-01 -6.92997579e-03 1.97326046e+02] [ 3.68695115e-01 9.29544495e-01 -3.30820227e-03 2.12818229e+01] [ 7.66148675e-03 5.19988005e-04 9.99970515e-01 1.28222361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.35, Y:21.29, Z:1.28 [[ 9.29981854e-01 -3.67540113e-01 -6.92937282e-03 1.97352857e+02] [ 3.67525596e-01 9.30007518e-01 -3.30946476e-03 2.12911500e+01] [ 7.66072987e-03 5.31020297e-04 9.99970515e-01 1.28266964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.38, Y:21.30, Z:1.28 [[ 9.30518807e-01 -3.66178565e-01 -6.92876607e-03 1.97378429e+02] [ 3.66164002e-01 9.30544444e-01 -3.31073459e-03 2.13010085e+01] [ 7.65984481e-03 5.43636085e-04 9.99970515e-01 1.28260856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.40, Y:21.31, Z:1.28 [[ 9.31226510e-01 -3.64375060e-01 -6.92835313e-03 1.97403736e+02] [ 3.64360441e-01 9.31252115e-01 -3.31159851e-03 2.13117868e+01] [ 7.65870742e-03 5.59430524e-04 9.99970515e-01 1.28206767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.43, Y:21.32, Z:1.28 [[ 9.32067136e-01 -3.62219346e-01 -6.92809338e-03 1.97429671e+02] [ 3.62204664e-01 9.32092705e-01 -3.31214183e-03 2.13232191e+01] [ 7.65734715e-03 5.77750821e-04 9.99970515e-01 1.28213967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.435898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:197.45, Y:21.33, Z:1.28 [[ 9.33872735e-01 -3.57538425e-01 -6.92748547e-03 1.97454672e+02] [ 3.57523605e-01 9.33898224e-01 -3.31341283e-03 2.13331955e+01] [ 7.65423878e-03 6.17566324e-04 9.99970515e-01 1.28108074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.48, Y:21.34, Z:1.28 [[ 9.34589573e-01 -3.55660433e-01 -6.92722167e-03 1.97479931e+02] [ 3.55645558e-01 9.34615030e-01 -3.31396425e-03 2.13441304e+01] [ 7.65293145e-03 6.33560826e-04 9.99970515e-01 1.28174357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.50, Y:21.36, Z:1.28 [[ 9.34950367e-01 -3.54710916e-01 -6.92661535e-03 1.97504293e+02] [ 3.54696006e-01 9.34975803e-01 -3.31523106e-03 2.13556458e+01] [ 7.65216639e-03 6.42733700e-04 9.99970515e-01 1.28083656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.53, Y:21.37, Z:1.28 [[ 9.34991257e-01 -3.54603123e-01 -6.92635298e-03 1.97528870e+02] [ 3.54588205e-01 9.35016690e-01 -3.31577912e-03 2.13677125e+01] [ 7.65204127e-03 6.44221414e-04 9.99970515e-01 1.27894159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.55, Y:21.38, Z:1.28 [[ 9.34742962e-01 -3.55257124e-01 -6.92609570e-03 1.97553767e+02] [ 3.55242221e-01 9.34768403e-01 -3.31631645e-03 2.13796000e+01] [ 7.65244046e-03 6.39461840e-04 9.99970515e-01 1.27920000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.58, Y:21.39, Z:1.28 [[ 9.34679266e-01 -3.55424686e-01 -6.92550233e-03 1.97579403e+02] [ 3.55409777e-01 9.34704704e-01 -3.31755512e-03 2.13920641e+01] [ 7.65244059e-03 6.39458745e-04 9.99970515e-01 1.27941872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.61, Y:21.40, Z:1.28 [[ 9.33890731e-01 -3.57491465e-01 -6.92490740e-03 1.97605503e+02] [ 3.57476604e-01 9.33916197e-01 -3.31879648e-03 2.14043044e+01] [ 7.65372460e-03 6.23900895e-04 9.99970515e-01 1.28138708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.63, Y:21.42, Z:1.28 [[ 9.33515561e-01 -3.58470014e-01 -6.92438870e-03 1.97629221e+02] [ 3.58455171e-01 9.33541037e-01 -3.31987837e-03 2.14164932e+01] [ 7.65427785e-03 6.17075178e-04 9.99970515e-01 1.28229752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.65, Y:21.43, Z:1.28 [[ 9.33233363e-01 -3.59204045e-01 -6.92413130e-03 1.97653350e+02] [ 3.59189218e-01 9.33258850e-01 -3.32041512e-03 2.14295232e+01] [ 7.65471335e-03 6.11648864e-04 9.99970515e-01 1.28264972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.68, Y:21.44, Z:1.28 [[ 9.33246287e-01 -3.59170470e-01 -6.92388003e-03 1.97676934e+02] [ 3.59155639e-01 9.33271771e-01 -3.32093901e-03 2.14442481e+01] [ 7.65464500e-03 6.12503441e-04 9.99970515e-01 1.28331766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.70, Y:21.46, Z:1.28 [[ 9.33402183e-01 -3.58765149e-01 -6.92330478e-03 1.97701247e+02] [ 3.58750298e-01 9.33427655e-01 -3.32213782e-03 2.14576526e+01] [ 7.65427141e-03 6.17153043e-04 9.99970515e-01 1.28475631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.73, Y:21.47, Z:1.29 [[ 9.33626312e-01 -3.58181498e-01 -6.92273237e-03 1.97725654e+02] [ 3.58166622e-01 9.33651769e-01 -3.32333018e-03 2.14716703e+01] [ 7.65377671e-03 6.23256827e-04 9.99970515e-01 1.28699488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.75, Y:21.49, Z:1.29 [[ 9.33803842e-01 -3.57718421e-01 -6.92214037e-03 1.97749728e+02] [ 3.57703524e-01 9.33829287e-01 -3.32456280e-03 2.14863527e+01] [ 7.65335476e-03 6.28415513e-04 9.99970515e-01 1.28863327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.77, Y:21.50, Z:1.29 [[ 9.34093862e-01 -3.56960430e-01 -6.92153800e-03 1.97773155e+02] [ 3.56945503e-01 9.34119289e-01 -3.32581643e-03 2.15007703e+01] [ 7.65272702e-03 6.36012855e-04 9.99970515e-01 1.28867246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.80, Y:21.51, Z:1.29 [[ 9.34262957e-01 -3.56517633e-01 -6.92127525e-03 1.97795984e+02] [ 3.56502690e-01 9.34288375e-01 -3.32636314e-03 2.15149891e+01] [ 7.65237412e-03 6.40244624e-04 9.99970515e-01 1.28646769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.82, Y:21.53, Z:1.28 [[ 9.33952995e-01 -3.57328844e-01 -6.92102235e-03 1.97820160e+02] [ 3.57313919e-01 9.33978423e-01 -3.32688925e-03 2.15315214e+01] [ 7.65287903e-03 6.34180561e-04 9.99970515e-01 1.28065116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.84, Y:21.54, Z:1.28 [[ 9.33558855e-01 -3.58357324e-01 -6.92050045e-03 1.97843946e+02] [ 3.58342419e-01 9.33584295e-01 -3.32797453e-03 2.15440867e+01] [ 7.65347458e-03 6.26951223e-04 9.99970515e-01 1.27997497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.87, Y:21.56, Z:1.28 [[ 9.33003751e-01 -3.59800099e-01 -6.92023978e-03 1.97868844e+02] [ 3.59785229e-01 9.33029212e-01 -3.32851649e-03 2.15573464e+01] [ 7.65438643e-03 6.15718316e-04 9.99970515e-01 1.28143469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.89, Y:21.57, Z:1.28 [[ 9.32377416e-01 -3.61420078e-01 -6.91963626e-03 1.97893531e+02] [ 3.61405243e-01 9.32402897e-01 -3.32977067e-03 2.15704688e+01] [ 7.65533487e-03 6.03810141e-04 9.99970515e-01 1.28302708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.92, Y:21.58, Z:1.28 [[ 9.31816754e-01 -3.62863148e-01 -6.91903266e-03 1.97917257e+02] [ 3.62848344e-01 9.31842252e-01 -3.33102444e-03 2.15831138e+01] [ 7.65615299e-03 5.93344839e-04 9.99970515e-01 1.28362786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.94, Y:21.60, Z:1.28 [[ 9.31393450e-01 -3.63948310e-01 -6.91877161e-03 1.97941203e+02] [ 3.63933531e-01 9.31418963e-01 -3.33156657e-03 2.15951388e+01] [ 7.65679310e-03 5.85026296e-04 9.99970515e-01 1.28400909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.97, Y:21.61, Z:1.28 [[ 9.30673324e-01 -3.65785864e-01 -6.91851126e-03 1.97966588e+02] [ 3.65771131e-01 9.30698865e-01 -3.33210715e-03 2.16062773e+01] [ 7.65788826e-03 5.70511545e-04 9.99970515e-01 1.28370960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.99, Y:21.62, Z:1.28 [[ 9.30513964e-01 -3.66191076e-01 -6.91791525e-03 1.97992460e+02] [ 3.66176346e-01 9.30539506e-01 -3.33334408e-03 2.16174236e+01] [ 7.65803430e-03 5.68546285e-04 9.99970515e-01 1.28307253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.02, Y:21.63, Z:1.28 [[ 9.30508952e-01 -3.66203824e-01 -6.91731963e-03 1.98017832e+02] [ 3.66189085e-01 9.30534489e-01 -3.33457966e-03 2.16277281e+01] [ 7.65794030e-03 5.69809277e-04 9.99970515e-01 1.28243616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.04, Y:21.64, Z:1.28 [[ 9.30506495e-01 -3.66210075e-01 -6.91691394e-03 1.98043269e+02] [ 3.66195330e-01 9.30532028e-01 -3.33542096e-03 2.16384306e+01] [ 7.65787472e-03 5.70689281e-04 9.99970515e-01 1.28257584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.07, Y:21.65, Z:1.29 [[ 9.30595039e-01 -3.65985024e-01 -6.91632380e-03 1.98069876e+02] [ 3.65970264e-01 9.30620563e-01 -3.33664422e-03 2.16479664e+01] [ 7.65763497e-03 5.73895713e-04 9.99970515e-01 1.28594131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.10, Y:21.66, Z:1.29 [[ 9.30658848e-01 -3.65822740e-01 -6.91604879e-03 1.98095810e+02] [ 3.65807971e-01 9.30684367e-01 -3.33721415e-03 2.16587857e+01] [ 7.65748732e-03 5.75862095e-04 9.99970515e-01 1.28852624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.12, Y:21.67, Z:1.29 [[ 9.30657686e-01 -3.65825708e-01 -6.91544880e-03 1.98121749e+02] [ 3.65810930e-01 9.30683200e-01 -3.33845700e-03 2.16692765e+01] [ 7.65738541e-03 5.77213914e-04 9.99970515e-01 1.29042957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.15, Y:21.68, Z:1.29 [[ 9.30864129e-01 -3.65300094e-01 -6.91481032e-03 1.98147073e+02] [ 3.65285291e-01 9.30889629e-01 -3.33977895e-03 2.16795148e+01] [ 7.65694677e-03 5.83001920e-04 9.99970515e-01 1.29062796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.17, Y:21.69, Z:1.29 [[ 9.31062290e-01 -3.64794739e-01 -6.91453166e-03 1.98173088e+02] [ 3.64779919e-01 9.31087779e-01 -3.34035576e-03 2.16903481e+01] [ 7.65658014e-03 5.87796986e-04 9.99970515e-01 1.29080573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.20, Y:21.70, Z:1.29 [[ 9.31491346e-01 -3.63697772e-01 -6.91392370e-03 1.98197485e+02] [ 3.63682913e-01 9.31516813e-01 -3.34161366e-03 2.17008523e+01] [ 7.65577361e-03 5.98208294e-04 9.99970515e-01 1.29106568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.22, Y:21.71, Z:1.29 [[ 9.32818534e-01 -3.60280145e-01 -6.91365940e-03 1.98223646e+02] [ 3.60265189e-01 9.32843944e-01 -3.34216038e-03 2.17122101e+01] [ 7.65347933e-03 6.26878343e-04 9.99970515e-01 1.29163968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.25, Y:21.72, Z:1.29 [[ 9.33680344e-01 -3.58040815e-01 -6.91303574e-03 1.98247965e+02] [ 3.58025788e-01 9.33705712e-01 -3.34344989e-03 2.17238252e+01] [ 7.65183248e-03 6.46668380e-04 9.99970515e-01 1.29158985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.27, Y:21.74, Z:1.29 [[ 9.34609540e-01 -3.55608242e-01 -6.91276515e-03 1.98272001e+02] [ 3.55593145e-01 9.34634866e-01 -3.34400925e-03 2.17357558e+01] [ 7.65006859e-03 6.67211044e-04 9.99970515e-01 1.29067548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.455898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:198.30, Y:21.75, Z:1.29 [[ 9.35451944e-01 -3.53386301e-01 -6.91250632e-03 1.98296321e+02] [ 3.53371140e-01 9.35477232e-01 -3.34454420e-03 2.17499934e+01] [ 7.64840839e-03 6.85980133e-04 9.99970515e-01 1.28903907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.485898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:198.32, Y:21.76, Z:1.29 [[ 9.36335570e-01 -3.51038355e-01 -6.91189334e-03 1.98319990e+02] [ 3.51023121e-01 9.36360814e-01 -3.34581052e-03 2.17642460e+01] [ 7.64653390e-03 7.06567032e-04 9.99970515e-01 1.28807643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.34, Y:21.78, Z:1.29 [[ 9.37886527e-01 -3.46873314e-01 -6.91128333e-03 1.98342280e+02] [ 3.46857959e-01 9.37911698e-01 -3.34707013e-03 2.17826476e+01] [ 7.64318279e-03 7.41938347e-04 9.99970515e-01 1.28806656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.545898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:198.37, Y:21.80, Z:1.29 [[ 9.38247306e-01 -3.45896278e-01 -6.91067008e-03 1.98365023e+02] [ 3.45880887e-01 9.38272455e-01 -3.34833582e-03 2.17980981e+01] [ 7.64226828e-03 7.51298366e-04 9.99970515e-01 1.28833543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.39, Y:21.81, Z:1.29 [[ 9.38216894e-01 -3.45978766e-01 -6.91040456e-03 1.98388088e+02] [ 3.45963373e-01 9.38242042e-01 -3.34888371e-03 2.18132022e+01] [ 7.64227474e-03 7.51232398e-04 9.99970515e-01 1.28953950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.41, Y:21.83, Z:1.29 [[ 9.37602491e-01 -3.47640359e-01 -6.91014046e-03 1.98411550e+02] [ 3.47625008e-01 9.37627664e-01 -3.34942856e-03 2.18286618e+01] [ 7.64353541e-03 7.38294933e-04 9.99970515e-01 1.28926165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.635898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:198.43, Y:21.85, Z:1.28 [[ 9.35377394e-01 -3.53583639e-01 -6.90955526e-03 1.98434633e+02] [ 3.53568438e-01 9.35402658e-01 -3.35063535e-03 2.18458539e+01] [ 7.64794620e-03 6.91107898e-04 9.99970515e-01 1.28472541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.46, Y:21.86, Z:1.28 [[ 9.33768291e-01 -3.57811459e-01 -6.90936038e-03 1.98458981e+02] [ 3.57796370e-01 9.33793622e-01 -3.35103717e-03 2.18597117e+01] [ 7.65095615e-03 6.56948183e-04 9.99970515e-01 1.28439670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.48, Y:21.87, Z:1.29 [[ 9.31912378e-01 -3.62617689e-01 -6.90876455e-03 1.98483406e+02] [ 3.62602722e-01 9.31937782e-01 -3.35226512e-03 2.18739847e+01] [ 7.65412934e-03 6.18880535e-04 9.99970515e-01 1.28570909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.51, Y:21.89, Z:1.29 [[ 9.30226016e-01 -3.66922111e-01 -6.90815620e-03 1.98508213e+02] [ 3.66907252e-01 9.30251483e-01 -3.35351830e-03 2.18886415e+01] [ 7.65680257e-03 5.84877363e-04 9.99970515e-01 1.28800844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.53, Y:21.90, Z:1.29 [[ 9.28910423e-01 -3.70240072e-01 -6.90760661e-03 1.98531872e+02] [ 3.70225296e-01 9.28935938e-01 -3.35464999e-03 2.19027528e+01] [ 7.65874987e-03 5.58798640e-04 9.99970515e-01 1.28992755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.785898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:198.56, Y:21.92, Z:1.29 [[ 9.28050870e-01 -3.72389409e-01 -6.90731199e-03 1.98555828e+02] [ 3.72374687e-01 9.28076416e-01 -3.35525650e-03 2.19166599e+01] [ 7.65997534e-03 5.41740573e-04 9.99970515e-01 1.29115662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.58, Y:21.93, Z:1.29 [[ 9.27224567e-01 -3.74442111e-01 -6.90712380e-03 1.98580542e+02] [ 3.74427443e-01 9.27250144e-01 -3.35564386e-03 2.19308868e+01] [ 7.66112591e-03 5.25218726e-04 9.99970515e-01 1.28954819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.61, Y:21.94, Z:1.29 [[ 9.27196526e-01 -3.74511551e-01 -6.90650095e-03 1.98606061e+02] [ 3.74496875e-01 9.27222099e-01 -3.35692531e-03 2.19439617e+01] [ 7.66106761e-03 5.26066458e-04 9.99970515e-01 1.28694334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.63, Y:21.96, Z:1.28 [[ 9.27353841e-01 -3.74121854e-01 -6.90595446e-03 1.98630644e+02] [ 3.74107160e-01 9.27379403e-01 -3.35804919e-03 2.19562665e+01] [ 7.66075951e-03 5.30532805e-04 9.99970515e-01 1.28476791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.66, Y:21.97, Z:1.28 [[ 9.27419751e-01 -3.73958441e-01 -6.90576012e-03 1.98655521e+02] [ 3.73943739e-01 9.27445309e-01 -3.35844880e-03 2.19686699e+01] [ 7.66063510e-03 5.32325995e-04 9.99970515e-01 1.28485577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.68, Y:21.98, Z:1.29 [[ 9.27344147e-01 -3.74145897e-01 -6.90514059e-03 1.98680688e+02] [ 3.74131190e-01 9.27369702e-01 -3.35972209e-03 2.19805079e+01] [ 7.66064441e-03 5.32190150e-04 9.99970515e-01 1.28657143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.71, Y:21.99, Z:1.29 [[ 9.26989406e-01 -3.75023949e-01 -6.90494886e-03 1.98706906e+02] [ 3.75009264e-01 9.27014974e-01 -3.36011609e-03 2.19922745e+01] [ 7.66111499e-03 5.25372221e-04 9.99970515e-01 1.28999083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.73, Y:22.00, Z:1.29 [[ 9.25959326e-01 -3.77560135e-01 -6.90441505e-03 1.98733823e+02] [ 3.77545512e-01 9.25984929e-01 -3.36121261e-03 2.20013214e+01] [ 7.66244417e-03 5.05615248e-04 9.99970515e-01 1.29322333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.76, Y:22.01, Z:1.29 [[ 9.25452250e-01 -3.78801351e-01 -6.90422523e-03 1.98759679e+02] [ 3.78786760e-01 9.25477871e-01 -3.36160248e-03 2.20116720e+01] [ 7.66308723e-03 4.95773482e-04 9.99970515e-01 1.29352854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.79, Y:22.02, Z:1.30 [[ 9.25233378e-01 -3.79335652e-01 -6.90362212e-03 1.98785613e+02] [ 3.79321065e-01 9.25259002e-01 -3.36284061e-03 2.20199382e+01] [ 7.66328385e-03 4.92723081e-04 9.99970515e-01 1.29513605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.81, Y:22.03, Z:1.30 [[ 9.25684731e-01 -3.78232895e-01 -6.90335970e-03 1.98810755e+02] [ 3.78218274e-01 9.25710335e-01 -3.36337923e-03 2.20304959e+01] [ 7.66265209e-03 5.02452005e-04 9.99970515e-01 1.29675479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.84, Y:22.04, Z:1.30 [[ 9.26346868e-01 -3.76608322e-01 -6.90309939e-03 1.98836693e+02] [ 3.76593652e-01 9.26372444e-01 -3.36391342e-03 2.20420070e+01] [ 7.66171884e-03 5.16487247e-04 9.99970515e-01 1.29727899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.86, Y:22.05, Z:1.30 [[ 9.27177117e-01 -3.74559675e-01 -6.90250621e-03 1.98862565e+02] [ 3.74544939e-01 9.27202655e-01 -3.36513013e-03 2.20537466e+01] [ 7.66046414e-03 5.34772876e-04 9.99970515e-01 1.29694000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.89, Y:22.07, Z:1.30 [[ 9.28094548e-01 -3.72280639e-01 -6.90191214e-03 1.98887713e+02] [ 3.72265832e-01 9.28120045e-01 -3.36634813e-03 2.20653518e+01] [ 7.65902924e-03 5.54943279e-04 9.99970515e-01 1.29531880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.91, Y:22.08, Z:1.29 [[ 9.29002635e-01 -3.70008752e-01 -6.90131936e-03 1.98912809e+02] [ 3.69993874e-01 9.29028091e-01 -3.36756296e-03 2.20771737e+01] [ 7.65754731e-03 5.75028983e-04 9.99970515e-01 1.29424755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.94, Y:22.09, Z:1.29 [[ 9.30933223e-01 -3.65124244e-01 -6.90072794e-03 1.98937119e+02] [ 3.65109224e-01 9.30958595e-01 -3.36877444e-03 2.20892942e+01] [ 7.65431321e-03 6.16584631e-04 9.99970515e-01 1.29405165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.96, Y:22.10, Z:1.30 [[ 9.31817720e-01 -3.62861025e-01 -6.90032521e-03 1.98962518e+02] [ 3.62845936e-01 9.31843051e-01 -3.36959916e-03 2.21017233e+01] [ 7.65271630e-03 6.36097247e-04 9.99970515e-01 1.29549258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.99, Y:22.11, Z:1.30 [[ 9.32702314e-01 -3.60581178e-01 -6.89974584e-03 1.98986480e+02] [ 3.60566020e-01 9.32727604e-01 -3.37078508e-03 2.21133742e+01] [ 7.65102506e-03 6.56125146e-04 9.99970515e-01 1.29750323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.01, Y:22.13, Z:1.30 [[ 9.33364208e-01 -3.58864391e-01 -6.89949361e-03 1.99010883e+02] [ 3.58849182e-01 9.33389468e-01 -3.37130128e-03 2.21261727e+01] [ 7.64975465e-03 6.70774307e-04 9.99970515e-01 1.29937635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.04, Y:22.14, Z:1.30 [[ 9.33906470e-01 -3.57450849e-01 -6.89891936e-03 1.99035558e+02] [ 3.57435593e-01 9.33931702e-01 -3.37247601e-03 2.21401601e+01] [ 7.64861391e-03 6.83657834e-04 9.99970515e-01 1.29955644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.06, Y:22.15, Z:1.30 [[ 9.34396282e-01 -3.56168500e-01 -6.89834832e-03 1.99058951e+02] [ 3.56153201e-01 9.34421487e-01 -3.37364365e-03 2.21541704e+01] [ 7.64755050e-03 6.95451243e-04 9.99970515e-01 1.29826812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.08, Y:22.17, Z:1.29 [[ 9.35048722e-01 -3.54452119e-01 -6.89809981e-03 1.99082034e+02] [ 3.54436770e-01 9.35073896e-01 -3.37415170e-03 2.21712438e+01] [ 7.64620829e-03 7.10056024e-04 9.99970515e-01 1.29421572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.11, Y:22.19, Z:1.29 [[ 9.34978364e-01 -3.54637678e-01 -6.89753328e-03 1.99105840e+02] [ 3.54622326e-01 9.35003537e-01 -3.37530943e-03 2.21856690e+01] [ 7.64622991e-03 7.09821996e-04 9.99970515e-01 1.29433803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.13, Y:22.20, Z:1.30 [[ 9.34607955e-01 -3.55612713e-01 -6.89696943e-03 1.99128989e+02] [ 3.55597379e-01 9.34633139e-01 -3.37646118e-03 2.21987884e+01] [ 7.64684870e-03 7.03123232e-04 9.99970515e-01 1.29518515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.15, Y:22.21, Z:1.30 [[ 9.34549114e-01 -3.55767325e-01 -6.89672405e-03 1.99154502e+02] [ 3.55751991e-01 9.34574297e-01 -3.37696232e-03 2.22114827e+01] [ 7.64691388e-03 7.02413832e-04 9.99970515e-01 1.29540393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.18, Y:22.22, Z:1.30 [[ 9.34031297e-01 -3.57124600e-01 -6.89616519e-03 1.99178559e+02] [ 3.57109294e-01 9.34056498e-01 -3.37810319e-03 2.22239925e+01] [ 7.64781165e-03 6.92569418e-04 9.99970515e-01 1.29609915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.20, Y:22.24, Z:1.30 [[ 9.33258767e-01 -3.59138580e-01 -6.89592208e-03 1.99203986e+02] [ 3.59123325e-01 9.33283999e-01 -3.37859939e-03 2.22373736e+01] [ 7.64923912e-03 6.76621040e-04 9.99970515e-01 1.29828409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.23, Y:22.25, Z:1.30 [[ 9.32390962e-01 -3.61385576e-01 -6.89627237e-03 1.99227881e+02] [ 3.61370387e-01 9.32416234e-01 -3.37788451e-03 2.22500091e+01] [ 7.65091505e-03 6.57400374e-04 9.99970515e-01 1.29553148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.25, Y:22.26, Z:1.30 [[ 9.30513654e-01 -3.66192295e-01 -6.89518256e-03 1.99251348e+02] [ 3.66177220e-01 9.30538993e-01 -3.38010764e-03 2.22637667e+01] [ 7.65400561e-03 6.20377524e-04 9.99970515e-01 1.29543747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.28, Y:22.28, Z:1.30 [[ 9.29478222e-01 -3.68812547e-01 -6.89494088e-03 1.99276189e+02] [ 3.68797540e-01 9.29503602e-01 -3.38060056e-03 2.22762732e+01] [ 7.65568029e-03 5.99357357e-04 9.99970515e-01 1.29785841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.30, Y:22.29, Z:1.30 [[ 9.28496451e-01 -3.71277267e-01 -6.89432966e-03 1.99300961e+02] [ 3.71262319e-01 9.28521865e-01 -3.38184662e-03 2.22879461e+01] [ 7.65713860e-03 5.80427774e-04 9.99970515e-01 1.29941297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.715898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:199.33, Y:22.30, Z:1.30 [[ 9.27463796e-01 -3.73849406e-01 -6.89414015e-03 1.99326079e+02] [ 3.73834525e-01 9.27489250e-01 -3.38223290e-03 2.22999834e+01] [ 7.65868664e-03 5.59630960e-04 9.99970515e-01 1.30112305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.35, Y:22.31, Z:1.30 [[ 9.26600337e-01 -3.75984434e-01 -6.89352661e-03 1.99352097e+02] [ 3.75969602e-01 9.26625820e-01 -3.38348294e-03 2.23109451e+01] [ 7.65985666e-03 5.43379979e-04 9.99970515e-01 1.30094886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.38, Y:22.32, Z:1.30 [[ 9.25140122e-01 -3.79563225e-01 -6.89290683e-03 1.99378469e+02] [ 3.79548483e-01 9.25165657e-01 -3.38474509e-03 2.23211326e+01] [ 7.66180544e-03 5.15171157e-04 9.99970515e-01 1.29561007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.40, Y:22.33, Z:1.29 [[ 9.24612268e-01 -3.80847272e-01 -6.89271430e-03 1.99404572e+02] [ 3.80832562e-01 9.24637821e-01 -3.38513712e-03 2.23321923e+01] [ 7.66248457e-03 5.04969268e-04 9.99970515e-01 1.29411984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.43, Y:22.34, Z:1.29 [[ 9.24407159e-01 -3.81344860e-01 -6.89210645e-03 1.99429244e+02] [ 3.81330155e-01 9.24432715e-01 -3.38637424e-03 2.23418026e+01] [ 7.66266509e-03 5.02220574e-04 9.99970515e-01 1.29285281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.865898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:199.46, Y:22.35, Z:1.30 [[ 9.23861908e-01 -3.82664013e-01 -6.88685548e-03 1.99455501e+02] [ 3.82649265e-01 9.23887439e-01 -3.39705986e-03 2.23532153e+01] [ 7.66261183e-03 5.03164015e-04 9.99970515e-01 1.29579059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.48, Y:22.36, Z:1.30 [[ 9.23774490e-01 -3.82874910e-01 -6.89172179e-03 1.99481781e+02] [ 3.82860241e-01 9.23800067e-01 -3.38715856e-03 2.23633655e+01] [ 7.66343108e-03 4.90404409e-04 9.99970515e-01 1.29808593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.51, Y:22.37, Z:1.30 [[ 9.24299832e-01 -3.81604944e-01 -6.89107943e-03 1.99506757e+02] [ 3.81590231e-01 9.24325383e-01 -3.38846492e-03 2.23732607e+01] [ 7.66265461e-03 5.02388969e-04 9.99970515e-01 1.29947056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.53, Y:22.39, Z:1.30 [[ 9.24902630e-01 -3.80141608e-01 -6.89079995e-03 1.99532173e+02] [ 3.80126850e-01 9.24928155e-01 -3.38903319e-03 2.23850692e+01] [ 7.66180741e-03 5.15147638e-04 9.99970515e-01 1.29974219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.56, Y:22.40, Z:1.30 [[ 9.25758123e-01 -3.78053466e-01 -6.89018410e-03 1.99556734e+02] [ 3.78038641e-01 9.25783610e-01 -3.39028479e-03 2.23970394e+01] [ 7.66052843e-03 5.33827853e-04 9.99970515e-01 1.29958693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.58, Y:22.41, Z:1.30 [[ 9.27930890e-01 -3.72688599e-01 -6.88991720e-03 1.99581508e+02] [ 3.72673623e-01 9.27956288e-01 -3.39082712e-03 2.24108175e+01] [ 7.65726460e-03 5.78762828e-04 9.99970515e-01 1.30163965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.61, Y:22.42, Z:1.30 [[ 9.29157042e-01 -3.69621054e-01 -6.88972527e-03 1.99605871e+02] [ 3.69605991e-01 9.29182388e-01 -3.39121706e-03 2.24247999e+01] [ 7.65527660e-03 6.04489469e-04 9.99970515e-01 1.30332009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.63, Y:22.44, Z:1.30 [[ 9.30441465e-01 -3.66375791e-01 -6.88909814e-03 1.99628768e+02] [ 3.66360630e-01 9.30466754e-01 -3.39249055e-03 2.24386651e+01] [ 7.65300319e-03 6.32619542e-04 9.99970515e-01 1.30412027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.65, Y:22.45, Z:1.30 [[ 9.31600469e-01 -3.63418644e-01 -6.88882590e-03 1.99651898e+02] [ 3.63403400e-01 9.31625706e-01 -3.39304328e-03 2.24526665e+01] [ 7.65090249e-03 6.57537953e-04 9.99970515e-01 1.30324787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.68, Y:22.47, Z:1.30 [[ 9.32551099e-01 -3.60972293e-01 -6.88856571e-03 1.99675638e+02] [ 3.60956978e-01 9.32576294e-01 -3.39357143e-03 2.24672525e+01] [ 7.64909834e-03 6.78202908e-04 9.99970515e-01 1.30204242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:22.48, Z:1.30 [[ 9.33353679e-01 -3.58891997e-01 -6.88795830e-03 1.99698826e+02] [ 3.58876617e-01 9.33378835e-01 -3.39480387e-03 2.24812860e+01] [ 7.64744243e-03 6.96625511e-04 9.99970515e-01 1.30174118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.72, Y:22.50, Z:1.30 [[ 9.33530566e-01 -3.58431693e-01 -6.88509360e-03 1.99722372e+02] [ 3.58416258e-01 9.33555688e-01 -3.40061450e-03 2.24982684e+01] [ 7.64650630e-03 7.06848091e-04 9.99970515e-01 1.29776699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.75, Y:22.51, Z:1.30 [[ 9.33175666e-01 -3.59354620e-01 -6.88718076e-03 1.99745667e+02] [ 3.59339241e-01 9.33200822e-01 -3.39638215e-03 2.25119870e+01] [ 7.64762837e-03 6.94586873e-04 9.99970515e-01 1.29990336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.77, Y:22.53, Z:1.30 [[ 9.32542009e-01 -3.60995818e-01 -6.88632052e-03 1.99770706e+02] [ 3.60980471e-01 9.32567184e-01 -3.39812582e-03 2.25262089e+01] [ 7.64866575e-03 6.83067855e-04 9.99970515e-01 1.30052617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.79, Y:22.54, Z:1.30 [[ 9.31501617e-01 -3.63671986e-01 -6.88643992e-03 1.99794886e+02] [ 3.63656713e-01 9.31526838e-01 -3.39788384e-03 2.25408152e+01] [ 7.65061877e-03 6.60834187e-04 9.99970515e-01 1.30290220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.82, Y:22.55, Z:1.30 [[ 9.31344002e-01 -3.64075429e-01 -6.88716826e-03 1.99819184e+02] [ 3.64060177e-01 9.31369235e-01 -3.39640799e-03 2.25540097e+01] [ 7.65104533e-03 6.55880518e-04 9.99970515e-01 1.30247415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.84, Y:22.57, Z:1.30 [[ 9.31413213e-01 -3.63898440e-01 -6.88120381e-03 1.99843438e+02] [ 3.63883095e-01 9.31438390e-01 -3.40848920e-03 2.25681002e+01] [ 7.64976131e-03 6.70758139e-04 9.99970515e-01 1.30219198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.87, Y:22.58, Z:1.30 [[ 9.31823630e-01 -3.62846179e-01 -6.88274165e-03 1.99868322e+02] [ 3.62830829e-01 9.31848804e-01 -3.40537508e-03 2.25833284e+01] [ 7.64930191e-03 6.75938118e-04 9.99970515e-01 1.30365324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.89, Y:22.60, Z:1.30 [[ 9.32390977e-01 -3.61385755e-01 -6.88493451e-03 1.99891609e+02] [ 3.61370397e-01 9.32416146e-01 -3.40093582e-03 2.25988512e+01] [ 7.64867386e-03 6.82990353e-04 9.99970515e-01 1.30328393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.91, Y:22.61, Z:1.30 [[ 9.33263307e-01 -3.59127007e-01 -6.88431840e-03 1.99914033e+02] [ 3.59111579e-01 9.33288433e-01 -3.40218251e-03 2.26138753e+01] [ 7.64687035e-03 7.02893652e-04 9.99970515e-01 1.30278276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.94, Y:22.63, Z:1.30 [[ 9.34884896e-01 -3.54884267e-01 -6.88389770e-03 1.99936292e+02] [ 3.54868719e-01 9.34909948e-01 -3.40303353e-03 2.26317032e+01] [ 7.64350750e-03 7.38564682e-04 9.99970515e-01 1.30499965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.96, Y:22.65, Z:1.31 [[ 9.35272751e-01 -3.53860904e-01 -6.88053232e-03 1.99959752e+02] [ 3.53845279e-01 9.35297755e-01 -3.40983884e-03 2.26465208e+01] [ 7.64195509e-03 7.54485477e-04 9.99970515e-01 1.30691661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.98, Y:22.66, Z:1.31 [[ 9.35475495e-01 -3.53324527e-01 -6.88315950e-03 1.99982317e+02] [ 3.53308926e-01 9.35500514e-01 -3.40452729e-03 2.26608421e+01] [ 7.64210224e-03 7.52970164e-04 9.99970515e-01 1.30768490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.01, Y:22.68, Z:1.31 [[ 9.35374501e-01 -3.53591814e-01 -6.88276586e-03 2.00005837e+02] [ 3.53576215e-01 9.35399521e-01 -3.40532290e-03 2.26756303e+01] [ 7.64223019e-03 7.51669904e-04 9.99970515e-01 1.30806458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.03, Y:22.69, Z:1.31 [[ 9.35105531e-01 -3.54302529e-01 -6.88217000e-03 2.00029035e+02] [ 3.54286940e-01 9.35130558e-01 -3.40652672e-03 2.26906679e+01] [ 7.64266850e-03 7.47199023e-04 9.99970515e-01 1.30713739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.05, Y:22.71, Z:1.31 [[ 9.34719798e-01 -3.55318932e-01 -6.88157846e-03 2.00052976e+02] [ 3.55303362e-01 9.34744836e-01 -3.40772127e-03 2.27057524e+01] [ 7.64334782e-03 7.40216572e-04 9.99970515e-01 1.30574153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.08, Y:22.72, Z:1.31 [[ 9.34064781e-01 -3.57037304e-01 -6.88098654e-03 2.00076077e+02] [ 3.57021771e-01 9.34089843e-01 -3.40891608e-03 2.27232067e+01] [ 7.64456984e-03 7.27486458e-04 9.99970515e-01 1.30563320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.10, Y:22.74, Z:1.31 [[ 9.33883433e-01 -3.57511390e-01 -6.88037092e-03 2.00099952e+02] [ 3.57495861e-01 9.33908497e-01 -3.41015816e-03 2.27381833e+01] [ 7.64480725e-03 7.24986084e-04 9.99970515e-01 1.30654994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.705898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:200.12, Y:22.75, Z:1.31 [[ 9.33748726e-01 -3.57863083e-01 -6.87974427e-03 2.00122654e+02] [ 3.57847554e-01 9.33773790e-01 -3.41142191e-03 2.27535766e+01] [ 7.64494684e-03 7.23511205e-04 9.99970515e-01 1.30663931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.15, Y:22.77, Z:1.31 [[ 9.33794792e-01 -3.57742869e-01 -6.87947123e-03 2.00145707e+02] [ 3.57727332e-01 9.33819851e-01 -3.41197244e-03 2.27684626e+01] [ 7.64479561e-03 7.25107202e-04 9.99970515e-01 1.30604666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.17, Y:22.79, Z:1.31 [[ 9.33680071e-01 -3.58042180e-01 -6.87920534e-03 2.00167740e+02] [ 3.58026647e-01 9.33705133e-01 -3.41250844e-03 2.27869845e+01] [ 7.64497130e-03 7.23252291e-04 9.99970515e-01 1.30519066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.19, Y:22.80, Z:1.30 [[ 9.33511924e-01 -3.58480365e-01 -6.87859539e-03 2.00190034e+02] [ 3.58464836e-01 9.33536988e-01 -3.41373748e-03 2.28020634e+01] [ 7.64518108e-03 7.21030077e-04 9.99970515e-01 1.30485431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.21, Y:22.82, Z:1.31 [[ 9.33204408e-01 -3.59280143e-01 -6.87832997e-03 2.00213590e+02] [ 3.59264631e-01 9.33229483e-01 -3.41427218e-03 2.28183384e+01] [ 7.64574052e-03 7.15073171e-04 9.99970515e-01 1.30537789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.24, Y:22.83, Z:1.31 [[ 9.32875332e-01 -3.60133742e-01 -6.87771961e-03 2.00236788e+02] [ 3.60118244e-01 9.32900415e-01 -3.41550126e-03 2.28337636e+01] [ 7.64626473e-03 7.09444570e-04 9.99970515e-01 1.30517329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.26, Y:22.85, Z:1.31 [[ 9.32398705e-01 -3.61365964e-01 -6.87710931e-03 2.00260255e+02] [ 3.61350491e-01 9.32423803e-01 -3.41672966e-03 2.28492428e+01] [ 7.64707022e-03 7.00707485e-04 9.99970515e-01 1.30535624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.28, Y:22.87, Z:1.31 [[ 9.31558009e-01 -3.63527702e-01 -6.87649058e-03 2.00282115e+02] [ 3.63512278e-01 9.31583137e-01 -3.41797445e-03 2.28665454e+01] [ 7.64855107e-03 6.84352719e-04 9.99970515e-01 1.30613300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.31, Y:22.88, Z:1.31 [[ 9.31110415e-01 -3.64672609e-01 -6.87622148e-03 2.00305677e+02] [ 3.64657212e-01 9.31135560e-01 -3.41851574e-03 2.28819878e+01] [ 7.64933339e-03 6.75551853e-04 9.99970515e-01 1.30614502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.33, Y:22.90, Z:1.31 [[ 9.30675756e-01 -3.65780486e-01 -6.87560774e-03 2.00328573e+02] [ 3.65765109e-01 9.30700913e-01 -3.41974970e-03 2.28971820e+01] [ 7.65001211e-03 6.67820724e-04 9.99970515e-01 1.30522215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.005898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:200.35, Y:22.91, Z:1.31 [[ 9.30094740e-01 -3.67255367e-01 -6.87534026e-03 2.00351736e+02] [ 3.67240026e-01 9.30119920e-01 -3.42028737e-03 2.29126040e+01] [ 7.65100982e-03 6.56291152e-04 9.99970515e-01 1.30608175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.37, Y:22.93, Z:1.30 [[ 9.28966363e-01 -3.70100304e-01 -6.87473715e-03 2.00373164e+02] [ 3.70085031e-01 9.28991584e-01 -3.42149918e-03 2.29289935e+01] [ 7.65287084e-03 6.34220334e-04 9.99970515e-01 1.30450522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.40, Y:22.94, Z:1.31 [[ 9.28132298e-01 -3.72187181e-01 -6.86583673e-03 2.00397820e+02] [ 3.72171834e-01 9.28157474e-01 -3.43937187e-03 2.29438338e+01] [ 7.65266780e-03 6.36921065e-04 9.99970515e-01 1.30732691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.095898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.42, Y:22.96, Z:1.31 [[ 9.27261715e-01 -3.74350721e-01 -6.87390158e-03 2.00422218e+02] [ 3.74335552e-01 9.27286998e-01 -3.42317728e-03 2.29586615e+01] [ 7.65554844e-03 6.01035491e-04 9.99970515e-01 1.30860689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.125898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.45, Y:22.97, Z:1.31 [[ 9.26565638e-01 -3.76070309e-01 -6.87323747e-03 2.00445936e+02] [ 3.76055177e-01 9.26590943e-01 -3.42451019e-03 2.29723187e+01] [ 7.65653620e-03 5.88316935e-04 9.99970515e-01 1.30983824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.47, Y:22.99, Z:1.31 [[ 9.25693754e-01 -3.78211365e-01 -6.87298933e-03 2.00470408e+02] [ 3.78196288e-01 9.25719092e-01 -3.42500813e-03 2.29861903e+01] [ 7.65783444e-03 5.71169579e-04 9.99970515e-01 1.31071726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.49, Y:23.00, Z:1.31 [[ 9.24264614e-01 -3.81690574e-01 -6.87235617e-03 2.00494129e+02] [ 3.81675583e-01 9.24290003e-01 -3.42627812e-03 2.29999306e+01] [ 7.65982816e-03 5.43777074e-04 9.99970515e-01 1.31090264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.52, Y:23.01, Z:1.31 [[ 9.23566271e-01 -3.83377252e-01 -6.87208001e-03 2.00518218e+02] [ 3.83362303e-01 9.23591686e-01 -3.42683192e-03 2.30124285e+01] [ 7.66076536e-03 5.30409963e-04 9.99970515e-01 1.31078095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.54, Y:23.03, Z:1.31 [[ 9.22997198e-01 -3.84745313e-01 -6.87145911e-03 2.00543387e+02] [ 3.84730393e-01 9.23022629e-01 -3.42807648e-03 2.30251390e+01] [ 7.66144861e-03 5.20445828e-04 9.99970515e-01 1.31148403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.57, Y:23.04, Z:1.31 [[ 9.22627308e-01 -3.85631485e-01 -6.87082982e-03 2.00568917e+02] [ 3.85616580e-01 9.22652748e-01 -3.42933729e-03 2.30376215e+01] [ 7.66185045e-03 5.14494334e-04 9.99970515e-01 1.31154981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.59, Y:23.05, Z:1.31 [[ 9.22483480e-01 -3.85975427e-01 -6.87020295e-03 2.00593947e+02] [ 3.85960522e-01 9.22508919e-01 -3.43059268e-03 2.30493423e+01] [ 7.66194798e-03 5.13037956e-04 9.99970515e-01 1.31068913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.62, Y:23.06, Z:1.31 [[ 9.22596490e-01 -3.85705232e-01 -6.86957410e-03 2.00618994e+02] [ 3.85690311e-01 9.22621920e-01 -3.43185146e-03 2.30611520e+01] [ 7.66170271e-03 5.16685937e-04 9.99970515e-01 1.31044550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.64, Y:23.07, Z:1.31 [[ 9.23008009e-01 -3.84719422e-01 -6.86892642e-03 2.00643600e+02] [ 3.84704463e-01 9.23033417e-01 -3.43314732e-03 2.30722193e+01] [ 7.66104708e-03 5.26315818e-04 9.99970515e-01 1.30888744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.67, Y:23.09, Z:1.31 [[ 9.22940906e-01 -3.84880378e-01 -6.86864552e-03 2.00668988e+02] [ 3.84865420e-01 9.22966315e-01 -3.43370921e-03 2.30851240e+01] [ 7.66109574e-03 5.25606547e-04 9.99970515e-01 1.30910615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.69, Y:23.10, Z:1.31 [[ 9.23392895e-01 -3.83794725e-01 -6.86804651e-03 2.00693863e+02] [ 3.83779728e-01 9.23418281e-01 -3.43490693e-03 2.30966145e+01] [ 7.66037886e-03 5.35951627e-04 9.99970515e-01 1.30893837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.72, Y:23.11, Z:1.31 [[ 9.23873408e-01 -3.82636589e-01 -6.86778601e-03 2.00719495e+02] [ 3.82621557e-01 9.23898773e-01 -3.43542769e-03 2.31082371e+01] [ 7.65965940e-03 5.46137314e-04 9.99970515e-01 1.30923964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.75, Y:23.12, Z:1.31 [[ 9.24570090e-01 -3.80950115e-01 -6.86716794e-03 2.00745511e+02] [ 3.80935027e-01 9.24595422e-01 -3.43666274e-03 2.31197333e+01] [ 7.65854910e-03 5.61490773e-04 9.99970515e-01 1.31024131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.77, Y:23.13, Z:1.31 [[ 9.24843212e-01 -3.80286581e-01 -6.86654364e-03 2.00769943e+02] [ 3.80271466e-01 9.24868527e-01 -3.43790964e-03 2.31311455e+01] [ 7.65804101e-03 5.68376783e-04 9.99970515e-01 1.31060624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.80, Y:23.14, Z:1.31 [[ 9.25031735e-01 -3.79827781e-01 -6.86627299e-03 2.00795410e+02] [ 3.79812649e-01 9.25057041e-01 -3.43845011e-03 2.31433052e+01] [ 7.65771305e-03 5.72778141e-04 9.99970515e-01 1.31063248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.82, Y:23.15, Z:1.31 [[ 9.25151492e-01 -3.79536005e-01 -6.86564575e-03 2.00820200e+02] [ 3.79520856e-01 9.25176788e-01 -3.43970209e-03 2.31549123e+01] [ 7.65742686e-03 5.76589771e-04 9.99970515e-01 1.31126910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.85, Y:23.17, Z:1.31 [[ 9.25056637e-01 -3.79767145e-01 -6.86537306e-03 2.00845435e+02] [ 3.79751998e-01 9.25081934e-01 -3.44024626e-03 2.31669024e+01] [ 7.65752509e-03 5.75283496e-04 9.99970515e-01 1.31190170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.87, Y:23.18, Z:1.31 [[ 9.24989139e-01 -3.79931531e-01 -6.86473027e-03 2.00869865e+02] [ 3.79916379e-01 9.25014433e-01 -3.44152841e-03 2.31782907e+01] [ 7.65751974e-03 5.75352932e-04 9.99970515e-01 1.31234646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.89, Y:23.19, Z:1.31 [[ 9.24935050e-01 -3.80063199e-01 -6.86429170e-03 2.00894648e+02] [ 3.80048044e-01 9.24960342e-01 -3.44240294e-03 2.31888229e+01] [ 7.65752827e-03 5.75238498e-04 9.99970515e-01 1.31375154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.92, Y:23.20, Z:1.32 [[ 9.24904404e-01 -3.80137776e-01 -6.86403128e-03 2.00919763e+02] [ 3.80122619e-01 9.24929695e-01 -3.44292213e-03 2.32006753e+01] [ 7.65753112e-03 5.75200289e-04 9.99970515e-01 1.31526288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.94, Y:23.21, Z:1.32 [[ 9.25034744e-01 -3.79820504e-01 -6.86340501e-03 2.00943950e+02] [ 3.79805330e-01 9.25060025e-01 -3.44417014e-03 2.32125006e+01] [ 7.65722805e-03 5.79219246e-04 9.99970515e-01 1.31596439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.755898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:200.97, Y:23.23, Z:1.32 [[ 9.25042147e-01 -3.79802479e-01 -6.86313197e-03 2.00968796e+02] [ 3.79787300e-01 9.25067425e-01 -3.44471414e-03 2.32250465e+01] [ 7.65717079e-03 5.79975401e-04 9.99970515e-01 1.31568817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.785898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:200.99, Y:23.24, Z:1.32 [[ 9.25022840e-01 -3.79849512e-01 -6.86249684e-03 2.00993124e+02] [ 3.79834325e-01 9.25048113e-01 -3.44597895e-03 2.32375684e+01] [ 7.65709318e-03 5.80997384e-04 9.99970515e-01 1.31619871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.815898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.02, Y:23.25, Z:1.32 [[ 9.24662340e-01 -3.80726235e-01 -6.86222016e-03 2.01018454e+02] [ 3.80711068e-01 9.24687625e-01 -3.44652984e-03 2.32497459e+01] [ 7.65759440e-03 5.74353183e-04 9.99970515e-01 1.31723117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.04, Y:23.26, Z:1.32 [[ 9.24096031e-01 -3.82098737e-01 -6.86156380e-03 2.01042823e+02] [ 3.82083598e-01 9.24121332e-01 -3.44783608e-03 2.32620849e+01] [ 7.65833129e-03 5.64440654e-04 9.99970515e-01 1.31607316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.07, Y:23.27, Z:1.31 [[ 9.23540272e-01 -3.83440080e-01 -6.86091053e-03 2.01067797e+02] [ 3.83424968e-01 9.23565589e-01 -3.44913554e-03 2.32745660e+01] [ 7.65903768e-03 5.54771180e-04 9.99970515e-01 1.31471742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.09, Y:23.29, Z:1.31 [[ 9.22346632e-01 -3.86302508e-01 -6.86028515e-03 2.01091876e+02] [ 3.86287465e-01 9.22371991e-01 -3.45037896e-03 2.32880424e+01] [ 7.66062492e-03 5.32403253e-04 9.99970515e-01 1.31440442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.12, Y:23.30, Z:1.31 [[ 9.21866557e-01 -3.87446765e-01 -6.85966053e-03 2.01115955e+02] [ 3.87431745e-01 9.21891929e-01 -3.45162031e-03 2.33014803e+01] [ 7.66118481e-03 5.24283088e-04 9.99970515e-01 1.31476597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.14, Y:23.31, Z:1.32 [[ 9.21540288e-01 -3.88222168e-01 -6.85903701e-03 2.01140612e+02] [ 3.88207160e-01 9.21565667e-01 -3.45285893e-03 2.33148583e+01] [ 7.66152940e-03 5.19221341e-04 9.99970515e-01 1.31571841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.17, Y:23.33, Z:1.32 [[ 9.21292119e-01 -3.88810742e-01 -6.85840933e-03 2.01165106e+02] [ 3.88795741e-01 9.21317503e-01 -3.45410525e-03 2.33284163e+01] [ 7.66176578e-03 5.15719605e-04 9.99970515e-01 1.31717316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.19, Y:23.34, Z:1.32 [[ 9.21310158e-01 -3.88768007e-01 -6.85777968e-03 2.01189562e+02] [ 3.88752996e-01 9.21335535e-01 -3.45535490e-03 2.33417040e+01] [ 7.66164755e-03 5.17471173e-04 9.99970515e-01 1.31920546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.21, Y:23.36, Z:1.32 [[ 9.21470699e-01 -3.88387346e-01 -6.85714284e-03 2.01212800e+02] [ 3.88372315e-01 9.21496064e-01 -3.45661823e-03 2.33552864e+01] [ 7.66133693e-03 5.22047973e-04 9.99970515e-01 1.31907163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.24, Y:23.37, Z:1.32 [[ 9.21249255e-01 -3.88912322e-01 -6.85686604e-03 2.01236328e+02] [ 3.88897301e-01 9.21274627e-01 -3.45716724e-03 2.33708514e+01] [ 7.66159164e-03 5.18296054e-04 9.99970515e-01 1.31582100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.26, Y:23.38, Z:1.31 [[ 9.20834433e-01 -3.89893497e-01 -6.85627059e-03 2.01260039e+02] [ 3.89878494e-01 9.20859815e-01 -3.45834774e-03 2.33844969e+01] [ 7.66205136e-03 5.11453225e-04 9.99970515e-01 1.31436986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.28, Y:23.40, Z:1.32 [[ 9.20266848e-01 -3.91231292e-01 -6.85599299e-03 2.01284612e+02] [ 3.91216322e-01 9.20292250e-01 -3.45889798e-03 2.33988949e+01] [ 7.66274634e-03 5.00932774e-04 9.99970515e-01 1.31508215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.31, Y:23.42, Z:1.32 [[ 9.19244600e-01 -3.93627196e-01 -6.85535392e-03 2.01308355e+02] [ 3.93612283e-01 9.19270035e-01 -3.46016411e-03 2.34152865e+01] [ 7.66393614e-03 4.82385668e-04 9.99970515e-01 1.31787716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.33, Y:23.43, Z:1.32 [[ 9.18643064e-01 -3.95029029e-01 -6.85477836e-03 2.01331516e+02] [ 3.95014146e-01 9.18668517e-01 -3.46130396e-03 2.34287541e+01] [ 7.66458461e-03 4.71968456e-04 9.99970515e-01 1.31855856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.36, Y:23.44, Z:1.32 [[ 9.17736921e-01 -3.97129654e-01 -6.85433042e-03 2.01356261e+02] [ 3.97114823e-01 9.17762404e-01 -3.46219077e-03 2.34422889e+01] [ 7.66558539e-03 4.55424085e-04 9.99970515e-01 1.31910241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.38, Y:23.46, Z:1.32 [[ 9.16644688e-01 -3.99644270e-01 -6.85366965e-03 2.01380213e+02] [ 3.99629499e-01 9.16670207e-01 -3.46349832e-03 2.34551591e+01] [ 7.66672203e-03 4.35868771e-04 9.99970515e-01 1.31858101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.40, Y:23.47, Z:1.32 [[ 9.15256792e-01 -4.02812657e-01 -6.85338318e-03 2.01404428e+02] [ 4.02797970e-01 9.15282358e-01 -3.46406508e-03 2.34681941e+01] [ 7.66814998e-03 4.09980254e-04 9.99970515e-01 1.31822783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.325898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:201.43, Y:23.48, Z:1.32 [[ 9.14096159e-01 -4.05439580e-01 -6.85276352e-03 2.01428429e+02] [ 4.05424957e-01 9.14121762e-01 -3.46529047e-03 2.34806387e+01] [ 7.66922618e-03 3.89327352e-04 9.99970515e-01 1.31668726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.45, Y:23.49, Z:1.32 [[ 9.12505727e-01 -4.09006531e-01 -6.85247458e-03 2.01452446e+02] [ 4.08992005e-01 9.12531385e-01 -3.46586176e-03 2.34939655e+01] [ 7.67065821e-03 3.60011386e-04 9.99970515e-01 1.31684320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.48, Y:23.51, Z:1.32 [[ 9.12048065e-01 -4.10026066e-01 -6.85219508e-03 2.01476384e+02] [ 4.10011564e-01 9.12073737e-01 -3.46641426e-03 2.35079222e+01] [ 7.67102737e-03 3.52057197e-04 9.99970515e-01 1.31782075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.50, Y:23.52, Z:1.32 [[ 9.12135926e-01 -4.09830585e-01 -6.85155370e-03 2.01500350e+02] [ 4.09816068e-01 9.12161589e-01 -3.46768152e-03 2.35220432e+01] [ 7.67088606e-03 3.55120097e-04 9.99970515e-01 1.31901441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.52, Y:23.54, Z:1.32 [[ 9.12536636e-01 -4.08937592e-01 -6.85088344e-03 2.01523922e+02] [ 4.08923040e-01 9.12562279e-01 -3.46900520e-03 2.35365031e+01] [ 7.67046444e-03 3.64110254e-04 9.99970515e-01 1.31924528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.55, Y:23.55, Z:1.32 [[ 9.14243653e-01 -4.05106921e-01 -6.85021180e-03 2.01546012e+02] [ 4.05092251e-01 9.14269230e-01 -3.47033097e-03 2.35516547e+01] [ 7.66879296e-03 3.97760344e-04 9.99970515e-01 1.31850342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.57, Y:23.56, Z:1.32 [[ 9.14961561e-01 -4.03482864e-01 -6.84975486e-03 2.01569657e+02] [ 4.03468143e-01 9.14987108e-01 -3.47123266e-03 2.35647079e+01] [ 7.66802028e-03 4.12386581e-04 9.99970515e-01 1.31875798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.59, Y:23.58, Z:1.32 [[ 9.15249706e-01 -4.02828822e-01 -6.84947435e-03 2.01594476e+02] [ 4.02814078e-01 9.15275240e-01 -3.47178607e-03 2.35778030e+01] [ 7.66768977e-03 4.18486482e-04 9.99970515e-01 1.32138710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.62, Y:23.59, Z:1.32 [[ 9.15261909e-01 -4.02801107e-01 -6.84880661e-03 2.01619361e+02] [ 4.02786352e-01 9.15287437e-01 -3.47310282e-03 2.35896564e+01] [ 7.66759631e-03 4.20192890e-04 9.99970515e-01 1.32330302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.64, Y:23.60, Z:1.32 [[ 9.15078519e-01 -4.03217567e-01 -6.84814315e-03 2.01643733e+02] [ 4.03202815e-01 9.15104048e-01 -3.47441051e-03 2.36005242e+01] [ 7.66770687e-03 4.18167829e-04 9.99970515e-01 1.32431003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.67, Y:23.61, Z:1.32 [[ 9.14812382e-01 -4.03821015e-01 -6.84785484e-03 2.01669368e+02] [ 4.03806276e-01 9.14837918e-01 -3.47497866e-03 2.36120263e+01] [ 7.66794668e-03 4.13746751e-04 9.99970515e-01 1.32469066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.655898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:201.69, Y:23.62, Z:1.32 [[ 9.14322512e-01 -4.04928957e-01 -6.84719627e-03 2.01693590e+02] [ 4.04914238e-01 9.14348060e-01 -3.47627584e-03 2.36230057e+01] [ 7.66836538e-03 4.05909999e-04 9.99970515e-01 1.32301206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.72, Y:23.63, Z:1.32 [[ 9.14141749e-01 -4.05336876e-01 -6.84691006e-03 2.01718857e+02] [ 4.05322165e-01 9.14167301e-01 -3.47683948e-03 2.36348030e+01] [ 7.66851254e-03 4.03119716e-04 9.99970515e-01 1.32406916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.74, Y:23.65, Z:1.32 [[ 9.14059783e-01 -4.05521690e-01 -6.84626597e-03 2.01744451e+02] [ 4.05506974e-01 9.14085333e-01 -3.47810729e-03 2.36468838e+01] [ 7.66851926e-03 4.02989398e-04 9.99970515e-01 1.32433973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.77, Y:23.66, Z:1.32 [[ 9.14078358e-01 -4.05479830e-01 -6.84561994e-03 2.01768677e+02] [ 4.05465103e-01 9.14103902e-01 -3.47937836e-03 2.36580252e+01] [ 7.66842564e-03 4.04764465e-04 9.99970515e-01 1.32403213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.79, Y:23.67, Z:1.32 [[ 9.14699036e-01 -4.04077735e-01 -6.84533868e-03 2.01794832e+02] [ 4.04062965e-01 9.14724554e-01 -3.47993162e-03 2.36688619e+01] [ 7.66776226e-03 4.17142255e-04 9.99970515e-01 1.32198574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.805898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:201.82, Y:23.68, Z:1.32 [[ 9.15004100e-01 -4.03386473e-01 -6.84469977e-03 2.01820053e+02] [ 4.03371675e-01 9.15029602e-01 -3.48118783e-03 2.36814255e+01] [ 7.66736699e-03 4.24343130e-04 9.99970515e-01 1.32073677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.84, Y:23.69, Z:1.32 [[ 9.15487330e-01 -4.02288588e-01 -6.84403156e-03 2.01843752e+02] [ 4.02273749e-01 9.15512809e-01 -3.48250104e-03 2.36933105e+01] [ 7.66676898e-03 4.35011343e-04 9.99970515e-01 1.32014885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.87, Y:23.71, Z:1.32 [[ 9.15846057e-01 -4.01471249e-01 -6.84374116e-03 2.01868064e+02] [ 4.01456383e-01 9.15871520e-01 -3.48307163e-03 2.37065936e+01] [ 7.66634074e-03 4.42493842e-04 9.99970515e-01 1.32188638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.89, Y:23.72, Z:1.32 [[ 9.16114300e-01 -4.00858780e-01 -6.84308003e-03 2.01892237e+02] [ 4.00843888e-01 9.16139747e-01 -3.48437006e-03 2.37205482e+01] [ 7.66595794e-03 4.49074438e-04 9.99970515e-01 1.32393904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.91, Y:23.74, Z:1.32 [[ 9.16250857e-01 -4.00546561e-01 -6.84241657e-03 2.01914567e+02] [ 4.00531651e-01 9.16276294e-01 -3.48567244e-03 2.37354420e+01] [ 7.66571820e-03 4.53145961e-04 9.99970515e-01 1.32497916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.94, Y:23.75, Z:1.32 [[ 9.15609960e-01 -4.02009435e-01 -6.84212784e-03 2.01939210e+02] [ 4.01994561e-01 9.15635418e-01 -3.48623909e-03 2.37488630e+01] [ 7.66639560e-03 4.41537059e-04 9.99970515e-01 1.32457958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.96, Y:23.76, Z:1.32 [[ 9.14603357e-01 -4.04294317e-01 -6.84147307e-03 2.01963103e+02] [ 4.04279497e-01 9.14628846e-01 -3.48752357e-03 2.37619961e+01] [ 7.66739457e-03 4.23833473e-04 9.99970515e-01 1.32374780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.99, Y:23.78, Z:1.32 [[ 9.13138995e-01 -4.07590940e-01 -6.84118831e-03 2.01987311e+02] [ 4.07576208e-01 9.13164535e-01 -3.48808206e-03 2.37760888e+01] [ 7.66884119e-03 3.96798160e-04 9.99970515e-01 1.32477049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.01, Y:23.79, Z:1.33 [[ 9.11533779e-01 -4.11168307e-01 -6.84054271e-03 2.02011464e+02] [ 4.11153666e-01 9.11559372e-01 -3.48934770e-03 2.37902928e+01] [ 7.67027000e-03 3.68144083e-04 9.99970515e-01 1.32672732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.04, Y:23.80, Z:1.33 [[ 9.09956394e-01 -4.14647533e-01 -6.83989662e-03 2.02035805e+02] [ 4.14632980e-01 9.09982037e-01 -3.49061372e-03 2.38046649e+01] [ 7.67155743e-03 3.40259550e-04 9.99970515e-01 1.32930413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.06, Y:23.82, Z:1.33 [[ 9.07382585e-01 -4.20250007e-01 -6.83925340e-03 2.02058707e+02] [ 4.20235603e-01 9.07408312e-01 -3.49187355e-03 2.38189204e+01] [ 7.67345527e-03 2.94367473e-04 9.99970515e-01 1.33411000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.08, Y:23.83, Z:1.34 [[ 9.06319649e-01 -4.22537487e-01 -6.83861174e-03 2.02082682e+02] [ 4.22523138e-01 9.06345407e-01 -3.49312974e-03 2.38328591e+01] [ 7.67412260e-03 2.76420430e-04 9.99970515e-01 1.33597991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.11, Y:23.85, Z:1.34 [[ 9.05558237e-01 -4.24166855e-01 -6.83797087e-03 2.02106759e+02] [ 4.24152544e-01 9.05584016e-01 -3.49438382e-03 2.38472392e+01] [ 7.67455892e-03 2.64025317e-04 9.99970515e-01 1.33669474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.13, Y:23.86, Z:1.34 [[ 9.05219010e-01 -4.24890333e-01 -6.83729444e-03 2.02129816e+02] [ 4.24876031e-01 9.05244795e-01 -3.49570687e-03 2.38614585e+01] [ 7.67471725e-03 2.59377787e-04 9.99970515e-01 1.33710969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.15, Y:23.88, Z:1.34 [[ 9.05253964e-01 -4.24815861e-01 -6.83700080e-03 2.02152846e+02] [ 4.24801553e-01 9.05279745e-01 -3.49628108e-03 2.38751673e+01] [ 7.67467400e-03 2.60653747e-04 9.99970515e-01 1.33736083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.18, Y:23.89, Z:1.34 [[ 9.05070946e-01 -4.25205647e-01 -6.83672146e-03 2.02175711e+02] [ 4.25191346e-01 9.05096730e-01 -3.49682723e-03 2.38903287e+01] [ 7.67476492e-03 2.57961932e-04 9.99970515e-01 1.33645807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.20, Y:23.90, Z:1.34 [[ 9.04706966e-01 -4.25979543e-01 -6.83628839e-03 2.02199676e+02] [ 4.25965258e-01 9.04732759e-01 -3.49767368e-03 2.39041021e+01] [ 7.67495149e-03 2.52348395e-04 9.99970515e-01 1.33542126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.22, Y:23.92, Z:1.34 [[ 9.04622384e-01 -4.26159146e-01 -6.83559345e-03 2.02224940e+02] [ 4.26144856e-01 9.04648174e-01 -3.49903129e-03 2.39172341e+01] [ 7.67495132e-03 2.52349039e-04 9.99970515e-01 1.33563998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.25, Y:23.93, Z:1.33 [[ 9.04251552e-01 -4.26945447e-01 -6.83489853e-03 2.02248863e+02] [ 4.26931169e-01 9.04277349e-01 -3.50038818e-03 2.39303865e+01] [ 7.67511873e-03 2.47200228e-04 9.99970515e-01 1.33379911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.27, Y:23.94, Z:1.33 [[ 9.04033412e-01 -4.27407157e-01 -6.83459658e-03 2.02273653e+02] [ 4.27392888e-01 9.04059214e-01 -3.50097765e-03 2.39431850e+01] [ 7.67522292e-03 2.43942806e-04 9.99970515e-01 1.33239070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.30, Y:23.96, Z:1.33 [[ 9.04469186e-01 -4.26484218e-01 -6.83395550e-03 2.02298598e+02] [ 4.26469913e-01 9.04494969e-01 -3.50222861e-03 2.39557712e+01] [ 7.67492359e-03 2.53181452e-04 9.99970515e-01 1.33251925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.32, Y:23.97, Z:1.33 [[ 9.04992971e-01 -4.25371636e-01 -6.83330336e-03 2.02322693e+02] [ 4.25357290e-01 9.05018730e-01 -3.50350056e-03 2.39692672e+01] [ 7.67455729e-03 2.64047981e-04 9.99970515e-01 1.33355583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.465898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:202.35, Y:23.98, Z:1.33 [[ 9.05796209e-01 -4.23658521e-01 -6.83264796e-03 2.02345464e+02] [ 4.23644116e-01 9.05821936e-01 -3.50477828e-03 2.39832038e+01] [ 7.67399158e-03 2.80003775e-04 9.99970515e-01 1.33245386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.37, Y:24.00, Z:1.33 [[ 9.06734183e-01 -4.21647294e-01 -6.83236263e-03 2.02370136e+02] [ 4.21632828e-01 9.06759875e-01 -3.50533442e-03 2.39974699e+01] [ 7.67332706e-03 2.97658160e-04 9.99970515e-01 1.33253208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.39, Y:24.01, Z:1.33 [[ 9.07760997e-01 -4.19432117e-01 -6.83169711e-03 2.02393801e+02] [ 4.19417578e-01 9.07786648e-01 -3.50663100e-03 2.40113300e+01] [ 7.67251708e-03 3.17848996e-04 9.99970515e-01 1.33076892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.42, Y:24.03, Z:1.33 [[ 9.08603809e-01 -4.17603221e-01 -6.83140752e-03 2.02418239e+02] [ 4.17588627e-01 9.08629428e-01 -3.50719508e-03 2.40260350e+01] [ 7.67183387e-03 3.33932723e-04 9.99970515e-01 1.32947779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.44, Y:24.04, Z:1.33 [[ 9.10292809e-01 -4.13908617e-01 -6.83074524e-03 2.02441028e+02] [ 4.13893909e-01 9.10318363e-01 -3.50848447e-03 2.40424498e+01] [ 7.67034479e-03 3.66544337e-04 9.99970515e-01 1.32894428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.46, Y:24.06, Z:1.33 [[ 9.11086834e-01 -4.12157895e-01 -6.83008451e-03 2.02463718e+02] [ 4.12143129e-01 9.11112355e-01 -3.50977027e-03 2.40565656e+01] [ 7.66955391e-03 3.82733077e-04 9.99970515e-01 1.32866637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.49, Y:24.07, Z:1.33 [[ 9.11559891e-01 -4.11110593e-01 -6.82979845e-03 2.02487867e+02] [ 4.11095793e-01 9.11585392e-01 -3.51032684e-03 2.40712062e+01] [ 7.66907704e-03 3.92171744e-04 9.99970515e-01 1.33020924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.51, Y:24.08, Z:1.33 [[ 9.11805712e-01 -4.10565107e-01 -6.82915304e-03 2.02511922e+02] [ 4.10550282e-01 9.11831198e-01 -3.51158200e-03 2.40846696e+01] [ 7.66876784e-03 3.98169810e-04 9.99970515e-01 1.33202493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.54, Y:24.10, Z:1.33 [[ 9.11711715e-01 -4.10773807e-01 -6.82849635e-03 2.02536712e+02] [ 4.10758979e-01 9.11737200e-01 -3.51285852e-03 2.40973522e+01] [ 7.66878440e-03 3.97848083e-04 9.99970515e-01 1.33407454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.56, Y:24.11, Z:1.34 [[ 9.11395697e-01 -4.11474501e-01 -6.82781622e-03 2.02562181e+02] [ 4.11459683e-01 9.11421187e-01 -3.51417996e-03 2.41096096e+01] [ 7.66901181e-03 3.93437393e-04 9.99970515e-01 1.33596834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.59, Y:24.12, Z:1.34 [[ 9.10302830e-01 -4.13886628e-01 -6.82760579e-03 2.02587829e+02] [ 4.13871874e-01 9.10328358e-01 -3.51458876e-03 2.41195557e+01] [ 7.67000446e-03 3.73586090e-04 9.99970515e-01 1.33923468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.61, Y:24.13, Z:1.34 [[ 9.09751144e-01 -4.15097872e-01 -6.82732093e-03 2.02613794e+02] [ 4.15083148e-01 9.09776689e-01 -3.51514203e-03 2.41306156e+01] [ 7.67046541e-03 3.63998617e-04 9.99970515e-01 1.34017478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.64, Y:24.14, Z:1.34 [[ 9.09486355e-01 -4.15677720e-01 -6.82664276e-03 2.02638594e+02] [ 4.15663003e-01 9.09511904e-01 -3.51645859e-03 2.41406639e+01] [ 7.67062634e-03 3.60588280e-04 9.99970515e-01 1.34004389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.67, Y:24.15, Z:1.34 [[ 9.10452135e-01 -4.13558111e-01 -6.82634748e-03 2.02665570e+02] [ 4.13543329e-01 9.10477647e-01 -3.51703171e-03 2.41487447e+01] [ 7.66973378e-03 3.79098561e-04 9.99970515e-01 1.33983825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.69, Y:24.16, Z:1.34 [[ 9.11478220e-01 -4.11291702e-01 -6.82570141e-03 2.02691216e+02] [ 4.11276848e-01 9.11503690e-01 -3.51828513e-03 2.41602199e+01] [ 7.66869350e-03 3.99587307e-04 9.99970515e-01 1.33970191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.72, Y:24.17, Z:1.34 [[ 9.12881210e-01 -4.08168244e-01 -6.82503824e-03 2.02715723e+02] [ 4.08153293e-01 9.12906623e-01 -3.51957113e-03 2.41718148e+01] [ 7.66719977e-03 4.27288520e-04 9.99970515e-01 1.33890438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.74, Y:24.18, Z:1.34 [[ 9.14541989e-01 -4.04433397e-01 -6.82475128e-03 2.02740975e+02] [ 4.04418338e-01 9.14567338e-01 -3.52012748e-03 2.41844530e+01] [ 7.66535172e-03 4.59249817e-04 9.99970515e-01 1.33750733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.77, Y:24.20, Z:1.34 [[ 9.16362567e-01 -4.00291240e-01 -6.82409802e-03 2.02766360e+02] [ 4.00276057e-01 9.16387842e-01 -3.52139343e-03 2.41973012e+01] [ 7.66310340e-03 4.95350070e-04 9.99970515e-01 1.33625341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.79, Y:24.21, Z:1.34 [[ 9.18012151e-01 -3.96493545e-01 -6.82344704e-03 2.02790741e+02] [ 3.96478249e-01 9.18037357e-01 -3.52265437e-03 2.42100072e+01] [ 7.66088901e-03 5.28491185e-04 9.99970515e-01 1.33609832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.82, Y:24.22, Z:1.34 [[ 9.20642026e-01 -3.90348190e-01 -6.82279505e-03 2.02815021e+02] [ 3.90332716e-01 9.20667124e-01 -3.52391673e-03 2.42228375e+01] [ 7.65707761e-03 5.81105714e-04 9.99970515e-01 1.33696317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.84, Y:24.24, Z:1.34 [[ 9.21264069e-01 -3.88877832e-01 -6.82251276e-03 2.02838409e+02] [ 3.88862314e-01 9.21289140e-01 -3.52446317e-03 2.42361553e+01] [ 7.65609251e-03 5.93943186e-04 9.99970515e-01 1.33794532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.86, Y:24.25, Z:1.34 [[ 9.21428509e-01 -3.88488044e-01 -6.82223528e-03 2.02862671e+02] [ 3.88472511e-01 9.21453571e-01 -3.52500021e-03 2.42500357e+01] [ 7.65579349e-03 5.97784818e-04 9.99970515e-01 1.33816391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.89, Y:24.26, Z:1.34 [[ 9.21365877e-01 -3.88636573e-01 -6.82158831e-03 2.02885894e+02] [ 3.88621036e-01 9.21390936e-01 -3.52625178e-03 2.42632904e+01] [ 7.65578004e-03 5.97955348e-04 9.99970515e-01 1.33727923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.91, Y:24.28, Z:1.34 [[ 9.20991075e-01 -3.89523952e-01 -6.82130748e-03 2.02910671e+02] [ 3.89508434e-01 9.21016146e-01 -3.52679495e-03 2.42771195e+01] [ 7.65630543e-03 5.91189879e-04 9.99970515e-01 1.33554899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.94, Y:24.29, Z:1.33 [[ 9.20482803e-01 -3.90723543e-01 -6.82066792e-03 2.02935608e+02] [ 3.90708049e-01 9.20507889e-01 -3.52803138e-03 2.42904883e+01] [ 7.65696355e-03 5.82602360e-04 9.99970515e-01 1.33402310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.215898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:202.96, Y:24.31, Z:1.34 [[ 9.19527771e-01 -3.92965851e-01 -6.82046914e-03 2.02959338e+02] [ 3.92950415e-01 9.19552892e-01 -3.52841563e-03 2.43054859e+01] [ 7.65832897e-03 5.64369982e-04 9.99970515e-01 1.33506908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.245898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:202.98, Y:24.32, Z:1.34 [[ 9.19140822e-01 -3.93870078e-01 -6.81983965e-03 2.02983437e+02] [ 3.93854658e-01 9.19165954e-01 -3.52963191e-03 2.43196891e+01] [ 7.65878081e-03 5.58203168e-04 9.99970515e-01 1.33628300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.01, Y:24.33, Z:1.34 [[ 9.19026903e-01 -3.94135826e-01 -6.81920769e-03 2.03007530e+02] [ 3.94120405e-01 9.19052033e-01 -3.53085243e-03 2.43336123e+01] [ 7.65884213e-03 5.57359480e-04 9.99970515e-01 1.33791452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.03, Y:24.35, Z:1.34 [[ 9.19021038e-01 -3.94149505e-01 -6.81901067e-03 2.03031675e+02] [ 3.94134081e-01 9.19046167e-01 -3.53123289e-03 2.43474078e+01] [ 7.65881931e-03 5.57672818e-04 9.99970515e-01 1.33824930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.06, Y:24.36, Z:1.34 [[ 9.19265347e-01 -3.93579383e-01 -6.81838077e-03 2.03055910e+02] [ 3.93563934e-01 9.19290461e-01 -3.53244873e-03 2.43614480e+01] [ 7.65837139e-03 5.63788943e-04 9.99970515e-01 1.33695991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.08, Y:24.38, Z:1.34 [[ 9.19463335e-01 -3.93116634e-01 -6.81818517e-03 2.03079912e+02] [ 3.93101169e-01 9.19488439e-01 -3.53282622e-03 2.43757619e+01] [ 7.65805519e-03 5.68067618e-04 9.99970515e-01 1.33518415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.10, Y:24.39, Z:1.34 [[ 9.19766035e-01 -3.92407901e-01 -6.81756012e-03 2.03102154e+02] [ 3.92392409e-01 9.19791122e-01 -3.53403202e-03 2.43913247e+01] [ 7.65751336e-03 5.75323778e-04 9.99970515e-01 1.33576736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.13, Y:24.41, Z:1.34 [[ 9.19618861e-01 -3.92752691e-01 -6.81713443e-03 2.03126384e+02] [ 3.92737202e-01 9.19643950e-01 -3.53485299e-03 2.44052552e+01] [ 7.65765946e-03 5.73375179e-04 9.99970515e-01 1.33763288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:24.42, Z:1.34 [[ 9.19073996e-01 -3.94026039e-01 -6.81694136e-03 2.03150533e+02] [ 3.94010582e-01 9.19099104e-01 -3.53522528e-03 2.44188069e+01] [ 7.65841551e-03 5.63186595e-04 9.99970515e-01 1.33902472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.17, Y:24.43, Z:1.34 [[ 9.18260830e-01 -3.95917398e-01 -6.81632423e-03 2.03174130e+02] [ 3.95901984e-01 9.18285965e-01 -3.53641479e-03 2.44317952e+01] [ 7.65946301e-03 5.48754890e-04 9.99970515e-01 1.33941201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.20, Y:24.45, Z:1.34 [[ 9.15878252e-01 -4.01398268e-01 -6.81605528e-03 2.03199182e+02] [ 4.01383001e-01 9.15903476e-01 -3.53693308e-03 2.44450032e+01] [ 7.66256753e-03 5.03551363e-04 9.99970515e-01 1.33847592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.22, Y:24.46, Z:1.34 [[ 9.14548111e-01 -4.04419712e-01 -6.81544512e-03 2.03223934e+02] [ 4.04404519e-01 9.14573380e-01 -3.53810842e-03 2.44567110e+01] [ 7.66410547e-03 4.79573568e-04 9.99970515e-01 1.33653101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.25, Y:24.47, Z:1.34 [[ 9.13214682e-01 -4.07421768e-01 -6.81524198e-03 2.03249800e+02] [ 4.07406656e-01 9.13239999e-01 -3.53849968e-03 2.44684373e+01] [ 7.66561337e-03 4.54834922e-04 9.99970515e-01 1.33755558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.27, Y:24.48, Z:1.34 [[ 9.11942915e-01 -4.10260504e-01 -6.81456180e-03 2.03274900e+02] [ 4.10245461e-01 9.11968273e-01 -3.53980910e-03 2.44796420e+01] [ 7.66690803e-03 4.32460781e-04 9.99970515e-01 1.33729459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.30, Y:24.49, Z:1.34 [[ 9.10828848e-01 -4.12727966e-01 -6.81434976e-03 2.03300409e+02] [ 4.12712988e-01 9.10854245e-01 -3.54021725e-03 2.44912486e+01] [ 7.66802607e-03 4.12161343e-04 9.99970515e-01 1.33927499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.32, Y:24.50, Z:1.34 [[ 9.10059137e-01 -4.14422420e-01 -6.81364198e-03 2.03324820e+02] [ 4.14407479e-01 9.10084556e-01 -3.54157895e-03 2.45017503e+01] [ 7.66870005e-03 3.99422091e-04 9.99970515e-01 1.33807422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.35, Y:24.51, Z:1.34 [[ 9.09493808e-01 -4.15661631e-01 -6.81333464e-03 2.03351321e+02] [ 4.15646721e-01 9.09519245e-01 -3.54217010e-03 2.45106631e+01] [ 7.66920318e-03 3.89641572e-04 9.99970515e-01 1.34016876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.725898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:203.38, Y:24.52, Z:1.34 [[ 9.09917560e-01 -4.14733188e-01 -6.81292665e-03 2.03376209e+02] [ 4.14718246e-01 9.09942978e-01 -3.54295466e-03 2.45212249e+01] [ 7.66875565e-03 3.98351674e-04 9.99970515e-01 1.33854071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.40, Y:24.53, Z:1.34 [[ 9.10778736e-01 -4.12838570e-01 -6.81247876e-03 2.03401369e+02] [ 4.12823568e-01 9.10804119e-01 -3.54381566e-03 2.45324961e+01] [ 7.66785750e-03 4.15280159e-04 9.99970515e-01 1.34039087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.43, Y:24.54, Z:1.34 [[ 9.11818030e-01 -4.10538036e-01 -6.81179654e-03 2.03425800e+02] [ 4.10522961e-01 9.11843370e-01 -3.54512651e-03 2.45441083e+01] [ 7.66670079e-03 4.36111380e-04 9.99970515e-01 1.33781178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.815898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:203.45, Y:24.56, Z:1.34 [[ 9.12799575e-01 -4.08351000e-01 -6.81149922e-03 2.03451123e+02] [ 4.08335859e-01 9.12824876e-01 -3.54569769e-03 2.45569672e+01] [ 7.66559512e-03 4.55131957e-04 9.99970515e-01 1.33706244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.48, Y:24.57, Z:1.34 [[ 9.14417315e-01 -4.04715438e-01 -6.81087102e-03 2.03477457e+02] [ 4.04700188e-01 9.14442550e-01 -3.54690396e-03 2.45686283e+01] [ 7.66363706e-03 4.86989613e-04 9.99970515e-01 1.34027856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.50, Y:24.58, Z:1.34 [[ 9.15150034e-01 -4.03055872e-01 -6.81027600e-03 2.03501972e+02] [ 4.03040568e-01 9.15175236e-01 -3.54804608e-03 2.45798769e+01] [ 7.66265675e-03 5.02176987e-04 9.99970515e-01 1.34015188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.53, Y:24.59, Z:1.34 [[ 9.15667829e-01 -4.01878155e-01 -6.80998238e-03 2.03526896e+02] [ 4.01862815e-01 9.15693008e-01 -3.54860956e-03 2.45917677e+01] [ 7.66196191e-03 5.12668926e-04 9.99970515e-01 1.34142910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.935898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:203.55, Y:24.60, Z:1.34 [[ 9.16124252e-01 -4.00836611e-01 -6.80930338e-03 2.03550984e+02] [ 4.00821232e-01 9.16149408e-01 -3.54991199e-03 2.46036873e+01] [ 7.66127395e-03 5.22847094e-04 9.99970515e-01 1.34081191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.58, Y:24.62, Z:1.34 [[ 9.16627529e-01 -3.99684388e-01 -6.80900853e-03 2.03575327e+02] [ 3.99668974e-01 9.16652664e-01 -3.55047743e-03 2.46159654e+01] [ 7.66056621e-03 5.33115902e-04 9.99970515e-01 1.34064798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.60, Y:24.63, Z:1.34 [[ 9.17189935e-01 -3.98392103e-01 -6.80855018e-03 2.03599358e+02] [ 3.98376646e-01 9.17215043e-01 -3.55135617e-03 2.46290557e+01] [ 7.65973690e-03 5.44900740e-04 9.99970515e-01 1.33964048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.025898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:203.62, Y:24.64, Z:1.34 [[ 9.18346414e-01 -3.95718979e-01 -6.80834882e-03 2.03623945e+02] [ 3.95703447e-01 9.18371476e-01 -3.55174216e-03 2.46442186e+01] [ 7.65808514e-03 5.67642585e-04 9.99970515e-01 1.33728571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.65, Y:24.66, Z:1.34 [[ 9.18741124e-01 -3.94801723e-01 -6.80778204e-03 2.03647170e+02] [ 3.94786158e-01 9.18766166e-01 -3.55282820e-03 2.46577080e+01] [ 7.65742250e-03 5.76511265e-04 9.99970515e-01 1.33796266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.67, Y:24.67, Z:1.34 [[ 9.18954132e-01 -3.94305672e-01 -6.80734100e-03 2.03671816e+02] [ 3.94290087e-01 9.18979161e-01 -3.55367305e-03 2.46718081e+01] [ 7.65703796e-03 5.81595458e-04 9.99970515e-01 1.34028604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.69, Y:24.68, Z:1.34 [[ 9.19025791e-01 -3.94138637e-01 -6.80665889e-03 2.03694999e+02] [ 3.94123038e-01 9.19050811e-01 -3.55497908e-03 2.46849322e+01] [ 7.65681998e-03 5.84456383e-04 9.99970515e-01 1.33990410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.145898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.72, Y:24.70, Z:1.34 [[ 9.18614149e-01 -3.95097100e-01 -6.80636255e-03 2.03718316e+02] [ 3.95081523e-01 9.18639183e-01 -3.55554636e-03 2.46984385e+01] [ 7.65737739e-03 5.77107113e-04 9.99970515e-01 1.34025737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.74, Y:24.71, Z:1.34 [[ 9.18413345e-01 -3.95563655e-01 -6.80608223e-03 2.03742935e+02] [ 3.95548086e-01 9.18438384e-01 -3.55608287e-03 2.47117411e+01] [ 7.65762430e-03 5.73821163e-04 9.99970515e-01 1.34073192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.77, Y:24.72, Z:1.34 [[ 9.18214588e-01 -3.96024819e-01 -6.80543959e-03 2.03767648e+02] [ 3.96009254e-01 9.18239629e-01 -3.55731229e-03 2.47248487e+01] [ 7.65780828e-03 5.71358979e-04 9.99970515e-01 1.34250677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.79, Y:24.74, Z:1.34 [[ 9.18139782e-01 -3.96198228e-01 -6.80476714e-03 2.03792800e+02] [ 3.96182658e-01 9.18164821e-01 -3.55859815e-03 2.47381946e+01] [ 7.65780808e-03 5.71359795e-04 9.99970515e-01 1.34272549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.265898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.82, Y:24.75, Z:1.34 [[ 9.17926168e-01 -3.96692896e-01 -6.80409483e-03 2.03817714e+02] [ 3.96677330e-01 9.17951209e-01 -3.55988315e-03 2.47507852e+01] [ 7.65800744e-03 5.68679726e-04 9.99970515e-01 1.34362058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.84, Y:24.76, Z:1.35 [[ 9.17743755e-01 -3.97114728e-01 -6.80388611e-03 2.03843863e+02] [ 3.97099171e-01 9.17768801e-01 -3.56028202e-03 2.47637114e+01] [ 7.65823483e-03 5.65609059e-04 9.99970515e-01 1.34590913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.87, Y:24.78, Z:1.35 [[ 9.17700802e-01 -3.97213989e-01 -6.80329319e-03 2.03868956e+02] [ 3.97198426e-01 9.17725845e-01 -3.56141468e-03 2.47757851e+01] [ 7.65820172e-03 5.66055759e-04 9.99970515e-01 1.34736578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.89, Y:24.79, Z:1.35 [[ 9.17880961e-01 -3.96797512e-01 -6.80262007e-03 2.03894523e+02] [ 3.96781929e-01 9.17905991e-01 -3.56269992e-03 2.47862384e+01] [ 7.65783619e-03 5.70977715e-04 9.99970515e-01 1.35017496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.92, Y:24.80, Z:1.35 [[ 9.17988943e-01 -3.96547637e-01 -6.80231245e-03 2.03920116e+02] [ 3.96532042e-01 9.18013966e-01 -3.56328718e-03 2.47981007e+01] [ 7.65763094e-03 5.73723389e-04 9.99970515e-01 1.35198620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.415898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:203.94, Y:24.81, Z:1.35 [[ 9.18089637e-01 -3.96314466e-01 -6.80163126e-03 2.03943982e+02] [ 3.96298855e-01 9.18114650e-01 -3.56458696e-03 2.48096883e+01] [ 7.65737468e-03 5.77131666e-04 9.99970515e-01 1.35159978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.97, Y:24.82, Z:1.35 [[ 9.18299376e-01 -3.95828242e-01 -6.80133448e-03 2.03969307e+02] [ 3.95812614e-01 9.18324378e-01 -3.56515314e-03 2.48221048e+01] [ 7.65701956e-03 5.81823926e-04 9.99970515e-01 1.35149303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.99, Y:24.83, Z:1.35 [[ 9.18472191e-01 -3.95427093e-01 -6.80064243e-03 2.03993699e+02] [ 3.95411444e-01 9.18497180e-01 -3.56647275e-03 2.48346696e+01] [ 7.65665085e-03 5.86654201e-04 9.99970515e-01 1.35023779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.02, Y:24.85, Z:1.35 [[ 9.18506813e-01 -3.95346671e-01 -6.80034149e-03 2.04019310e+02] [ 3.95331016e-01 9.18531798e-01 -3.56704648e-03 2.48455119e+01] [ 7.65654985e-03 5.87970579e-04 9.99970515e-01 1.34874639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.04, Y:24.86, Z:1.35 [[ 9.18295146e-01 -3.95838085e-01 -6.79967916e-03 2.04044184e+02] [ 3.95822434e-01 9.18320134e-01 -3.56830860e-03 2.48560676e+01] [ 7.65675472e-03 5.85294915e-04 9.99970515e-01 1.34786770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.07, Y:24.87, Z:1.35 [[ 9.17732412e-01 -3.97141019e-01 -6.79939122e-03 2.04070225e+02] [ 3.97125399e-01 9.17757419e-01 -3.56885718e-03 2.48668995e+01] [ 7.65753132e-03 5.75044956e-04 9.99970515e-01 1.34809703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.10, Y:24.88, Z:1.35 [[ 9.16904506e-01 -3.99048750e-01 -6.79873668e-03 2.04095326e+02] [ 3.99033173e-01 9.16929540e-01 -3.57010366e-03 2.48774455e+01] [ 7.65860790e-03 5.60522668e-04 9.99970515e-01 1.34756704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.12, Y:24.89, Z:1.35 [[ 9.16182431e-01 -4.00703802e-01 -6.79828964e-03 2.04121165e+02] [ 4.00688264e-01 9.16207489e-01 -3.57095472e-03 2.48880230e+01] [ 7.65953901e-03 5.47651100e-04 9.99970515e-01 1.34805284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.15, Y:24.90, Z:1.35 [[ 9.15558195e-01 -4.02128069e-01 -6.79766209e-03 2.04146875e+02] [ 4.02112562e-01 9.15583272e-01 -3.57214893e-03 2.48985428e+01] [ 7.66028705e-03 5.37084907e-04 9.99970515e-01 1.34922865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.17, Y:24.90, Z:1.35 [[ 9.14926781e-01 -4.03562617e-01 -6.79696534e-03 2.04173877e+02] [ 4.03547139e-01 9.14951877e-01 -3.57347419e-03 2.49047494e+01] [ 7.66101679e-03 5.26571323e-04 9.99970515e-01 1.34675263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.20, Y:24.91, Z:1.35 [[ 9.14730063e-01 -4.04008314e-01 -6.79666267e-03 2.04200450e+02] [ 4.03992844e-01 9.14755163e-01 -3.57404976e-03 2.49148123e+01] [ 7.66122809e-03 5.23487679e-04 9.99970515e-01 1.34560672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.23, Y:24.93, Z:1.35 [[ 9.14533007e-01 -4.04454185e-01 -6.79637718e-03 2.04227050e+02] [ 4.04438724e-01 9.14558113e-01 -3.57459257e-03 2.49253330e+01] [ 7.66144081e-03 5.20364785e-04 9.99970515e-01 1.34616957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.25, Y:24.93, Z:1.35 [[ 9.14628514e-01 -4.04238171e-01 -6.79572763e-03 2.04254887e+02] [ 4.04222694e-01 9.14653610e-01 -3.57582701e-03 2.49323780e+01] [ 7.66122258e-03 5.23566019e-04 9.99970515e-01 1.34770934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.28, Y:24.94, Z:1.35 [[ 9.14734967e-01 -4.03997236e-01 -6.79507760e-03 2.04281418e+02] [ 4.03981743e-01 9.14760054e-01 -3.57706182e-03 2.49423824e+01] [ 7.66098864e-03 5.26976231e-04 9.99970515e-01 1.34920198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.31, Y:24.95, Z:1.35 [[ 9.14985071e-01 -4.03430484e-01 -6.79441751e-03 2.04307646e+02] [ 4.03414966e-01 9.15010142e-01 -3.57831519e-03 2.49517529e+01] [ 7.66056236e-03 5.33135271e-04 9.99970515e-01 1.34979253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.865898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:204.33, Y:24.96, Z:1.35 [[ 9.15046695e-01 -4.03290702e-01 -6.79375511e-03 2.04333869e+02] [ 4.03275171e-01 9.15071758e-01 -3.57957237e-03 2.49617461e+01] [ 7.66038169e-03 5.35723117e-04 9.99970515e-01 1.35019806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.36, Y:24.97, Z:1.35 [[ 9.15232012e-01 -4.02869978e-01 -6.79308149e-03 2.04359749e+02] [ 4.02854426e-01 9.15257062e-01 -3.58085026e-03 2.49705923e+01] [ 7.66003287e-03 5.40685841e-04 9.99970515e-01 1.35057528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.39, Y:24.98, Z:1.35 [[ 9.15225403e-01 -4.02884995e-01 -6.79278799e-03 2.04386120e+02] [ 4.02869440e-01 9.15250451e-01 -3.58140695e-03 2.49800947e+01] [ 7.65999739e-03 5.41187919e-04 9.99970515e-01 1.35216625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.42, Y:24.99, Z:1.35 [[ 9.15364038e-01 -4.02569926e-01 -6.79210865e-03 2.04415741e+02] [ 4.02554352e-01 9.15389074e-01 -3.58269485e-03 2.49851491e+01] [ 7.65970725e-03 5.45277128e-04 9.99970515e-01 1.35464270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.44, Y:24.99, Z:1.36 [[ 9.15581451e-01 -4.02075220e-01 -6.79151523e-03 2.04442665e+02] [ 4.02059625e-01 9.15606473e-01 -3.58381941e-03 2.49939140e+01] [ 7.65932028e-03 5.50684512e-04 9.99970515e-01 1.35524140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.015898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:204.47, Y:25.00, Z:1.35 [[ 9.15879631e-01 -4.01395547e-01 -6.79083570e-03 2.04469338e+02] [ 4.01379924e-01 9.15904637e-01 -3.58510655e-03 2.50032964e+01] [ 7.65880371e-03 5.57820951e-04 9.99970515e-01 1.35462993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.50, Y:25.01, Z:1.35 [[ 9.16503694e-01 -3.99968590e-01 -6.79015504e-03 2.04495084e+02] [ 3.99952919e-01 9.16528669e-01 -3.58639526e-03 2.50118025e+01] [ 7.65781721e-03 5.71202174e-04 9.99970515e-01 1.35329225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.52, Y:25.02, Z:1.35 [[ 9.17062581e-01 -3.98685491e-01 -6.78985958e-03 2.04521403e+02] [ 3.98669781e-01 9.17087531e-01 -3.58695454e-03 2.50213329e+01] [ 7.65696229e-03 5.82549963e-04 9.99970515e-01 1.35227034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.55, Y:25.03, Z:1.35 [[ 9.17980412e-01 -3.96567612e-01 -6.78918041e-03 2.04547851e+02] [ 3.96551835e-01 9.18005320e-01 -3.58823957e-03 2.50309592e+01] [ 7.65548333e-03 6.01671687e-04 9.99970515e-01 1.35033092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:25.04, Z:1.35 [[ 9.19863166e-01 -3.92180654e-01 -6.78896928e-03 2.04576029e+02] [ 3.92164755e-01 9.19887997e-01 -3.58863900e-03 2.50375217e+01] [ 7.65248614e-03 6.38662359e-04 9.99970515e-01 1.34888295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.60, Y:25.05, Z:1.35 [[ 9.20733616e-01 -3.90132696e-01 -6.78876245e-03 2.04601558e+02] [ 3.90116739e-01 9.20758410e-01 -3.58903022e-03 2.50475961e+01] [ 7.65100815e-03 6.56130905e-04 9.99970515e-01 1.34939983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.63, Y:25.06, Z:1.35 [[ 9.21472767e-01 -3.88383649e-01 -6.78831900e-03 2.04627717e+02] [ 3.88367639e-01 9.21497526e-01 -3.58986876e-03 2.50588803e+01] [ 7.64966549e-03 6.71602874e-04 9.99970515e-01 1.35084352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.65, Y:25.07, Z:1.35 [[ 9.22158057e-01 -3.86753728e-01 -6.78766914e-03 2.04653112e+02] [ 3.86737664e-01 9.22182782e-01 -3.59109708e-03 2.50705008e+01] [ 7.64834180e-03 6.86511795e-04 9.99970515e-01 1.35164919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.68, Y:25.08, Z:1.35 [[ 9.22731038e-01 -3.85384693e-01 -6.78746807e-03 2.04678844e+02] [ 3.85368590e-01 9.22755737e-01 -3.59147708e-03 2.50824149e+01] [ 7.64727540e-03 6.98290374e-04 9.99970515e-01 1.35244012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.70, Y:25.09, Z:1.35 [[ 9.23136343e-01 -3.84412833e-01 -6.78726784e-03 2.04704266e+02] [ 3.84396701e-01 9.23161023e-01 -3.59185545e-03 2.50933538e+01] [ 7.64649645e-03 7.06768937e-04 9.99970515e-01 1.35284646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.73, Y:25.11, Z:1.35 [[ 9.23098457e-01 -3.84503811e-01 -6.78663245e-03 2.04729087e+02] [ 3.84487674e-01 9.23123133e-01 -3.59305559e-03 2.51053182e+01] [ 7.64644098e-03 7.07367550e-04 9.99970515e-01 1.35417371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.75, Y:25.12, Z:1.35 [[ 9.23272879e-01 -3.84084810e-01 -6.78596362e-03 2.04753465e+02] [ 3.84068652e-01 9.23297542e-01 -3.59431832e-03 2.51171638e+01] [ 7.64598660e-03 7.12260729e-04 9.99970515e-01 1.35335350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.78, Y:25.13, Z:1.35 [[ 9.23484660e-01 -3.83575334e-01 -6.78567265e-03 2.04777975e+02] [ 3.83559159e-01 9.23509312e-01 -3.59486754e-03 2.51304022e+01] [ 7.64553440e-03 7.17098139e-04 9.99970515e-01 1.35230592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.80, Y:25.14, Z:1.35 [[ 9.24016578e-01 -3.82292201e-01 -6.78502337e-03 2.04801976e+02] [ 3.82275982e-01 9.24041201e-01 -3.59609260e-03 2.51442576e+01] [ 7.64439930e-03 7.29097708e-04 9.99970515e-01 1.34960532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.83, Y:25.16, Z:1.35 [[ 9.25143654e-01 -3.79556566e-01 -6.78472054e-03 2.04825041e+02] [ 3.79540270e-01 9.25168227e-01 -3.59666385e-03 2.51614471e+01] [ 7.64214525e-03 7.52356077e-04 9.99970515e-01 1.35048603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.465898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:204.85, Y:25.18, Z:1.35 [[ 9.25594266e-01 -3.78456379e-01 -6.78406786e-03 2.04848515e+02] [ 3.78440046e-01 9.25618813e-01 -3.59789452e-03 2.51775387e+01] [ 7.64110698e-03 7.62827590e-04 9.99970515e-01 1.35160867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.87, Y:25.19, Z:1.35 [[ 9.25937514e-01 -3.77615808e-01 -6.78386573e-03 2.04872494e+02] [ 3.77599449e-01 9.25962045e-01 -3.59827560e-03 2.51932257e+01] [ 7.64036793e-03 7.70194403e-04 9.99970515e-01 1.35433101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.90, Y:25.21, Z:1.35 [[ 9.25955910e-01 -3.77570708e-01 -6.78329443e-03 2.04895400e+02] [ 3.77554341e-01 9.25980434e-01 -3.59935227e-03 2.52086520e+01] [ 7.64020791e-03 7.71779248e-04 9.99970515e-01 1.35481714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.92, Y:25.22, Z:1.35 [[ 9.25579864e-01 -3.78491620e-01 -6.78300960e-03 2.04917539e+02] [ 3.78475273e-01 9.25604402e-01 -3.59988895e-03 2.52235982e+01] [ 7.64091135e-03 7.64783309e-04 9.99970515e-01 1.35354652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.94, Y:25.24, Z:1.35 [[ 9.24596830e-01 -3.80886725e-01 -6.78272814e-03 2.04940746e+02] [ 3.80870437e-01 9.24621407e-01 -3.60041920e-03 2.52388976e+01] [ 7.64280751e-03 7.45595545e-04 9.99970515e-01 1.35328762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.615898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:204.96, Y:25.26, Z:1.35 [[ 9.21546392e-01 -3.88209029e-01 -6.78207162e-03 2.04961667e+02] [ 3.88192928e-01 9.21571092e-01 -3.60165545e-03 2.52571499e+01] [ 7.64835632e-03 6.86340340e-04 9.99970515e-01 1.35086018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.99, Y:25.27, Z:1.35 [[ 9.19927444e-01 -3.92029985e-01 -6.78141726e-03 2.04985472e+02] [ 3.92013978e-01 9.19952205e-01 -3.60288709e-03 2.52721882e+01] [ 7.65101954e-03 6.55984359e-04 9.99970515e-01 1.35133178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.01, Y:25.29, Z:1.35 [[ 9.18293745e-01 -3.95841660e-01 -6.78076268e-03 2.05008887e+02] [ 3.95825746e-01 9.18318566e-01 -3.60411862e-03 2.52866092e+01] [ 7.65356055e-03 6.25639139e-04 9.99970515e-01 1.35186527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.705898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.03, Y:25.30, Z:1.35 [[ 9.16615187e-01 -3.99713177e-01 -6.78055950e-03 2.05032209e+02] [ 3.99697365e-01 9.16640073e-01 -3.60450082e-03 2.53000063e+01] [ 7.65609903e-03 5.93768429e-04 9.99970515e-01 1.35223753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.06, Y:25.31, Z:1.35 [[ 9.14916994e-01 -4.03585086e-01 -6.78027710e-03 2.05057172e+02] [ 4.03569376e-01 9.14941945e-01 -3.60503196e-03 2.53136180e+01] [ 7.65849705e-03 5.61992806e-04 9.99970515e-01 1.35266440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.08, Y:25.33, Z:1.35 [[ 9.12048349e-01 -4.10026640e-01 -6.77962740e-03 2.05081968e+02] [ 4.10011097e-01 9.12073405e-01 -3.60625336e-03 2.53273190e+01] [ 7.66217779e-03 5.09354955e-04 9.99970515e-01 1.35177979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.11, Y:25.34, Z:1.35 [[ 9.10864326e-01 -4.12650245e-01 -6.77896553e-03 2.05106432e+02] [ 4.12634765e-01 9.10889420e-01 -3.60749711e-03 2.53403538e+01] [ 7.66352255e-03 4.88703570e-04 9.99970515e-01 1.35142404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.13, Y:25.35, Z:1.35 [[ 9.10045773e-01 -4.14452345e-01 -6.77830285e-03 2.05131419e+02] [ 4.14436906e-01 9.10070892e-01 -3.60874182e-03 2.53531002e+01] [ 7.66438763e-03 4.74941385e-04 9.99970515e-01 1.35102612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.16, Y:25.36, Z:1.35 [[ 9.09376663e-01 -4.15918439e-01 -6.77764136e-03 2.05155368e+02] [ 4.15903031e-01 9.09401802e-01 -3.60998375e-03 2.53648657e+01] [ 7.66505807e-03 4.63993397e-04 9.99970515e-01 1.35204773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.18, Y:25.38, Z:1.35 [[ 9.09193256e-01 -4.16319219e-01 -6.77718969e-03 2.05182005e+02] [ 4.16303816e-01 9.09218398e-01 -3.61083150e-03 2.53762079e+01] [ 7.66520410e-03 4.61573719e-04 9.99970515e-01 1.35466797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.915898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:205.21, Y:25.39, Z:1.36 [[ 9.09529223e-01 -4.15584733e-01 -6.77660362e-03 2.05207096e+02] [ 4.15569301e-01 9.09554347e-01 -3.61193107e-03 2.53885132e+01] [ 7.66475268e-03 4.69008429e-04 9.99970515e-01 1.35643250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.23, Y:25.40, Z:1.36 [[ 9.10217257e-01 -4.14075636e-01 -6.77592541e-03 2.05233102e+02] [ 4.14060153e-01 9.10242349e-01 -3.61320293e-03 2.54001399e+01] [ 7.66387356e-03 4.83158949e-04 9.99970515e-01 1.35859950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.26, Y:25.41, Z:1.36 [[ 9.11064250e-01 -4.12208720e-01 -6.77523123e-03 2.05258705e+02] [ 4.12193177e-01 9.11089304e-01 -3.61450413e-03 2.54122533e+01] [ 7.66277083e-03 5.00341409e-04 9.99970515e-01 1.36070171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.28, Y:25.42, Z:1.36 [[ 9.11997254e-01 -4.10140359e-01 -6.77453617e-03 2.05282579e+02] [ 4.10124749e-01 9.12022267e-01 -3.61580639e-03 2.54240553e+01] [ 7.66151597e-03 5.19200552e-04 9.99970515e-01 1.36182139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.31, Y:25.44, Z:1.36 [[ 9.12743019e-01 -4.08478020e-01 -6.77406165e-03 2.05308054e+02] [ 4.08462358e-01 9.12768000e-01 -3.61669516e-03 2.54367342e+01] [ 7.66048718e-03 5.34164064e-04 9.99970515e-01 1.36210783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.33, Y:25.45, Z:1.36 [[ 9.14142552e-01 -4.05336299e-01 -6.77337403e-03 2.05334120e+02] [ 4.05320542e-01 9.14167473e-01 -3.61798248e-03 2.54480661e+01] [ 7.65849785e-03 5.61964110e-04 9.99970515e-01 1.35818261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.36, Y:25.46, Z:1.36 [[ 9.14652412e-01 -4.04184474e-01 -6.77315980e-03 2.05359510e+02] [ 4.04168682e-01 9.14677311e-01 -3.61838351e-03 2.54607385e+01] [ 7.65775003e-03 5.72064133e-04 9.99970515e-01 1.35687258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.38, Y:25.47, Z:1.36 [[ 9.14575966e-01 -4.04357436e-01 -6.77247654e-03 2.05384562e+02] [ 4.04341640e-01 9.14600862e-01 -3.61966190e-03 2.54743112e+01] [ 7.65775008e-03 5.72061512e-04 9.99970515e-01 1.35709130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.41, Y:25.49, Z:1.36 [[ 9.15119054e-01 -4.03126853e-01 -6.77179180e-03 2.05408865e+02] [ 4.03111013e-01 9.15143923e-01 -3.62094248e-03 2.54869998e+01] [ 7.65686326e-03 5.83809601e-04 9.99970515e-01 1.35656344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.43, Y:25.50, Z:1.36 [[ 9.15656332e-01 -4.01905003e-01 -6.77132512e-03 2.05432958e+02] [ 4.01889124e-01 9.15681175e-01 -3.62181499e-03 2.55004009e+01] [ 7.65600050e-03 5.95015907e-04 9.99970515e-01 1.35868298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.46, Y:25.51, Z:1.36 [[ 9.16405656e-01 -4.00193493e-01 -6.77062842e-03 2.05456752e+02] [ 4.00177558e-01 9.16430464e-01 -3.62311693e-03 2.55143543e+01] [ 7.65475796e-03 6.10791308e-04 9.99970515e-01 1.35950340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.48, Y:25.53, Z:1.36 [[ 9.17786005e-01 -3.97017646e-01 -6.77041349e-03 2.05480644e+02] [ 3.97001622e-01 9.17810755e-01 -3.62351852e-03 2.55293706e+01] [ 7.65255911e-03 6.37749450e-04 9.99970515e-01 1.36089392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.50, Y:25.54, Z:1.36 [[ 9.18279754e-01 -3.95874304e-01 -6.76974658e-03 2.05504659e+02] [ 3.95858241e-01 9.18304478e-01 -3.62476405e-03 2.55434351e+01] [ 7.65163955e-03 6.48687466e-04 9.99970515e-01 1.36105324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.53, Y:25.56, Z:1.36 [[ 9.18607585e-01 -3.95113002e-01 -6.76906911e-03 2.05528321e+02] [ 3.95096909e-01 9.18632290e-01 -3.62602875e-03 2.55574080e+01] [ 7.65097657e-03 6.56459234e-04 9.99970515e-01 1.36051452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.55, Y:25.57, Z:1.36 [[ 9.18206054e-01 -3.96045232e-01 -6.76877557e-03 2.05551290e+02] [ 3.96029160e-01 9.18230773e-01 -3.62657664e-03 2.55728945e+01] [ 7.65158641e-03 6.49312129e-04 9.99970515e-01 1.35857968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.58, Y:25.59, Z:1.36 [[ 9.17377441e-01 -3.97960824e-01 -6.76857012e-03 2.05575445e+02] [ 3.97944801e-01 9.17402191e-01 -3.62696005e-03 2.55871570e+01] [ 7.65288907e-03 6.33774042e-04 9.99970515e-01 1.35959300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.60, Y:25.60, Z:1.36 [[ 9.16437858e-01 -4.00119792e-01 -6.76791059e-03 2.05600050e+02] [ 4.00103818e-01 9.16462640e-01 -3.62819031e-03 2.56013041e+01] [ 7.65424796e-03 6.17144091e-04 9.99970515e-01 1.36081555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.62, Y:25.61, Z:1.36 [[ 9.15645784e-01 -4.01929101e-01 -6.76724320e-03 2.05624167e+02] [ 4.01913166e-01 9.15670593e-01 -3.62943469e-03 2.56145082e+01] [ 7.65534101e-03 6.03432431e-04 9.99970515e-01 1.36273209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.65, Y:25.63, Z:1.36 [[ 9.15085721e-01 -4.03202592e-01 -6.76703585e-03 2.05647660e+02] [ 4.03186689e-01 9.15110550e-01 -3.62982125e-03 2.56275778e+01] [ 7.65613923e-03 5.93218820e-04 9.99970515e-01 1.36411906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.67, Y:25.64, Z:1.36 [[ 9.14746415e-01 -4.03971791e-01 -6.76674702e-03 2.05672151e+02] [ 4.03955905e-01 9.14771254e-01 -3.63035961e-03 2.56412133e+01] [ 7.65658853e-03 5.87391025e-04 9.99970515e-01 1.36459502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.70, Y:25.66, Z:1.36 [[ 9.14793029e-01 -4.03866233e-01 -6.76609065e-03 2.05696203e+02] [ 4.03850335e-01 9.14817861e-01 -3.63158250e-03 2.56562123e+01] [ 7.65641412e-03 5.89658379e-04 9.99970515e-01 1.36362459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.72, Y:25.67, Z:1.36 [[ 9.14978992e-01 -4.03444758e-01 -6.76542971e-03 2.05719898e+02] [ 4.03428840e-01 9.15003811e-01 -3.63281338e-03 2.56707908e+01] [ 7.65603348e-03 5.94578460e-04 9.99970515e-01 1.36405767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.74, Y:25.68, Z:1.37 [[ 9.15262570e-01 -4.02801025e-01 -6.76474051e-03 2.05742440e+02] [ 4.02785080e-01 9.15287372e-01 -3.63409631e-03 2.56849886e+01] [ 7.65549928e-03 6.01415783e-04 9.99970515e-01 1.36520055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.605898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:205.77, Y:25.70, Z:1.37 [[ 9.15413392e-01 -4.02458153e-01 -6.76444039e-03 2.05765906e+02] [ 4.02442195e-01 9.15438184e-01 -3.63465485e-03 2.57000417e+01] [ 7.65522351e-03 6.04915491e-04 9.99970515e-01 1.36611047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.79, Y:25.71, Z:1.37 [[ 9.15590528e-01 -4.02055017e-01 -6.76377716e-03 2.05790233e+02] [ 4.02039039e-01 9.15615308e-01 -3.63588865e-03 2.57142419e+01] [ 7.65484518e-03 6.09682735e-04 9.99970515e-01 1.36688475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.81, Y:25.73, Z:1.37 [[ 9.15483981e-01 -4.02297577e-01 -6.76309211e-03 2.05813719e+02] [ 4.02281596e-01 9.15508759e-01 -3.63716246e-03 2.57285814e+01] [ 7.65489171e-03 6.09096478e-04 9.99970515e-01 1.36651807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.84, Y:25.74, Z:1.36 [[ 9.14982150e-01 -4.03437641e-01 -6.76279426e-03 2.05836405e+02] [ 4.03421687e-01 9.15006945e-01 -3.63771619e-03 2.57442488e+01] [ 7.65559535e-03 6.00187507e-04 9.99970515e-01 1.36432408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.86, Y:25.76, Z:1.36 [[ 9.14641961e-01 -4.04208302e-01 -6.76250933e-03 2.05860282e+02] [ 4.04192365e-01 9.14666767e-01 -3.63824579e-03 2.57588329e+01] [ 7.65605170e-03 5.94337624e-04 9.99970515e-01 1.36458861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.88, Y:25.77, Z:1.37 [[ 9.14380223e-01 -4.04800055e-01 -6.76183806e-03 2.05883334e+02] [ 4.04784125e-01 9.14405034e-01 -3.63949295e-03 2.57725617e+01] [ 7.65632571e-03 5.90795677e-04 9.99970515e-01 1.36514543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.91, Y:25.79, Z:1.37 [[ 9.14160904e-01 -4.05295106e-01 -6.76154525e-03 2.05907609e+02] [ 4.05279185e-01 9.14185721e-01 -3.64003686e-03 2.57867170e+01] [ 7.65659724e-03 5.87265837e-04 9.99970515e-01 1.36605939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.93, Y:25.80, Z:1.36 [[ 9.13913716e-01 -4.05852202e-01 -6.76085153e-03 2.05930320e+02] [ 4.05836287e-01 9.13938537e-01 -3.64132488e-03 2.58016827e+01] [ 7.65684248e-03 5.84057872e-04 9.99970515e-01 1.36434464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.95, Y:25.82, Z:1.36 [[ 9.13835563e-01 -4.06028150e-01 -6.76055001e-03 2.05954489e+02] [ 4.06012236e-01 9.13860384e-01 -3.64188462e-03 2.58156438e+01] [ 7.65690650e-03 5.83217661e-04 9.99970515e-01 1.36401312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:25.83, Z:1.36 [[ 9.13967657e-01 -4.05730731e-01 -6.75985288e-03 2.05977771e+02] [ 4.05714799e-01 9.13992467e-01 -3.64317812e-03 2.58292181e+01] [ 7.65660393e-03 5.87174618e-04 9.99970515e-01 1.36305631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.00, Y:25.84, Z:1.36 [[ 9.14195631e-01 -4.05216802e-01 -6.75954966e-03 2.06001486e+02] [ 4.05200852e-01 9.14220429e-01 -3.64374063e-03 2.58432195e+01] [ 7.65622332e-03 5.92116485e-04 9.99970515e-01 1.36391455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.02, Y:25.86, Z:1.37 [[ 9.14581022e-01 -4.04346227e-01 -6.75888165e-03 2.06024636e+02] [ 4.04330244e-01 9.14605799e-01 -3.64497932e-03 2.58572677e+01] [ 7.65554599e-03 6.00808647e-04 9.99970515e-01 1.36534766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.05, Y:25.87, Z:1.37 [[ 9.15134688e-01 -4.03091585e-01 -6.75842596e-03 2.06048225e+02] [ 4.03075562e-01 9.15159439e-01 -3.64582405e-03 2.58721300e+01] [ 7.65463831e-03 6.12263712e-04 9.99970515e-01 1.36760192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.07, Y:25.89, Z:1.37 [[ 9.16678953e-01 -3.99567304e-01 -6.75776509e-03 2.06071085e+02] [ 3.99551177e-01 9.16703636e-01 -3.64704861e-03 2.58895859e+01] [ 7.65210921e-03 6.43099700e-04 9.99970515e-01 1.36881510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.09, Y:25.90, Z:1.37 [[ 9.17513934e-01 -3.97646229e-01 -6.75707878e-03 2.06093239e+02] [ 3.97630041e-01 9.17538577e-01 -3.64831972e-03 2.59048192e+01] [ 7.65062103e-03 6.60566664e-04 9.99970515e-01 1.36756538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.12, Y:25.92, Z:1.37 [[ 9.18213414e-01 -3.96028375e-01 -6.75661086e-03 2.06115643e+02] [ 3.96012137e-01 9.18238025e-01 -3.64918611e-03 2.59209476e+01] [ 7.64935825e-03 6.75031728e-04 9.99970515e-01 1.36620730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.14, Y:25.94, Z:1.37 [[ 9.18841554e-01 -3.94568816e-01 -6.75632081e-03 2.06138067e+02] [ 3.94552536e-01 9.18866136e-01 -3.64972303e-03 2.59379694e+01] [ 7.64822130e-03 6.87793669e-04 9.99970515e-01 1.36540459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.115898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:206.16, Y:25.96, Z:1.37 [[ 9.19178728e-01 -3.93782716e-01 -6.75565389e-03 2.06160399e+02] [ 3.93766405e-01 9.19203290e-01 -3.65095709e-03 2.59557584e+01] [ 7.64750308e-03 6.95732552e-04 9.99970515e-01 1.36601588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:25.97, Z:1.37 [[ 9.19451304e-01 -3.93145863e-01 -6.75498848e-03 2.06182702e+02] [ 3.93129526e-01 9.19475849e-01 -3.65218782e-03 2.59723147e+01] [ 7.64689130e-03 7.02423431e-04 9.99970515e-01 1.36792665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.20, Y:25.99, Z:1.37 [[ 9.18956901e-01 -3.94300132e-01 -6.75430098e-03 2.06203269e+02] [ 3.94283817e-01 9.18981460e-01 -3.65345883e-03 2.59932986e+01] [ 7.64763667e-03 6.94259632e-04 9.99970515e-01 1.37017132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.22, Y:26.01, Z:1.37 [[ 9.18355966e-01 -3.95697741e-01 -6.75408805e-03 2.06224780e+02] [ 3.95681461e-01 9.18380548e-01 -3.65385242e-03 2.60094875e+01] [ 7.64864424e-03 6.83069747e-04 9.99970515e-01 1.37038156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.25, Y:26.03, Z:1.37 [[ 9.17627737e-01 -3.97383596e-01 -6.75379251e-03 2.06246665e+02] [ 3.97367357e-01 9.17652347e-01 -3.65439862e-03 2.60263722e+01] [ 7.64983161e-03 6.69640857e-04 9.99970515e-01 1.37078808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:26.05, Z:1.37 [[ 9.16454303e-01 -4.00082371e-01 -6.75334724e-03 2.06267526e+02] [ 4.00066198e-01 9.16478956e-01 -3.65522129e-03 2.60469008e+01] [ 7.65169023e-03 6.48057321e-04 9.99970515e-01 1.37157381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.29, Y:26.06, Z:1.37 [[ 9.16040580e-01 -4.01028748e-01 -6.75270232e-03 2.06290688e+02] [ 4.01012592e-01 9.16065244e-01 -3.65641233e-03 2.60634686e+01] [ 7.65224236e-03 6.41503414e-04 9.99970515e-01 1.37210286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.31, Y:26.08, Z:1.37 [[ 9.15624723e-01 -4.01977335e-01 -6.75201363e-03 2.06313488e+02] [ 4.01961195e-01 9.15649397e-01 -3.65768364e-03 2.60797954e+01] [ 7.65278314e-03 6.35018099e-04 9.99970515e-01 1.37217422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.34, Y:26.10, Z:1.37 [[ 9.15209276e-01 -4.02922326e-01 -6.75132034e-03 2.06335383e+02] [ 4.02906203e-01 9.15233961e-01 -3.65896287e-03 2.60954325e+01] [ 7.65331549e-03 6.28567913e-04 9.99970515e-01 1.37123513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.36, Y:26.11, Z:1.37 [[ 9.14822136e-01 -4.03800552e-01 -6.75084645e-03 2.06358257e+02] [ 4.03784445e-01 9.14846833e-01 -3.65983700e-03 2.61112953e+01] [ 7.65383469e-03 6.22213116e-04 9.99970515e-01 1.36999632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:26.13, Z:1.37 [[ 9.14398407e-01 -4.04759174e-01 -6.75015824e-03 2.06380629e+02] [ 4.04743084e-01 9.14423114e-01 -3.66110589e-03 2.61270236e+01] [ 7.65436691e-03 6.15629525e-04 9.99970515e-01 1.36878622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.40, Y:26.15, Z:1.37 [[ 9.13531439e-01 -4.06712123e-01 -6.74968981e-03 2.06402841e+02] [ 4.06696080e-01 9.13556177e-01 -3.66196929e-03 2.61451062e+01] [ 7.65558812e-03 6.00251683e-04 9.99970515e-01 1.36946908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.43, Y:26.16, Z:1.37 [[ 9.12869974e-01 -4.08194637e-01 -6.74902929e-03 2.06425728e+02] [ 4.08178625e-01 9.12894732e-01 -3.66318622e-03 2.61608764e+01] [ 7.65644625e-03 5.89203209e-04 9.99970515e-01 1.37032276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.45, Y:26.18, Z:1.37 [[ 9.12283499e-01 -4.09503695e-01 -6.74836239e-03 2.06447804e+02] [ 4.09487710e-01 9.12308274e-01 -3.66441438e-03 2.61762637e+01] [ 7.65717808e-03 5.79613315e-04 9.99970515e-01 1.37011413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.47, Y:26.19, Z:1.37 [[ 9.11626674e-01 -4.10963834e-01 -6.74790750e-03 2.06470784e+02] [ 4.10947882e-01 9.11651471e-01 -3.66525185e-03 2.61921026e+01] [ 7.65802575e-03 5.68303059e-04 9.99970515e-01 1.37078278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.49, Y:26.21, Z:1.37 [[ 9.10455791e-01 -4.13551360e-01 -6.74721266e-03 2.06492594e+02] [ 4.13535469e-01 9.10480627e-01 -3.66653051e-03 2.62090611e+01] [ 7.65950509e-03 5.48002179e-04 9.99970515e-01 1.37080328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.52, Y:26.22, Z:1.37 [[ 9.09864713e-01 -4.14850194e-01 -6.74690959e-03 2.06516087e+02] [ 4.14834334e-01 9.09889569e-01 -3.66708811e-03 2.62235638e+01] [ 7.66023488e-03 5.37704322e-04 9.99970515e-01 1.37234223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.54, Y:26.24, Z:1.37 [[ 9.09310048e-01 -4.16064569e-01 -6.74623088e-03 2.06539533e+02] [ 4.16048733e-01 9.09334919e-01 -3.66833630e-03 2.62380128e+01] [ 7.66084807e-03 5.28894242e-04 9.99970515e-01 1.37356620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.56, Y:26.25, Z:1.37 [[ 9.08803671e-01 -4.17169492e-01 -6.74555144e-03 2.06563319e+02] [ 4.17153677e-01 9.08828556e-01 -3.66958526e-03 2.62522079e+01] [ 7.66138879e-03 5.21000965e-04 9.99970515e-01 1.37452260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.59, Y:26.27, Z:1.37 [[ 9.08543741e-01 -4.17735296e-01 -6.74487140e-03 2.06586614e+02] [ 4.17719488e-01 9.08568629e-01 -3.67083479e-03 2.62662791e+01] [ 7.66161582e-03 5.17649746e-04 9.99970515e-01 1.37407392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.61, Y:26.28, Z:1.37 [[ 9.08317579e-01 -4.18226836e-01 -6.74457432e-03 2.06610395e+02] [ 4.18211037e-01 9.08342474e-01 -3.67138054e-03 2.62810914e+01] [ 7.66185319e-03 5.14124057e-04 9.99970515e-01 1.36942750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:26.29, Z:1.37 [[ 9.07934276e-01 -4.19058313e-01 -6.74387619e-03 2.06633454e+02] [ 4.19042528e-01 9.07959179e-01 -3.67266247e-03 2.62949500e+01] [ 7.66222403e-03 5.08565215e-04 9.99970515e-01 1.36755462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.66, Y:26.31, Z:1.37 [[ 9.07441486e-01 -4.20124356e-01 -6.74357234e-03 2.06658148e+02] [ 4.20108596e-01 9.07466404e-01 -3.67322030e-03 2.63090257e+01] [ 7.66277466e-03 5.00199778e-04 9.99970515e-01 1.36631560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.68, Y:26.32, Z:1.37 [[ 9.06704038e-01 -4.21713553e-01 -6.74290372e-03 2.06682404e+02] [ 4.21697827e-01 9.06728979e-01 -3.67444727e-03 2.63225629e+01] [ 7.66355042e-03 4.88168337e-04 9.99970515e-01 1.36662611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.71, Y:26.33, Z:1.37 [[ 9.05861212e-01 -4.23520963e-01 -6.74220765e-03 2.06706690e+02] [ 4.23505278e-01 9.05886179e-01 -3.67572404e-03 2.63349336e+01] [ 7.66441891e-03 4.74335312e-04 9.99970515e-01 1.36584070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.73, Y:26.35, Z:1.37 [[ 9.04805642e-01 -4.25771417e-01 -6.74173468e-03 2.06731870e+02] [ 4.25755787e-01 9.04830643e-01 -3.67659133e-03 2.63464239e+01] [ 7.66551562e-03 4.56268023e-04 9.99970515e-01 1.36536074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.76, Y:26.36, Z:1.37 [[ 9.02419700e-01 -4.30805342e-01 -6.74105069e-03 2.06758752e+02] [ 4.30789843e-01 9.02444782e-01 -3.67784500e-03 2.63550090e+01] [ 7.66786129e-03 4.14983613e-04 9.99970515e-01 1.36560148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.925898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:206.78, Y:26.37, Z:1.37 [[ 9.01367105e-01 -4.33003353e-01 -6.74083741e-03 2.06784623e+02] [ 4.32987912e-01 9.01392223e-01 -3.67823586e-03 2.63665186e+01] [ 7.66882687e-03 3.96739699e-04 9.99970515e-01 1.36766907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.81, Y:26.38, Z:1.37 [[ 9.00740530e-01 -4.34305270e-01 -6.74018911e-03 2.06810104e+02] [ 4.34289856e-01 9.00765665e-01 -3.67942345e-03 2.63774554e+01] [ 7.66932392e-03 3.87010063e-04 9.99970515e-01 1.36971945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.84, Y:26.39, Z:1.37 [[ 9.00630894e-01 -4.34532582e-01 -6.73997325e-03 2.06835647e+02] [ 4.34517172e-01 9.00656031e-01 -3.67981882e-03 2.63891011e+01] [ 7.66939873e-03 3.85524397e-04 9.99970515e-01 1.37188847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.86, Y:26.40, Z:1.37 [[ 9.01873579e-01 -4.31947484e-01 -6.73929567e-03 2.06861685e+02] [ 4.31931992e-01 9.01898666e-01 -3.68105935e-03 2.63999922e+01] [ 7.66818609e-03 4.08932767e-04 9.99970515e-01 1.37154996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:26.41, Z:1.37 [[ 9.01794235e-01 -4.32113121e-01 -6.73862007e-03 2.06886581e+02] [ 4.32097625e-01 9.01819319e-01 -3.68229569e-03 2.64138099e+01] [ 7.66818604e-03 4.08931300e-04 9.99970515e-01 1.37176868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.075898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:206.91, Y:26.43, Z:1.37 [[ 9.02972118e-01 -4.29646313e-01 -6.73794354e-03 2.06911243e+02] [ 4.29630739e-01 9.02997154e-01 -3.68353320e-03 2.64266496e+01] [ 7.66696030e-03 4.31300111e-04 9.99970515e-01 1.37025122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.94, Y:26.44, Z:1.37 [[ 9.04098399e-01 -4.27271211e-01 -6.73773352e-03 2.06936130e+02] [ 4.27255568e-01 9.04123392e-01 -3.68391731e-03 2.64396747e+01] [ 7.66577430e-03 4.51889578e-04 9.99970515e-01 1.36991663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.96, Y:26.45, Z:1.37 [[ 9.05131641e-01 -4.25078022e-01 -6.73702771e-03 2.06960179e+02] [ 4.25062309e-01 9.05156590e-01 -3.68520762e-03 2.64522263e+01] [ 7.66456580e-03 4.71941469e-04 9.99970515e-01 1.36940340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.99, Y:26.47, Z:1.37 [[ 9.05874689e-01 -4.23492225e-01 -6.73672061e-03 2.06985168e+02] [ 4.23476465e-01 9.05899608e-01 -3.68576894e-03 2.64653394e+01] [ 7.66368705e-03 4.86002166e-04 9.99970515e-01 1.37150890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.01, Y:26.48, Z:1.37 [[ 9.06825620e-01 -4.21452158e-01 -6.73601974e-03 2.07010554e+02] [ 4.21436332e-01 9.06850497e-01 -3.68704938e-03 2.64775761e+01] [ 7.66247777e-03 5.04707388e-04 9.99970515e-01 1.37354908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.03, Y:26.49, Z:1.37 [[ 9.06967492e-01 -4.21146767e-01 -6.73569124e-03 2.07034378e+02] [ 4.21130928e-01 9.06992361e-01 -3.68764941e-03 2.64899282e+01] [ 7.66226213e-03 5.07970237e-04 9.99970515e-01 1.37436930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.06, Y:26.50, Z:1.37 [[ 9.06977982e-01 -4.21124179e-01 -6.73539849e-03 2.07059016e+02] [ 4.21108336e-01 9.07002848e-01 -3.68818403e-03 2.65026094e+01] [ 7.66220909e-03 5.08769260e-04 9.99970515e-01 1.37472940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.08, Y:26.52, Z:1.38 [[ 9.06974615e-01 -4.21131441e-01 -6.73474707e-03 2.07084137e+02] [ 4.21115589e-01 9.06999476e-01 -3.68937317e-03 2.65153272e+01] [ 7.66212310e-03 5.10060834e-04 9.99970515e-01 1.37606645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.11, Y:26.53, Z:1.38 [[ 9.06622229e-01 -4.21889570e-01 -6.73230314e-03 2.07110595e+02] [ 4.21873706e-01 9.06647082e-01 -3.69383324e-03 2.65262306e+01] [ 7.66221271e-03 5.08729653e-04 9.99970515e-01 1.37547393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.14, Y:26.54, Z:1.38 [[ 9.06242344e-01 -4.22704942e-01 -6.73398167e-03 2.07135485e+02] [ 4.22689123e-01 9.06267225e-01 -3.69077068e-03 2.65378577e+01] [ 7.66289389e-03 4.98351862e-04 9.99970515e-01 1.37512533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.16, Y:26.55, Z:1.38 [[ 9.05818085e-01 -4.23613332e-01 -6.73368766e-03 2.07160868e+02] [ 4.23597534e-01 9.05842979e-01 -3.69130702e-03 2.65491597e+01] [ 7.66335056e-03 4.91279167e-04 9.99970515e-01 1.37514407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.19, Y:26.56, Z:1.38 [[ 9.05412338e-01 -4.24479876e-01 -6.73301596e-03 2.07186374e+02] [ 4.24464092e-01 9.05437242e-01 -3.69253180e-03 2.65599346e+01] [ 7.66372884e-03 4.85340347e-04 9.99970515e-01 1.37537062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.21, Y:26.57, Z:1.38 [[ 9.05001484e-01 -4.25355133e-01 -6.73234520e-03 2.07212593e+02] [ 4.25339365e-01 9.05026398e-01 -3.69375434e-03 2.65711839e+01] [ 7.66410750e-03 4.79321729e-04 9.99970515e-01 1.37622168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.24, Y:26.58, Z:1.38 [[ 9.04828459e-01 -4.25723084e-01 -6.73167607e-03 2.07237957e+02] [ 4.25707317e-01 9.04853374e-01 -3.69497339e-03 2.65820874e+01] [ 7.66421527e-03 4.77593327e-04 9.99970515e-01 1.37647737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.26, Y:26.59, Z:1.38 [[ 9.05200536e-01 -4.24931386e-01 -6.73100339e-03 2.07264255e+02] [ 4.24915588e-01 9.05225431e-01 -3.69619840e-03 2.65914474e+01] [ 7.66370615e-03 4.85692512e-04 9.99970515e-01 1.37692472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:26.60, Z:1.38 [[ 9.05748913e-01 -4.23761264e-01 -6.73031808e-03 2.07289249e+02] [ 4.23745425e-01 9.05773782e-01 -3.69744584e-03 2.66035513e+01] [ 7.66297998e-03 4.97016063e-04 9.99970515e-01 1.37755590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:26.62, Z:1.38 [[ 9.06514753e-01 -4.22120498e-01 -6.72962590e-03 2.07313664e+02] [ 4.22104604e-01 9.06539587e-01 -3.69870522e-03 2.66153977e+01] [ 7.66197158e-03 5.12324767e-04 9.99970515e-01 1.37744958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:26.63, Z:1.38 [[ 9.08437609e-01 -4.17966298e-01 -6.72932516e-03 2.07339250e+02] [ 4.17950286e-01 9.08462368e-01 -3.69925229e-03 2.66277779e+01] [ 7.65950146e-03 5.48016533e-04 9.99970515e-01 1.37711483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.615898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:207.36, Y:26.64, Z:1.38 [[ 9.09505293e-01 -4.15637880e-01 -6.72864849e-03 2.07363572e+02] [ 4.15621796e-01 9.09530004e-01 -3.70048270e-03 2.66422103e+01] [ 7.65796848e-03 5.69035628e-04 9.99970515e-01 1.37724521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:26.66, Z:1.38 [[ 9.10730091e-01 -4.12947255e-01 -6.72797502e-03 2.07387488e+02] [ 4.12931089e-01 9.10754749e-01 -3.70170676e-03 2.66559760e+01] [ 7.65614484e-03 5.93065682e-04 9.99970515e-01 1.37757992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:26.67, Z:1.38 [[ 9.11772047e-01 -4.10641545e-01 -6.72729860e-03 2.07411300e+02] [ 4.10625308e-01 9.11796658e-01 -3.70293565e-03 2.66710315e+01] [ 7.65450759e-03 6.13834156e-04 9.99970515e-01 1.37757105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:26.69, Z:1.38 [[ 9.12718630e-01 -4.08533297e-01 -6.72662292e-03 2.07434897e+02] [ 4.08516995e-01 9.12743197e-01 -3.70416266e-03 2.66864233e+01] [ 7.65295309e-03 6.32918492e-04 9.99970515e-01 1.37837288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:26.70, Z:1.38 [[ 9.13472408e-01 -4.06845083e-01 -6.72595169e-03 2.07458141e+02] [ 4.06828726e-01 9.13496939e-01 -3.70538106e-03 2.67021896e+01] [ 7.65165235e-03 6.48453003e-04 9.99970515e-01 1.37991654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:26.72, Z:1.38 [[ 9.14232366e-01 -4.05134485e-01 -6.72525114e-03 2.07480607e+02] [ 4.05118073e-01 9.14256861e-01 -3.70665211e-03 2.67196086e+01] [ 7.65029959e-03 6.64220547e-04 9.99970515e-01 1.38156688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:26.73, Z:1.38 [[ 9.14056344e-01 -4.05531472e-01 -6.72503296e-03 2.07503604e+02] [ 4.05515067e-01 9.14080843e-01 -3.70704791e-03 2.67348205e+01] [ 7.65054840e-03 6.61348466e-04 9.99970515e-01 1.38262502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:26.75, Z:1.38 [[ 9.13788266e-01 -4.06135184e-01 -6.72436169e-03 2.07526282e+02] [ 4.06118787e-01 9.13812770e-01 -3.70826517e-03 2.67495475e+01] [ 7.65086454e-03 6.57679585e-04 9.99970515e-01 1.38316836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.855898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:207.55, Y:26.77, Z:1.38 [[ 9.13483951e-01 -4.06819196e-01 -6.72407051e-03 2.07549403e+02] [ 4.06802813e-01 9.13508465e-01 -3.70879308e-03 2.67650119e+01] [ 7.65130355e-03 6.52552164e-04 9.99970515e-01 1.38432485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.57, Y:26.78, Z:1.39 [[ 9.12912499e-01 -4.08099946e-01 -6.72341023e-03 2.07572025e+02] [ 4.08083589e-01 9.12937030e-01 -3.70998967e-03 2.67823345e+01] [ 7.65209675e-03 6.43182567e-04 9.99970515e-01 1.38781613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:26.80, Z:1.39 [[ 9.12689414e-01 -4.08598627e-01 -6.72273582e-03 2.07594963e+02] [ 4.08582274e-01 9.12713949e-01 -3.71121133e-03 2.67975903e+01] [ 7.65233061e-03 6.40392600e-04 9.99970515e-01 1.38851450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:26.81, Z:1.39 [[ 9.12470951e-01 -4.09086265e-01 -6.72244263e-03 2.07617151e+02] [ 4.09069922e-01 9.12495492e-01 -3.71174233e-03 2.68132456e+01] [ 7.65262140e-03 6.36907977e-04 9.99970515e-01 1.38814153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:26.83, Z:1.39 [[ 9.12262797e-01 -4.09550244e-01 -6.72215275e-03 2.07639962e+02] [ 4.09533910e-01 9.12287343e-01 -3.71226726e-03 2.68293642e+01] [ 7.65289483e-03 6.33613815e-04 9.99970515e-01 1.38789939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:26.84, Z:1.39 [[ 9.12290076e-01 -4.09489487e-01 -6.72146601e-03 2.07662171e+02] [ 4.09473142e-01 9.12314615e-01 -3.71351026e-03 2.68448571e+01] [ 7.65273508e-03 6.35538752e-04 9.99970515e-01 1.38711460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:26.86, Z:1.39 [[ 9.12136319e-01 -4.09831896e-01 -6.71962735e-03 2.07685183e+02] [ 4.09815536e-01 9.12160848e-01 -3.71683696e-03 2.68635420e+01] [ 7.65265932e-03 6.36454299e-04 9.99970515e-01 1.38624075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:26.88, Z:1.39 [[ 9.11752678e-01 -4.10684658e-01 -6.72058278e-03 2.07707706e+02] [ 4.10668334e-01 9.11777230e-01 -3.71510861e-03 2.68790931e+01] [ 7.65341246e-03 6.27329689e-04 9.99970515e-01 1.38584165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:26.89, Z:1.39 [[ 9.11192475e-01 -4.11926099e-01 -6.72028282e-03 2.07730577e+02] [ 4.11909804e-01 9.11217047e-01 -3.71565113e-03 2.68944625e+01] [ 7.65420994e-03 6.17522976e-04 9.99970515e-01 1.38584717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:26.91, Z:1.39 [[ 9.10432648e-01 -4.13602751e-01 -6.71998621e-03 2.07753649e+02] [ 4.13586497e-01 9.10457247e-01 -3.71618749e-03 2.69101176e+01] [ 7.65528552e-03 6.04042861e-04 9.99970515e-01 1.38625536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:26.93, Z:1.39 [[ 9.09468606e-01 -4.15718301e-01 -6.71928803e-03 2.07776230e+02] [ 4.15702095e-01 9.09493237e-01 -3.71744944e-03 2.69278378e+01] [ 7.65655879e-03 5.87681446e-04 9.99970515e-01 1.38627464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:26.94, Z:1.39 [[ 9.09273731e-01 -4.16144378e-01 -6.71858115e-03 2.07799042e+02] [ 4.16128174e-01 9.09298364e-01 -3.71872657e-03 2.69433082e+01] [ 7.65672200e-03 5.85549475e-04 9.99970515e-01 1.38638461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.215898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:207.82, Y:26.96, Z:1.39 [[ 9.09203721e-01 -4.16297322e-01 -6.71809793e-03 2.07820973e+02] [ 4.16281116e-01 9.09228353e-01 -3.71959932e-03 2.69587539e+01] [ 7.65674435e-03 5.85256240e-04 9.99970515e-01 1.38607972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:26.97, Z:1.39 [[ 9.09131266e-01 -4.16455534e-01 -6.71779955e-03 2.07844072e+02] [ 4.16439328e-01 9.09155898e-01 -3.72013814e-03 2.69743580e+01] [ 7.65679919e-03 5.84537971e-04 9.99970515e-01 1.38609413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:26.99, Z:1.38 [[ 9.09160260e-01 -4.16392246e-01 -6.71710460e-03 2.07866949e+02] [ 4.16376029e-01 9.09184884e-01 -3.72139252e-03 2.69898989e+01] [ 7.65664896e-03 5.86500846e-04 9.99970515e-01 1.38471212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:27.01, Z:1.38 [[ 9.09160652e-01 -4.16391394e-01 -6.71688868e-03 2.07890446e+02] [ 4.16375174e-01 9.09185274e-01 -3.72178221e-03 2.70058576e+01] [ 7.65661435e-03 5.86952244e-04 9.99970515e-01 1.38329886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:27.02, Z:1.38 [[ 9.08827393e-01 -4.17118283e-01 -6.71619528e-03 2.07912949e+02] [ 4.17102074e-01 9.08852022e-01 -3.72303307e-03 2.70236475e+01] [ 7.65697282e-03 5.82255455e-04 9.99970515e-01 1.38031614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:27.04, Z:1.38 [[ 9.08584178e-01 -4.17647810e-01 -6.71559154e-03 2.07936312e+02] [ 4.17631607e-01 9.08608811e-01 -3.72412178e-03 2.70390016e+01] [ 7.65721694e-03 5.79034836e-04 9.99970515e-01 1.38303369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:27.05, Z:1.39 [[ 9.08373865e-01 -4.18105049e-01 -6.71490317e-03 2.07960082e+02] [ 4.18088849e-01 9.08398501e-01 -3.72536254e-03 2.70538739e+01] [ 7.65740086e-03 5.76595833e-04 9.99970515e-01 1.38621635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:27.07, Z:1.39 [[ 9.07735181e-01 -4.19489873e-01 -6.71468897e-03 2.07984338e+02] [ 4.19473708e-01 9.07759840e-01 -3.72574858e-03 2.70691987e+01] [ 7.65823878e-03 5.65357582e-04 9.99970515e-01 1.39172284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:27.08, Z:1.39 [[ 9.07395674e-01 -4.20223763e-01 -6.71407958e-03 2.08008337e+02] [ 4.20207611e-01 9.07420341e-01 -3.72684643e-03 2.70829549e+01] [ 7.65860181e-03 5.60416996e-04 9.99970515e-01 1.39256910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:27.10, Z:1.39 [[ 9.06932172e-01 -4.21223179e-01 -6.71337038e-03 2.08032577e+02] [ 4.21207044e-01 9.06956850e-01 -3.72812351e-03 2.70967120e+01] [ 7.65910929e-03 5.53436260e-04 9.99970515e-01 1.39239023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:27.11, Z:1.39 [[ 9.06535341e-01 -4.22076552e-01 -6.71264469e-03 2.08056017e+02] [ 4.22060430e-01 9.06560028e-01 -3.72942968e-03 2.71092880e+01] [ 7.65952018e-03 5.47718099e-04 9.99970515e-01 1.39279748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:27.12, Z:1.39 [[ 9.06042211e-01 -4.23134089e-01 -6.71232913e-03 2.08080488e+02] [ 4.23117992e-01 9.06066913e-01 -3.72999755e-03 2.71230178e+01] [ 7.66010846e-03 5.39427993e-04 9.99970515e-01 1.39307081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:27.14, Z:1.39 [[ 9.05728408e-01 -4.23805385e-01 -6.71162469e-03 2.08103832e+02] [ 4.23789297e-01 9.05753117e-01 -3.73126466e-03 2.71357367e+01] [ 7.66040504e-03 5.35197694e-04 9.99970515e-01 1.39314808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:27.15, Z:1.39 [[ 9.05697812e-01 -4.23870776e-01 -6.71114379e-03 2.08127905e+02] [ 4.23854683e-01 9.05722517e-01 -3.73212942e-03 2.71492933e+01] [ 7.66037464e-03 5.35631720e-04 9.99970515e-01 1.39192409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:27.16, Z:1.39 [[ 9.05842849e-01 -4.23560742e-01 -6.71043987e-03 2.08151538e+02] [ 4.23544632e-01 9.05867543e-01 -3.73339466e-03 2.71628460e+01] [ 7.66008909e-03 5.39698071e-04 9.99970515e-01 1.39176574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.665898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:208.18, Y:27.18, Z:1.39 [[ 9.05989696e-01 -4.23246552e-01 -6.71013266e-03 2.08176187e+02] [ 4.23230430e-01 9.06014382e-01 -3.73394673e-03 2.71770261e+01] [ 7.65985678e-03 5.42984939e-04 9.99970515e-01 1.39157445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:27.19, Z:1.39 [[ 9.06061323e-01 -4.23093207e-01 -6.70942938e-03 2.08199869e+02] [ 4.23077071e-01 9.06086001e-01 -3.73521002e-03 2.71900295e+01] [ 7.65966202e-03 5.45723607e-04 9.99970515e-01 1.39293424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:27.20, Z:1.39 [[ 9.05053594e-01 -4.25244611e-01 -6.70912457e-03 2.08224870e+02] [ 4.25228529e-01 9.05078307e-01 -3.73575743e-03 2.72033984e+01] [ 7.66089382e-03 5.28149521e-04 9.99970515e-01 1.39239929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:27.22, Z:1.39 [[ 9.03884510e-01 -4.27723965e-01 -6.70841596e-03 2.08248895e+02] [ 4.27707942e-01 9.03909261e-01 -3.73702947e-03 2.72161679e+01] [ 7.66221637e-03 5.08600271e-04 9.99970515e-01 1.39195858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:27.23, Z:1.39 [[ 9.02228173e-01 -4.31206828e-01 -6.70793353e-03 2.08273350e+02] [ 4.31190894e-01 9.02252981e-01 -3.73789522e-03 2.72282321e+01] [ 7.66405896e-03 4.80034519e-04 9.99970515e-01 1.39149001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:27.24, Z:1.39 [[ 9.00433416e-01 -4.34942149e-01 -6.70745490e-03 2.08298478e+02] [ 4.34926312e-01 9.00458286e-01 -3.73875391e-03 2.72397950e+01] [ 7.66592500e-03 4.49250335e-04 9.99970515e-01 1.39144822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:27.25, Z:1.39 [[ 8.97078152e-01 -4.41821014e-01 -6.70674460e-03 2.08324917e+02] [ 4.41805358e-01 8.97103137e-01 -3.74002763e-03 2.72483871e+01] [ 7.66906442e-03 3.92021372e-04 9.99970515e-01 1.39310580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:27.26, Z:1.39 [[ 8.95596717e-01 -4.44816305e-01 -6.70643621e-03 2.08350428e+02] [ 4.44800728e-01 8.95621751e-01 -3.74058054e-03 2.72594420e+01] [ 7.67030136e-03 3.67023945e-04 9.99970515e-01 1.39407846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:27.27, Z:1.39 [[ 8.94333912e-01 -4.47349848e-01 -6.70575008e-03 2.08376079e+02] [ 4.47334333e-01 8.94358985e-01 -3.74181018e-03 2.72702960e+01] [ 7.67124604e-03 3.46715497e-04 9.99970515e-01 1.39374338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:27.28, Z:1.39 [[ 8.94251204e-01 -4.47515168e-01 -6.70505898e-03 2.08400843e+02] [ 4.47499649e-01 8.94276274e-01 -3.74304816e-03 2.72843415e+01] [ 7.67124599e-03 3.46713782e-04 9.99970515e-01 1.39396211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:27.29, Z:1.39 [[ 8.93428661e-01 -4.49155073e-01 -6.70436683e-03 2.08427401e+02] [ 4.49139590e-01 8.93453753e-01 -3.74428750e-03 2.72947867e+01] [ 7.67180743e-03 3.34057201e-04 9.99970515e-01 1.39184969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:27.31, Z:1.39 [[ 8.92927977e-01 -4.50149629e-01 -6.70365934e-03 2.08453996e+02] [ 4.50134165e-01 8.92953081e-01 -3.74555374e-03 2.73050985e+01] [ 7.67211289e-03 3.26963629e-04 9.99970515e-01 1.39062299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:27.31, Z:1.39 [[ 8.92592983e-01 -4.50813527e-01 -6.70294357e-03 2.08479703e+02] [ 4.50798072e-01 8.92618093e-01 -3.74683423e-03 2.73145348e+01] [ 7.67229226e-03 3.22723904e-04 9.99970515e-01 1.38985431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:27.32, Z:1.39 [[ 8.92122377e-01 -4.51744111e-01 -6.70245510e-03 2.08508048e+02] [ 4.51728676e-01 8.92147498e-01 -3.74770781e-03 2.73211299e+01] [ 7.67258348e-03 3.15722837e-04 9.99970515e-01 1.38952897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:27.33, Z:1.39 [[ 8.92043058e-01 -4.51900729e-01 -6.70175026e-03 2.08534533e+02] [ 4.51885288e-01 8.92068177e-01 -3.74896781e-03 2.73308668e+01] [ 7.67257941e-03 3.15818361e-04 9.99970515e-01 1.38993556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:27.34, Z:1.39 [[ 8.92247025e-01 -4.51497887e-01 -6.70101411e-03 2.08560255e+02] [ 4.51482425e-01 8.92272131e-01 -3.75028316e-03 2.73396411e+01] [ 7.67237306e-03 3.20788889e-04 9.99970515e-01 1.38902219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:27.35, Z:1.39 [[ 8.92676871e-01 -4.50647429e-01 -6.70069500e-03 2.08586820e+02] [ 4.50631939e-01 8.92701958e-01 -3.75085323e-03 2.73486700e+01] [ 7.67203591e-03 3.28752748e-04 9.99970515e-01 1.38988101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:27.36, Z:1.39 [[ 8.93357533e-01 -4.49296592e-01 -6.69998725e-03 2.08613826e+02] [ 4.49281055e-01 8.93382592e-01 -3.75211702e-03 2.73578758e+01] [ 7.67146537e-03 3.41804663e-04 9.99970515e-01 1.39128167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:27.36, Z:1.39 [[ 8.95150161e-01 -4.45714380e-01 -6.69928055e-03 2.08643477e+02] [ 4.45698733e-01 8.95175151e-01 -3.75337839e-03 2.73627259e+01] [ 7.66996420e-03 3.73976419e-04 9.99970515e-01 1.39432150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:27.37, Z:1.39 [[ 8.96065300e-01 -4.43871716e-01 -6.69906121e-03 2.08670390e+02] [ 4.43856014e-01 8.96090256e-01 -3.75376983e-03 2.73723323e+01] [ 7.66915573e-03 3.90204279e-04 9.99970515e-01 1.39493054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:27.38, Z:1.39 [[ 8.97185609e-01 -4.41602894e-01 -6.69833134e-03 2.08696010e+02] [ 4.41587120e-01 8.97210519e-01 -3.75507178e-03 2.73811840e+01] [ 7.66806390e-03 4.11099513e-04 9.99970515e-01 1.39440444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.72, Y:27.39, Z:1.39 [[ 8.98430003e-01 -4.39065673e-01 -6.69801507e-03 2.08722302e+02] [ 4.39049825e-01 8.98454866e-01 -3.75563583e-03 2.73905019e+01] [ 7.66683501e-03 4.33413567e-04 9.99970515e-01 1.39352165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:27.40, Z:1.39 [[ 9.01386118e-01 -4.32964447e-01 -6.69732353e-03 2.08751339e+02] [ 4.32948421e-01 9.01410867e-01 -3.75686863e-03 2.73967755e+01] [ 7.66363076e-03 4.86793586e-04 9.99970515e-01 1.39222128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:27.41, Z:1.39 [[ 9.02872737e-01 -4.29855763e-01 -6.69664707e-03 2.08777942e+02] [ 4.29839642e-01 9.02897424e-01 -3.75807404e-03 2.74074384e+01] [ 7.66181517e-03 5.14578213e-04 9.99970515e-01 1.39328917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:27.42, Z:1.39 [[ 9.04342793e-01 -4.26754352e-01 -6.69593087e-03 2.08802906e+02] [ 4.26738138e-01 9.04367419e-01 -3.75934970e-03 2.74174679e+01] [ 7.65990056e-03 5.42331738e-04 9.99970515e-01 1.39316811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:27.43, Z:1.39 [[ 9.05461882e-01 -4.24374774e-01 -6.69561948e-03 2.08828398e+02] [ 4.24358491e-01 9.05486463e-01 -3.75990422e-03 2.74283847e+01] [ 7.65840130e-03 5.63106966e-04 9.99970515e-01 1.39453968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:27.44, Z:1.40 [[ 9.06528702e-01 -4.22091092e-01 -6.69492320e-03 2.08853405e+02] [ 4.22074738e-01 9.06553236e-01 -3.76114360e-03 2.74388551e+01] [ 7.65684950e-03 5.83826671e-04 9.99970515e-01 1.39584234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:27.45, Z:1.40 [[ 9.07382047e-01 -4.20253498e-01 -6.69462043e-03 2.08878255e+02] [ 4.20237090e-01 9.07406545e-01 -3.76168245e-03 2.74494052e+01] [ 7.65560260e-03 5.99955315e-04 9.99970515e-01 1.39688286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:27.46, Z:1.40 [[ 9.08417058e-01 -4.18011527e-01 -6.69415274e-03 2.08905344e+02] [ 4.17995053e-01 9.08441511e-01 -3.76251455e-03 2.74575564e+01] [ 7.65402068e-03 6.19809673e-04 9.99970515e-01 1.39947962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:27.47, Z:1.40 [[ 9.08468642e-01 -4.17899418e-01 -6.69344724e-03 2.08929797e+02] [ 4.17882932e-01 9.08493087e-01 -3.76376919e-03 2.74684849e+01] [ 7.65382750e-03 6.22188925e-04 9.99970515e-01 1.40017732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:27.48, Z:1.40 [[ 9.08337689e-01 -4.18183983e-01 -6.69314201e-03 2.08955581e+02] [ 4.18167501e-01 9.08362137e-01 -3.76431192e-03 2.74804489e+01] [ 7.65397173e-03 6.20411923e-04 9.99970515e-01 1.40003651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.595898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:208.98, Y:27.49, Z:1.40 [[ 9.08308750e-01 -4.18246848e-01 -6.69243428e-03 2.08979658e+02] [ 4.18230358e-01 9.08333192e-01 -3.76556974e-03 2.74918442e+01] [ 7.65389787e-03 6.21320767e-04 9.99970515e-01 1.39923826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:27.50, Z:1.40 [[ 9.09242834e-01 -4.16212310e-01 -6.69195171e-03 2.09006076e+02] [ 4.16195759e-01 9.09267235e-01 -3.76642714e-03 2.75025362e+01] [ 7.65240577e-03 6.39434970e-04 9.99970515e-01 1.39880181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:27.52, Z:1.40 [[ 9.09167295e-01 -4.16377301e-01 -6.69126705e-03 2.09030819e+02] [ 4.16360746e-01 9.09191693e-01 -3.76764308e-03 2.75166601e+01] [ 7.65240548e-03 6.39436927e-04 9.99970515e-01 1.39902053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:27.53, Z:1.40 [[ 9.10877920e-01 -4.12621679e-01 -6.69058314e-03 2.09054015e+02] [ 4.12605015e-01 9.10902244e-01 -3.76885718e-03 2.75307320e+01] [ 7.64957937e-03 6.72400633e-04 9.99970515e-01 1.40036926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:27.54, Z:1.40 [[ 9.11749191e-01 -4.10692894e-01 -6.69028583e-03 2.09076632e+02] [ 4.10676174e-01 9.11773476e-01 -3.76938487e-03 2.75449377e+01] [ 7.64808475e-03 6.89192622e-04 9.99970515e-01 1.40068873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:27.56, Z:1.40 [[ 9.12469263e-01 -4.09090565e-01 -6.68982514e-03 2.09100189e+02] [ 4.09073796e-01 9.12493515e-01 -3.77020232e-03 2.75591658e+01] [ 7.64677625e-03 7.03561566e-04 9.99970515e-01 1.40076379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:27.57, Z:1.40 [[ 9.12895795e-01 -4.08137872e-01 -6.68915393e-03 2.09124484e+02] [ 4.08121069e-01 9.12920024e-01 -3.77139281e-03 2.75737073e+01] [ 7.64591080e-03 7.12903985e-04 9.99970515e-01 1.40024102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.805898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:209.15, Y:27.59, Z:1.40 [[ 9.12932823e-01 -4.08055052e-01 -6.68845491e-03 2.09147095e+02] [ 4.08038238e-01 9.12957044e-01 -3.77263209e-03 2.75877696e+01] [ 7.64571361e-03 7.15014310e-04 9.99970515e-01 1.39881294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:27.60, Z:1.40 [[ 9.12142861e-01 -4.09817850e-01 -6.68814977e-03 2.09170775e+02] [ 4.09801079e-01 9.12167111e-01 -3.77317298e-03 2.76029061e+01] [ 7.64702389e-03 7.00861803e-04 9.99970515e-01 1.39931659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.865898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:209.19, Y:27.62, Z:1.40 [[ 9.11157671e-01 -4.12003612e-01 -6.68743033e-03 2.09193199e+02] [ 4.11986891e-01 9.11181955e-01 -3.77444765e-03 2.76172434e+01] [ 7.64855191e-03 6.83983306e-04 9.99970515e-01 1.39785756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:27.63, Z:1.40 [[ 9.10085475e-01 -4.14366639e-01 -6.68711730e-03 2.09217578e+02] [ 4.14349976e-01 9.10109799e-01 -3.77500216e-03 2.76299961e+01] [ 7.65024594e-03 6.64767740e-04 9.99970515e-01 1.39924535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:27.64, Z:1.40 [[ 9.07373282e-01 -4.20272553e-01 -6.68643027e-03 2.09243294e+02] [ 4.20256040e-01 9.07397708e-01 -3.77621867e-03 2.76412833e+01] [ 7.65429256e-03 6.16427216e-04 9.99970515e-01 1.40123391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:27.65, Z:1.40 [[ 9.06227611e-01 -4.22737293e-01 -6.68571967e-03 2.09267984e+02] [ 4.22720837e-01 9.06252076e-01 -3.77747636e-03 2.76531471e+01] [ 7.65582745e-03 5.97060363e-04 9.99970515e-01 1.40141903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.29, Y:27.67, Z:1.40 [[ 9.05094958e-01 -4.25156937e-01 -6.68540950e-03 2.09293318e+02] [ 4.25140543e-01 9.05119465e-01 -3.77802522e-03 2.76656814e+01] [ 7.65734790e-03 5.77232960e-04 9.99970515e-01 1.40114811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:27.68, Z:1.40 [[ 9.04450125e-01 -4.26527006e-01 -6.68469791e-03 2.09317809e+02] [ 4.26510640e-01 9.04474649e-01 -3.77928385e-03 2.76777877e+01] [ 7.65810643e-03 5.67078971e-04 9.99970515e-01 1.40056268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:27.69, Z:1.40 [[ 9.04338665e-01 -4.26763280e-01 -6.68438823e-03 2.09341561e+02] [ 4.26746916e-01 9.04363192e-01 -3.77983150e-03 2.76902250e+01] [ 7.65820797e-03 5.65705711e-04 9.99970515e-01 1.40031281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:27.70, Z:1.40 [[ 9.04762831e-01 -4.25863292e-01 -6.68408368e-03 2.09365743e+02] [ 4.25846899e-01 9.04787338e-01 -3.78036998e-03 2.77033996e+01] [ 7.65759509e-03 5.73941927e-04 9.99970515e-01 1.40010404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:27.72, Z:1.40 [[ 9.06724562e-01 -4.21670371e-01 -6.68338000e-03 2.09388673e+02] [ 4.21653856e-01 9.06748987e-01 -3.78161362e-03 2.77168966e+01] [ 7.65474246e-03 6.10809004e-04 9.99970515e-01 1.39853243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:27.73, Z:1.40 [[ 9.07676684e-01 -4.19616936e-01 -6.68307442e-03 2.09411807e+02] [ 4.19600362e-01 9.07701069e-01 -3.78215358e-03 2.77306139e+01] [ 7.65328950e-03 6.28752177e-04 9.99970515e-01 1.39741702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:27.74, Z:1.40 [[ 9.08341177e-01 -4.18176574e-01 -6.68277691e-03 2.09435947e+02] [ 4.18159958e-01 9.08365533e-01 -3.78267919e-03 2.77439774e+01] [ 7.65223203e-03 6.41493555e-04 9.99970515e-01 1.39812309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:27.76, Z:1.40 [[ 9.08432736e-01 -4.17977647e-01 -6.68208427e-03 2.09459410e+02] [ 4.17961016e-01 9.08457083e-01 -3.78390234e-03 2.77564938e+01] [ 7.65197338e-03 6.44570024e-04 9.99970515e-01 1.39845385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:27.77, Z:1.40 [[ 9.08020144e-01 -4.18873217e-01 -6.68178300e-03 2.09483104e+02] [ 4.18856606e-01 9.08044504e-01 -3.78443426e-03 2.77684416e+01] [ 7.65255448e-03 6.37633590e-04 9.99970515e-01 1.39889358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:27.78, Z:1.40 [[ 9.06939413e-01 -4.21208095e-01 -6.68148634e-03 2.09507884e+02] [ 4.21191543e-01 9.06963813e-01 -3.78495793e-03 2.77807549e+01] [ 7.65412125e-03 6.18541982e-04 9.99970515e-01 1.39968142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:27.79, Z:1.40 [[ 9.03434393e-01 -4.28674311e-01 -6.68080578e-03 2.09533943e+02] [ 4.28657952e-01 9.03458923e-01 -3.78615881e-03 2.77916263e+01] [ 7.65886261e-03 5.56765557e-04 9.99970515e-01 1.40290969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:27.80, Z:1.41 [[ 9.01365017e-01 -4.33008633e-01 -6.68059386e-03 2.09559650e+02] [ 4.32992389e-01 9.01389623e-01 -3.78653270e-03 2.78037455e+01] [ 7.66141933e-03 5.20401817e-04 9.99970515e-01 1.40523434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:27.81, Z:1.41 [[ 8.99205019e-01 -4.37476527e-01 -6.67992854e-03 2.09585263e+02] [ 4.37460397e-01 8.99229700e-01 -3.78770605e-03 2.78149395e+01] [ 7.66382263e-03 4.83720093e-04 9.99970515e-01 1.40780000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:27.83, Z:1.41 [[ 8.97192502e-01 -4.41589178e-01 -6.67926291e-03 2.09610371e+02] [ 4.41573153e-01 8.97217251e-01 -3.78887945e-03 2.78252169e+01] [ 7.66587807e-03 4.49971053e-04 9.99970515e-01 1.40984354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.405898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:209.64, Y:27.84, Z:1.41 [[ 8.95289693e-01 -4.45434346e-01 -6.67897335e-03 2.09636386e+02] [ 4.45418423e-01 8.95314509e-01 -3.78938983e-03 2.78364025e+01] [ 7.66770612e-03 4.17663889e-04 9.99970515e-01 1.41016180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:27.84, Z:1.41 [[ 8.92512086e-01 -4.50974031e-01 -6.67831131e-03 2.09663254e+02] [ 4.50958253e-01 8.92536994e-01 -3.79055622e-03 2.78449586e+01] [ 7.67008232e-03 3.71477636e-04 9.99970515e-01 1.40735935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:27.86, Z:1.41 [[ 8.91344070e-01 -4.53278236e-01 -6.67758393e-03 2.09688907e+02] [ 4.53262514e-01 8.91369012e-01 -3.79183718e-03 2.78567610e+01] [ 7.67094866e-03 3.53133110e-04 9.99970515e-01 1.40683832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.495898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:209.71, Y:27.87, Z:1.41 [[ 8.90260995e-01 -4.55401779e-01 -6.67685092e-03 2.09713112e+02] [ 4.55386106e-01 8.90285969e-01 -3.79312745e-03 2.78681470e+01] [ 7.67170368e-03 3.36328279e-04 9.99970515e-01 1.40693661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:27.88, Z:1.41 [[ 8.89230496e-01 -4.57410700e-01 -6.67653242e-03 2.09738524e+02] [ 4.57395080e-01 8.89255503e-01 -3.79368799e-03 2.78799193e+01] [ 7.67241667e-03 3.19649976e-04 9.99970515e-01 1.40878160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:27.89, Z:1.41 [[ 8.88276851e-01 -4.59259915e-01 -6.67581235e-03 2.09762996e+02] [ 4.59244337e-01 8.88301884e-01 -3.79495468e-03 2.78921981e+01] [ 7.67300725e-03 3.05141383e-04 9.99970515e-01 1.40992939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.585898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:209.79, Y:27.90, Z:1.41 [[ 8.86605953e-01 -4.62477374e-01 -6.67549792e-03 2.09788015e+02] [ 4.62461882e-01 8.86631040e-01 -3.79550769e-03 2.79038345e+01] [ 7.67404010e-03 2.77956379e-04 9.99970515e-01 1.41051033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:27.92, Z:1.41 [[ 8.85879143e-01 -4.63868075e-01 -6.67477994e-03 2.09812259e+02] [ 4.63852614e-01 8.85904248e-01 -3.79676992e-03 2.79162212e+01] [ 7.67441626e-03 2.67365161e-04 9.99970515e-01 1.41062857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:27.93, Z:1.41 [[ 8.85152829e-01 -4.65252538e-01 -6.67429060e-03 2.09837166e+02] [ 4.65237109e-01 8.85177954e-01 -3.79762993e-03 2.79296868e+01] [ 7.67479186e-03 2.56355210e-04 9.99970515e-01 1.41046665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:27.94, Z:1.41 [[ 8.84432025e-01 -4.66621320e-01 -6.67357339e-03 2.09860561e+02] [ 4.66605921e-01 8.84457169e-01 -3.79888986e-03 2.79421806e+01] [ 7.67513283e-03 2.45930995e-04 9.99970515e-01 1.41022150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.89, Y:27.96, Z:1.41 [[ 8.83673579e-01 -4.68056058e-01 -6.67326191e-03 2.09885052e+02] [ 4.68040696e-01 8.83698745e-01 -3.79943693e-03 2.79555478e+01] [ 7.67550265e-03 2.34103886e-04 9.99970515e-01 1.40957695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.735898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:209.91, Y:27.97, Z:1.41 [[ 8.82852213e-01 -4.69603500e-01 -6.67255216e-03 2.09909520e+02] [ 4.69588173e-01 8.82877400e-01 -3.80068299e-03 2.79691803e+01] [ 7.67585954e-03 2.22089814e-04 9.99970515e-01 1.40953188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:27.98, Z:1.41 [[ 8.81420028e-01 -4.72286165e-01 -6.67184720e-03 2.09935156e+02] [ 4.72270904e-01 8.81445256e-01 -3.80192009e-03 2.79809965e+01] [ 7.67646232e-03 2.00169200e-04 9.99970515e-01 1.40821826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:27.99, Z:1.41 [[ 8.80906941e-01 -4.73242492e-01 -6.67114264e-03 2.09960243e+02] [ 4.73227250e-01 8.80932180e-01 -3.80315597e-03 2.79933907e+01] [ 7.67663924e-03 1.93260004e-04 9.99970515e-01 1.40624835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:28.01, Z:1.40 [[ 8.80415133e-01 -4.74156822e-01 -6.67092441e-03 2.09985628e+02] [ 4.74141603e-01 8.80440386e-01 -3.80353871e-03 2.80059862e+01] [ 7.67682509e-03 1.85730244e-04 9.99970515e-01 1.40486746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:28.02, Z:1.41 [[ 8.80323843e-01 -4.74326301e-01 -6.67019050e-03 2.10010295e+02] [ 4.74311076e-01 8.80349093e-01 -3.80482532e-03 2.80202621e+01] [ 7.67682488e-03 1.85733212e-04 9.99970515e-01 1.40508618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:28.03, Z:1.40 [[ 8.79901694e-01 -4.75108964e-01 -6.66945782e-03 2.10034877e+02] [ 4.75093752e-01 8.79926952e-01 -3.80610921e-03 2.80324222e+01] [ 7.67695229e-03 1.80384199e-04 9.99970515e-01 1.40281934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:28.04, Z:1.40 [[ 8.79520440e-01 -4.75814372e-01 -6.66923038e-03 2.10060108e+02] [ 4.75799178e-01 8.79545708e-01 -3.80650768e-03 2.80449586e+01] [ 7.67708402e-03 1.74686977e-04 9.99970515e-01 1.40292013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.08, Y:28.06, Z:1.40 [[ 8.79438387e-01 -4.75966023e-01 -6.66851630e-03 2.10084197e+02] [ 4.75950823e-01 8.79463652e-01 -3.80775826e-03 2.80566640e+01] [ 7.67708125e-03 1.74802963e-04 9.99970515e-01 1.40399331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:28.07, Z:1.41 [[ 8.79797743e-01 -4.75301448e-01 -6.66820561e-03 2.10111123e+02] [ 4.75286226e-01 8.79822994e-01 -3.80830227e-03 2.80677597e+01] [ 7.67693220e-03 1.81229466e-04 9.99970515e-01 1.40840518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:28.08, Z:1.41 [[ 8.80399645e-01 -4.74185627e-01 -6.66758695e-03 2.10136274e+02] [ 4.74170364e-01 8.80424871e-01 -3.80938511e-03 2.80802704e+01] [ 7.67666505e-03 1.92209167e-04 9.99970516e-01 1.41086247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:28.09, Z:1.41 [[ 8.81354551e-01 -4.72408413e-01 -6.66686999e-03 2.10160410e+02] [ 4.72393090e-01 8.81379741e-01 -3.81063947e-03 2.80919241e+01] [ 7.67622228e-03 2.09141124e-04 9.99970516e-01 1.41218979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:28.10, Z:1.41 [[ 8.82431335e-01 -4.70393979e-01 -6.66656242e-03 2.10185579e+02] [ 4.70378595e-01 8.82456488e-01 -3.81117747e-03 2.81049741e+01] [ 7.67570619e-03 2.27294158e-04 9.99970516e-01 1.41274368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:28.12, Z:1.41 [[ 8.83745668e-01 -4.67920036e-01 -6.66584769e-03 2.10209667e+02] [ 4.67904572e-01 8.83770772e-01 -3.81242714e-03 2.81174119e+01] [ 7.67499240e-03 2.50235360e-04 9.99970516e-01 1.41200531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.125898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:210.23, Y:28.13, Z:1.41 [[ 8.85932849e-01 -4.63765627e-01 -6.66553796e-03 2.10234680e+02] [ 4.63750041e-01 8.85957877e-01 -3.81296858e-03 2.81293093e+01] [ 7.67370963e-03 2.86890620e-04 9.99970516e-01 1.41076114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:28.14, Z:1.41 [[ 8.86628110e-01 -4.62435050e-01 -6.66482568e-03 2.10259337e+02] [ 4.62419417e-01 8.86653109e-01 -3.81421320e-03 2.81412671e+01] [ 7.67321428e-03 2.99843835e-04 9.99970516e-01 1.41155100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:28.15, Z:1.41 [[ 8.86736672e-01 -4.62226848e-01 -6.66451755e-03 2.10284541e+02] [ 4.62211205e-01 8.86761665e-01 -3.81475152e-03 2.81537255e+01] [ 7.67311924e-03 3.02265378e-04 9.99970516e-01 1.41324044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:28.17, Z:1.41 [[ 8.86549095e-01 -4.62586529e-01 -6.66380798e-03 2.10309715e+02] [ 4.62570887e-01 8.86574088e-01 -3.81599062e-03 2.81651829e+01] [ 7.67318534e-03 3.00579459e-04 9.99970516e-01 1.41461621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:28.17, Z:1.42 [[ 8.85322080e-01 -4.64930551e-01 -6.66308482e-03 2.10335709e+02] [ 4.64914965e-01 8.85347109e-01 -3.81725291e-03 2.81733272e+01] [ 7.67390038e-03 2.81730444e-04 9.99970516e-01 1.41613006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:28.18, Z:1.42 [[ 8.84486469e-01 -4.66518267e-01 -6.66276949e-03 2.10360678e+02] [ 4.66502722e-01 8.84511523e-01 -3.81780322e-03 2.81841192e+01] [ 7.67437133e-03 2.68595185e-04 9.99970516e-01 1.41601046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:28.20, Z:1.42 [[ 8.83608969e-01 -4.68178173e-01 -6.66246215e-03 2.10386740e+02] [ 4.68162672e-01 8.83634049e-01 -3.81833948e-03 2.81953627e+01] [ 7.67484161e-03 2.54802929e-04 9.99970516e-01 1.41564425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:28.21, Z:1.42 [[ 8.83070837e-01 -4.69192410e-01 -6.66173393e-03 2.10411680e+02] [ 4.69176928e-01 8.83095930e-01 -3.81960956e-03 2.82051918e+01] [ 7.67508194e-03 2.47453956e-04 9.99970516e-01 1.41593349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:28.22, Z:1.42 [[ 8.82810853e-01 -4.69681406e-01 -6.66141744e-03 2.10437312e+02] [ 4.69665933e-01 8.82835952e-01 -3.82016144e-03 2.82151537e+01] [ 7.67519760e-03 2.43839139e-04 9.99970516e-01 1.41766020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:28.23, Z:1.42 [[ 8.82909023e-01 -4.69496847e-01 -6.66093259e-03 2.10463743e+02] [ 4.69481362e-01 8.82934114e-01 -3.82100666e-03 2.82259509e+01] [ 7.67511519e-03 2.46417550e-04 9.99970516e-01 1.41893955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:28.24, Z:1.42 [[ 8.83950200e-01 -4.67533618e-01 -6.66029054e-03 2.10490695e+02] [ 4.67518070e-01 8.83975252e-01 -3.82212546e-03 2.82350200e+01] [ 7.67450416e-03 2.64762386e-04 9.99970516e-01 1.41683623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:28.25, Z:1.41 [[ 8.84883135e-01 -4.65765487e-01 -6.65956256e-03 2.10516365e+02] [ 4.65749879e-01 8.84908149e-01 -3.82339346e-03 2.82472151e+01] [ 7.67390589e-03 2.81565932e-04 9.99970516e-01 1.41372040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.54, Y:28.26, Z:1.41 [[ 8.85784303e-01 -4.64049374e-01 -6.65933793e-03 2.10542578e+02] [ 4.64033715e-01 8.85809285e-01 -3.82378466e-03 2.82599914e+01] [ 7.67332825e-03 2.96891115e-04 9.99970516e-01 1.41187567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:28.27, Z:1.41 [[ 8.86658718e-01 -4.62376447e-01 -6.65873173e-03 2.10567464e+02] [ 4.62360733e-01 8.86683666e-01 -3.82484001e-03 2.82720018e+01] [ 7.67270459e-03 3.12591664e-04 9.99970516e-01 1.40723375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:28.28, Z:1.41 [[ 8.87221448e-01 -4.61295748e-01 -6.65849864e-03 2.10592723e+02] [ 4.61280000e-01 8.87246374e-01 -3.82524574e-03 2.82842297e+01] [ 7.67229837e-03 3.22407810e-04 9.99970516e-01 1.41037567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.575898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:210.62, Y:28.30, Z:1.41 [[ 8.87440839e-01 -4.60873553e-01 -6.65779055e-03 2.10617906e+02] [ 4.60857784e-01 8.87465752e-01 -3.82647776e-03 2.82969666e+01] [ 7.67208350e-03 3.27478034e-04 9.99970516e-01 1.41184216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:28.31, Z:1.41 [[ 8.87714601e-01 -4.60346033e-01 -6.65707488e-03 2.10644321e+02] [ 4.60330240e-01 8.87739500e-01 -3.82772245e-03 2.83084215e+01] [ 7.67182516e-03 3.33472233e-04 9.99970516e-01 1.41146047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:28.32, Z:1.41 [[ 8.87826281e-01 -4.60130619e-01 -6.65644769e-03 2.10670478e+02] [ 4.60114812e-01 8.87851170e-01 -3.82881282e-03 2.83214901e+01] [ 7.67168888e-03 3.36590469e-04 9.99970516e-01 1.41012765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.665898227 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:210.70, Y:28.33, Z:1.41 [[ 8.87873814e-01 -4.60038902e-01 -6.65581901e-03 2.10697170e+02] [ 4.60023084e-01 8.87898696e-01 -3.82990537e-03 2.83340633e+01] [ 7.67159848e-03 3.38642298e-04 9.99970516e-01 1.40737700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:28.35, Z:1.41 [[ 8.87771121e-01 -4.60237052e-01 -6.65523643e-03 2.10721368e+02] [ 4.60221232e-01 8.87796002e-01 -3.83091745e-03 2.83471675e+01] [ 7.67162245e-03 3.38096774e-04 9.99970516e-01 1.40791018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:28.36, Z:1.41 [[ 8.87498537e-01 -4.60762476e-01 -6.65490297e-03 2.10746846e+02] [ 4.60746667e-01 8.87523424e-01 -3.83149665e-03 2.83608158e+01] [ 7.67179215e-03 3.34223313e-04 9.99970516e-01 1.41055244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:28.37, Z:1.41 [[ 8.86973455e-01 -4.61772467e-01 -6.65427842e-03 2.10771070e+02] [ 4.61756677e-01 8.86998355e-01 -3.83258102e-03 2.83734348e+01] [ 7.67211440e-03 3.26740132e-04 9.99970516e-01 1.41307760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:28.39, Z:1.42 [[ 8.86116986e-01 -4.63413867e-01 -6.65401202e-03 2.10796743e+02] [ 4.63398120e-01 8.86141913e-01 -3.83304346e-03 2.83860237e+01] [ 7.67268444e-03 3.13068256e-04 9.99970516e-01 1.41522147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:28.40, Z:1.42 [[ 8.85158338e-01 -4.65242356e-01 -6.65338861e-03 2.10821928e+02] [ 4.65226653e-01 8.85183292e-01 -3.83412528e-03 2.83972565e+01] [ 7.67326591e-03 2.98474249e-04 9.99970516e-01 1.41597442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:28.41, Z:1.41 [[ 8.83033126e-01 -4.69263503e-01 -6.65308105e-03 2.10847778e+02] [ 4.69247910e-01 8.83058149e-01 -3.83465889e-03 2.84062196e+01] [ 7.67452290e-03 2.64186442e-04 9.99970516e-01 1.41378822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:28.42, Z:1.42 [[ 8.82149235e-01 -4.70922995e-01 -6.65277390e-03 2.10873267e+02] [ 4.70907445e-01 8.82174285e-01 -3.83519170e-03 2.84178944e+01] [ 7.67498602e-03 2.50370671e-04 9.99970516e-01 1.41518620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:28.43, Z:1.42 [[ 8.81526202e-01 -4.72088235e-01 -6.65233753e-03 2.10899430e+02] [ 4.72072712e-01 8.81551269e-01 -3.83594845e-03 2.84298450e+01] [ 7.67528273e-03 2.41102051e-04 9.99970516e-01 1.41738216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:28.44, Z:1.42 [[ 8.81541427e-01 -4.72059813e-01 -6.65172426e-03 2.10925956e+02] [ 4.72044281e-01 8.81566489e-01 -3.83701160e-03 2.84413756e+01] [ 7.67523618e-03 2.42576282e-04 9.99970516e-01 1.41977718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.965898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.95, Y:28.45, Z:1.42 [[ 8.81908205e-01 -4.71374247e-01 -6.65111410e-03 2.10950808e+02] [ 4.71358688e-01 8.81933250e-01 -3.83806896e-03 2.84528274e+01] [ 7.67500554e-03 2.49764095e-04 9.99970516e-01 1.42165193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.995898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:210.98, Y:28.47, Z:1.42 [[ 8.82762036e-01 -4.69773302e-01 -6.65081933e-03 2.10975504e+02] [ 4.69757693e-01 8.82787050e-01 -3.83857969e-03 2.84655254e+01] [ 7.67451943e-03 2.64278880e-04 9.99970516e-01 1.42211893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:28.48, Z:1.42 [[ 8.85714505e-01 -4.64182714e-01 -6.65013186e-03 2.11001070e+02] [ 4.64166939e-01 8.85739414e-01 -3.83977032e-03 2.84769492e+01] [ 7.67263891e-03 3.14168920e-04 9.99970516e-01 1.42029699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.055898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:211.03, Y:28.49, Z:1.42 [[ 8.87320716e-01 -4.61104899e-01 -6.64980982e-03 2.11025633e+02] [ 4.61089033e-01 8.87345567e-01 -3.84032797e-03 2.84901062e+01] [ 7.67147330e-03 3.41448184e-04 9.99970516e-01 1.41961831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:28.50, Z:1.42 [[ 8.88766183e-01 -4.58312624e-01 -6.64912692e-03 2.11050097e+02] [ 4.58296671e-01 8.88790979e-01 -3.84150996e-03 2.85030732e+01] [ 7.67029654e-03 3.66931409e-04 9.99970516e-01 1.42009346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:28.52, Z:1.42 [[ 8.89888343e-01 -4.56129954e-01 -6.64845128e-03 2.11075057e+02] [ 4.56113932e-01 8.89913094e-01 -3.84267893e-03 2.85167579e+01] [ 7.66930481e-03 3.87103936e-04 9.99970516e-01 1.42093811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:28.53, Z:1.42 [[ 8.90554504e-01 -4.54827971e-01 -6.64777994e-03 2.11099035e+02] [ 4.54811904e-01 8.90579226e-01 -3.84383999e-03 2.85299755e+01] [ 7.66866065e-03 3.99659565e-04 9.99970516e-01 1.42275770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:28.54, Z:1.42 [[ 8.90771609e-01 -4.54402631e-01 -6.64757161e-03 2.11123658e+02] [ 4.54386549e-01 8.90796321e-01 -3.84420024e-03 2.85431005e+01] [ 7.66844704e-03 4.03737305e-04 9.99970516e-01 1.42438557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:28.55, Z:1.42 [[ 8.90271573e-01 -4.55381538e-01 -6.64690656e-03 2.11149629e+02] [ 4.55365475e-01 8.90296298e-01 -3.84534981e-03 2.85538004e+01] [ 7.66881762e-03 3.96633861e-04 9.99970516e-01 1.42085477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.235898227 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:211.18, Y:28.57, Z:1.42 [[ 8.89586816e-01 -4.56717768e-01 -6.64659522e-03 2.11175462e+02] [ 4.56701738e-01 8.89611562e-01 -3.84588789e-03 2.85662268e+01] [ 7.66937329e-03 3.85739569e-04 9.99970516e-01 1.41757102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:28.58, Z:1.41 [[ 8.89113471e-01 -4.57638576e-01 -6.64601867e-03 2.11201989e+02] [ 4.57622564e-01 8.89138229e-01 -3.84688396e-03 2.85775914e+01] [ 7.66971177e-03 3.78948242e-04 9.99970516e-01 1.41468167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.295898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.23, Y:28.59, Z:1.41 [[ 8.88778015e-01 -4.58289731e-01 -6.64544338e-03 2.11226997e+02] [ 4.58273730e-01 8.88802780e-01 -3.84787750e-03 2.85892445e+01] [ 7.66993130e-03 3.74476799e-04 9.99970516e-01 1.41207018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:28.60, Z:1.41 [[ 8.89843050e-01 -4.56218356e-01 -6.64523847e-03 2.11254332e+02] [ 4.56202294e-01 8.89867775e-01 -3.84823135e-03 2.85963628e+01] [ 7.66901735e-03 3.92748887e-04 9.99970516e-01 1.41342730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:28.61, Z:1.42 [[ 8.90910429e-01 -4.54130435e-01 -6.64495363e-03 2.11281129e+02] [ 4.54114312e-01 8.90935115e-01 -3.84872314e-03 2.86080737e+01] [ 7.66804484e-03 4.11299038e-04 9.99970516e-01 1.41633944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.385898227 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:211.31, Y:28.62, Z:1.42 [[ 8.92157803e-01 -4.51675001e-01 -6.64438815e-03 2.11306767e+02] [ 4.51658803e-01 8.92182439e-01 -3.84969914e-03 2.86208459e+01] [ 7.66681929e-03 4.33542726e-04 9.99970516e-01 1.42121749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:28.63, Z:1.42 [[ 8.93923792e-01 -4.48169740e-01 -6.64374372e-03 2.11330721e+02] [ 4.48153437e-01 8.93948359e-01 -3.85081095e-03 2.86330555e+01] [ 7.66498074e-03 4.64914948e-04 9.99970516e-01 1.41940543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:28.65, Z:1.42 [[ 8.95647443e-01 -4.44715102e-01 -6.64342360e-03 2.11353683e+02] [ 4.44698701e-01 8.95671945e-01 -3.85136315e-03 2.86464240e+01] [ 7.66308749e-03 4.95141711e-04 9.99970516e-01 1.41841222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:28.66, Z:1.42 [[ 8.97277903e-01 -4.41416170e-01 -6.64298910e-03 2.11377381e+02] [ 4.41399673e-01 8.97302340e-01 -3.85211244e-03 2.86610841e+01] [ 7.66115439e-03 5.24202149e-04 9.99970516e-01 1.41942578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:28.68, Z:1.42 [[ 9.00041414e-01 -4.35753753e-01 -6.64229717e-03 2.11400696e+02] [ 4.35737093e-01 9.00065741e-01 -3.85330518e-03 2.86764892e+01] [ 7.65759632e-03 5.73838978e-04 9.99970516e-01 1.41541693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:28.69, Z:1.42 [[ 9.00907416e-01 -4.33960495e-01 -6.64208290e-03 2.11424063e+02] [ 4.33943784e-01 9.00931708e-01 -3.85367449e-03 2.86913837e+01] [ 7.65640558e-03 5.89513337e-04 9.99970516e-01 1.41996325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:28.71, Z:1.42 [[ 9.01338817e-01 -4.33063770e-01 -6.64135356e-03 2.11446736e+02] [ 4.33047026e-01 9.01363086e-01 -3.85493102e-03 2.87061414e+01] [ 7.65570190e-03 5.98580564e-04 9.99970516e-01 1.41645847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:28.72, Z:1.42 [[ 9.01367431e-01 -4.33004215e-01 -6.64103703e-03 2.11471047e+02] [ 4.32987466e-01 9.01391696e-01 -3.85547624e-03 2.87225322e+01] [ 7.65561310e-03 5.99714926e-04 9.99970516e-01 1.41798267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:28.74, Z:1.42 [[ 9.01108303e-01 -4.33543227e-01 -6.64049572e-03 2.11494414e+02] [ 4.33526485e-01 9.01132574e-01 -3.85640834e-03 2.87388468e+01] [ 7.65588671e-03 5.96210804e-04 9.99970516e-01 1.42065416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.655898227 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:211.52, Y:28.76, Z:1.43 [[ 8.99826773e-01 -4.36196848e-01 -6.63995560e-03 2.11517164e+02] [ 4.36180171e-01 8.99851087e-01 -3.85733810e-03 2.87577594e+01] [ 7.65752999e-03 5.74719127e-04 9.99970516e-01 1.42530987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:28.77, Z:1.43 [[ 8.99197885e-01 -4.37491809e-01 -6.63934150e-03 2.11540972e+02] [ 4.37475159e-01 8.99222218e-01 -3.85839481e-03 2.87733037e+01] [ 7.65825952e-03 5.64913481e-04 9.99970516e-01 1.42544491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:28.79, Z:1.42 [[ 8.98700083e-01 -4.38513500e-01 -6.63863685e-03 2.11563245e+02] [ 4.38496869e-01 8.98724429e-01 -3.85960683e-03 2.87888107e+01] [ 7.65879481e-03 5.57607514e-04 9.99970516e-01 1.42453008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:28.80, Z:1.42 [[ 8.98620207e-01 -4.38677166e-01 -6.63833090e-03 2.11587820e+02] [ 4.38660536e-01 8.98644554e-01 -3.86013298e-03 2.88032842e+01] [ 7.65885210e-03 5.56819707e-04 9.99970516e-01 1.42474897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:28.82, Z:1.42 [[ 8.98162238e-01 -4.39614077e-01 -6.63762766e-03 2.11610717e+02] [ 4.39597463e-01 8.98186596e-01 -3.86134184e-03 2.88194519e+01] [ 7.65932842e-03 5.50227152e-04 9.99970516e-01 1.42392888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:28.83, Z:1.42 [[ 8.97865435e-01 -4.40219958e-01 -6.63690856e-03 2.11632514e+02] [ 4.40203352e-01 8.97889798e-01 -3.86257744e-03 2.88347864e+01] [ 7.65959617e-03 5.46485386e-04 9.99970516e-01 1.42178028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:28.85, Z:1.42 [[ 8.96828996e-01 -4.42327602e-01 -6.63659660e-03 2.11654437e+02] [ 4.42311049e-01 8.96853395e-01 -3.86311336e-03 2.88508837e+01] [ 7.66081587e-03 5.29112075e-04 9.99970516e-01 1.41989288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:28.87, Z:1.42 [[ 8.96163248e-01 -4.43674874e-01 -6.63613270e-03 2.11678189e+02] [ 4.43658352e-01 8.96187668e-01 -3.86391011e-03 2.88653592e+01] [ 7.66154012e-03 5.18518541e-04 9.99970516e-01 1.42124496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:28.88, Z:1.42 [[ 8.95513066e-01 -4.44985753e-01 -6.63541946e-03 2.11701515e+02] [ 4.44969258e-01 8.95537504e-01 -3.86513455e-03 2.88790133e+01] [ 7.66219679e-03 5.08720817e-04 9.99970516e-01 1.41991735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:28.89, Z:1.42 [[ 8.94743318e-01 -4.46531489e-01 -6.63511038e-03 2.11725588e+02] [ 4.46515032e-01 8.94767782e-01 -3.86566506e-03 2.88931775e+01] [ 7.66302417e-03 4.96101456e-04 9.99970516e-01 1.41998379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:28.91, Z:1.42 [[ 8.94215971e-01 -4.47586620e-01 -6.63440018e-03 2.11750050e+02] [ 4.47570182e-01 8.94240448e-01 -3.86688355e-03 2.89066621e+01] [ 7.66351433e-03 4.88469324e-04 9.99970516e-01 1.41819434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.78, Y:28.92, Z:1.42 [[ 8.93424321e-01 -4.49164748e-01 -6.63417888e-03 2.11775769e+02] [ 4.49148351e-01 8.93448825e-01 -3.86726318e-03 2.89187364e+01] [ 7.66433762e-03 4.75376477e-04 9.99970516e-01 1.42022989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.80, Y:28.93, Z:1.42 [[ 8.93120137e-01 -4.49769294e-01 -6.63347036e-03 2.11801158e+02] [ 4.49752904e-01 8.93144647e-01 -3.86847811e-03 2.89311704e+01] [ 7.66457121e-03 4.71593138e-04 9.99970516e-01 1.42152640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.045898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:211.83, Y:28.94, Z:1.42 [[ 8.93024011e-01 -4.49960133e-01 -6.63276038e-03 2.11825745e+02] [ 4.49943740e-01 8.93048518e-01 -3.86969503e-03 2.89438749e+01] [ 7.66458533e-03 4.71361566e-04 9.99970516e-01 1.42160661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.85, Y:28.96, Z:1.42 [[ 8.93241956e-01 -4.49527327e-01 -6.63254040e-03 2.11850762e+02] [ 4.49510919e-01 8.93266453e-01 -3.87007204e-03 2.89557767e+01] [ 7.66432898e-03 4.75511384e-04 9.99970516e-01 1.42248082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.88, Y:28.97, Z:1.42 [[ 8.93544415e-01 -4.48925826e-01 -6.63183165e-03 2.11875561e+02] [ 4.48909393e-01 8.93568895e-01 -3.87128619e-03 2.89678390e+01] [ 7.66391883e-03 4.82074633e-04 9.99970516e-01 1.42240438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.90, Y:28.98, Z:1.42 [[ 8.93921561e-01 -4.48174370e-01 -6.63152345e-03 2.11901179e+02] [ 4.48157912e-01 8.93946025e-01 -3.87181407e-03 2.89804767e+01] [ 7.66347185e-03 4.89128382e-04 9.99970516e-01 1.42234551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.93, Y:28.99, Z:1.42 [[ 8.94910991e-01 -4.46195416e-01 -6.63082306e-03 2.11926109e+02] [ 4.46178896e-01 8.94935413e-01 -3.87301317e-03 2.89917274e+01] [ 7.66227910e-03 5.07468742e-04 9.99970516e-01 1.42196195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.195898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:211.95, Y:29.01, Z:1.42 [[ 8.95324802e-01 -4.45364496e-01 -6.63051833e-03 2.11951607e+02] [ 4.45347949e-01 8.95349206e-01 -3.87353480e-03 2.90057155e+01] [ 7.66176419e-03 5.15184046e-04 9.99970516e-01 1.42266010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:29.02, Z:1.42 [[ 8.96074816e-01 -4.43853477e-01 -6.63442279e-03 2.11974853e+02] [ 4.43836938e-01 8.96099224e-01 -3.86685330e-03 2.90188644e+01] [ 7.66141740e-03 5.20387959e-04 9.99970516e-01 1.42480338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.00, Y:29.03, Z:1.43 [[ 8.97507864e-01 -4.40948621e-01 -6.62925081e-03 2.11999464e+02] [ 4.40931938e-01 8.97532175e-01 -3.87569979e-03 2.90330669e+01] [ 7.65895038e-03 5.55422636e-04 9.99970516e-01 1.42770293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.02, Y:29.05, Z:1.43 [[ 8.98369289e-01 -4.39190940e-01 -6.62864251e-03 2.12022993e+02] [ 4.39174201e-01 8.98393562e-01 -3.87673990e-03 2.90472322e+01] [ 7.65775879e-03 5.71615289e-04 9.99970516e-01 1.42848067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.05, Y:29.06, Z:1.43 [[ 8.99348144e-01 -4.37183007e-01 -6.62834494e-03 2.12045715e+02] [ 4.37166210e-01 8.99372376e-01 -3.87724860e-03 2.90616280e+01] [ 7.65641754e-03 5.89307897e-04 9.99970516e-01 1.42912318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:29.08, Z:1.43 [[ 9.00256083e-01 -4.35310297e-01 -6.62805791e-03 2.12069358e+02] [ 4.35293447e-01 9.00280278e-01 -3.87773922e-03 2.90773785e+01] [ 7.65512962e-03 6.05808144e-04 9.99970516e-01 1.43062790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.09, Y:29.09, Z:1.43 [[ 9.01018516e-01 -4.33729999e-01 -6.62734022e-03 2.12091700e+02] [ 4.33713097e-01 9.01042675e-01 -3.87896540e-03 2.90929224e+01] [ 7.65394003e-03 6.20655399e-04 9.99970516e-01 1.43049019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:29.11, Z:1.43 [[ 9.01747254e-01 -4.32212882e-01 -6.62685182e-03 2.12113765e+02] [ 4.32195933e-01 9.01771380e-01 -3.87979961e-03 2.91100574e+01] [ 7.65280468e-03 6.34500240e-04 9.99970516e-01 1.43072138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:29.13, Z:1.43 [[ 9.01549975e-01 -4.32624245e-01 -6.62615219e-03 2.12136478e+02] [ 4.32607299e-01 9.01574103e-01 -3.88099412e-03 2.91252512e+01] [ 7.65297936e-03 6.32388349e-04 9.99970516e-01 1.43139934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.16, Y:29.14, Z:1.43 [[ 9.00850332e-01 -4.34079229e-01 -6.62585171e-03 2.12160240e+02] [ 4.34062318e-01 9.00874485e-01 -3.88150705e-03 2.91409243e+01] [ 7.65394233e-03 6.20624361e-04 9.99970516e-01 1.43289664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:29.16, Z:1.43 [[ 8.99772723e-01 -4.36308555e-01 -6.62513396e-03 2.12182889e+02] [ 4.36291695e-01 8.99796911e-01 -3.88273175e-03 2.91555882e+01] [ 7.65534415e-03 6.03085187e-04 9.99970516e-01 1.43334164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:29.17, Z:1.43 [[ 8.98459081e-01 -4.39007279e-01 -6.62482102e-03 2.12206876e+02] [ 4.38990488e-01 8.98483318e-01 -3.88326563e-03 2.91701649e+01] [ 7.65707304e-03 5.80721859e-04 9.99970516e-01 1.43410779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.23, Y:29.18, Z:1.43 [[ 8.97245096e-01 -4.41483133e-01 -6.62435068e-03 2.12230503e+02] [ 4.41466403e-01 8.97269374e-01 -3.88406769e-03 2.91833601e+01] [ 7.65857736e-03 5.60532422e-04 9.99970516e-01 1.43239812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.26, Y:29.20, Z:1.43 [[ 8.95658008e-01 -4.44694116e-01 -6.62383678e-03 2.12255313e+02] [ 4.44677467e-01 8.95682342e-01 -3.88494389e-03 2.91955125e+01] [ 7.66046533e-03 5.34110144e-04 9.99970516e-01 1.43185490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.28, Y:29.21, Z:1.43 [[ 8.95443571e-01 -4.45125764e-01 -6.62312829e-03 2.12279601e+02] [ 4.45109117e-01 8.95467907e-01 -3.88615136e-03 2.92092812e+01] [ 7.66062492e-03 5.31814463e-04 9.99970516e-01 1.43156832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:29.22, Z:1.43 [[ 8.95587054e-01 -4.44837017e-01 -6.62240223e-03 2.12303150e+02] [ 4.44820353e-01 8.95611379e-01 -3.88738825e-03 2.92235018e+01] [ 7.66035298e-03 5.35715294e-04 9.99970516e-01 1.43024046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.33, Y:29.24, Z:1.43 [[ 8.96008224e-01 -4.43988074e-01 -6.62217693e-03 2.12328163e+02] [ 4.43971384e-01 8.96032530e-01 -3.88777200e-03 2.92388250e+01] [ 7.65981036e-03 5.43418627e-04 9.99970516e-01 1.42836921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.35, Y:29.25, Z:1.43 [[ 8.96934395e-01 -4.42114065e-01 -6.62155727e-03 2.12354065e+02] [ 4.42097317e-01 8.96958661e-01 -3.88882711e-03 2.92526255e+01] [ 7.65856831e-03 5.60650091e-04 9.99970516e-01 1.42512419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.38, Y:29.27, Z:1.43 [[ 8.97005289e-01 -4.41970220e-01 -6.62097663e-03 2.12379514e+02] [ 4.41953461e-01 8.97029547e-01 -3.88981544e-03 2.92650770e+01] [ 7.65839425e-03 5.63021485e-04 9.99970516e-01 1.42579497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.41, Y:29.28, Z:1.43 [[ 8.96792330e-01 -4.42402181e-01 -6.62026810e-03 2.12405952e+02] [ 4.42385425e-01 8.96816590e-01 -3.89102095e-03 2.92775494e+01] [ 7.65856242e-03 5.60727631e-04 9.99970516e-01 1.42847393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.43, Y:29.29, Z:1.43 [[ 8.96267013e-01 -4.43465468e-01 -6.61964330e-03 2.12431846e+02] [ 4.43448733e-01 8.96291288e-01 -3.89208361e-03 2.92896069e+01] [ 7.65913330e-03 5.52873720e-04 9.99970516e-01 1.43055808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:29.30, Z:1.43 [[ 8.95377795e-01 -4.45258119e-01 -6.61902069e-03 2.12457121e+02] [ 4.45241425e-01 8.95402098e-01 -3.89314215e-03 2.93009272e+01] [ 7.66013816e-03 5.38770831e-04 9.99970516e-01 1.43124861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:29.31, Z:1.43 [[ 8.94389038e-01 -4.47240920e-01 -6.61879957e-03 2.12482716e+02] [ 4.47224277e-01 8.94413376e-01 -3.89351805e-03 2.93111029e+01] [ 7.66128346e-03 5.22232009e-04 9.99970516e-01 1.43097211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:29.32, Z:1.43 [[ 8.92613431e-01 -4.50774290e-01 -6.61831738e-03 2.12512439e+02] [ 4.50757738e-01 8.92637830e-01 -3.89433751e-03 2.93162809e+01] [ 7.66322770e-03 4.92880193e-04 9.99970516e-01 1.43273184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.54, Y:29.33, Z:1.44 [[ 8.92140168e-01 -4.51710226e-01 -6.61760965e-03 2.12538704e+02] [ 4.51693690e-01 8.92164579e-01 -3.89553978e-03 2.93260383e+01] [ 7.66365208e-03 4.86234995e-04 9.99970516e-01 1.43549396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:29.34, Z:1.44 [[ 8.92206242e-01 -4.51579715e-01 -6.61689144e-03 2.12564106e+02] [ 4.51563166e-01 8.92230644e-01 -3.89675933e-03 2.93362016e+01] [ 7.66349078e-03 4.88768552e-04 9.99970516e-01 1.43880991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:29.35, Z:1.44 [[ 8.92881738e-01 -4.50242640e-01 -6.61566205e-03 2.12591197e+02] [ 4.50226039e-01 8.92906105e-01 -3.89884639e-03 2.93473732e+01] [ 7.66259192e-03 5.02665421e-04 9.99970516e-01 1.43871575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:29.36, Z:1.43 [[ 8.95837918e-01 -4.44331691e-01 -6.61620789e-03 2.12618710e+02] [ 4.44314936e-01 8.95862179e-01 -3.89791989e-03 2.93552700e+01] [ 7.65917975e-03 5.52224449e-04 9.99970516e-01 1.43472650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.64, Y:29.37, Z:1.43 [[ 8.97590632e-01 -4.40780316e-01 -6.61597970e-03 2.12644199e+02] [ 4.40763462e-01 8.97614825e-01 -3.89830716e-03 2.93670012e+01] [ 7.65689852e-03 5.83001868e-04 9.99970516e-01 1.43450279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.67, Y:29.38, Z:1.44 [[ 8.99193275e-01 -4.37501648e-01 -6.61527035e-03 2.12669956e+02] [ 4.37484698e-01 8.99217400e-01 -3.89951053e-03 2.93791293e+01] [ 7.65460849e-03 6.12334092e-04 9.99970516e-01 1.43585362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.70, Y:29.39, Z:1.44 [[ 9.00354583e-01 -4.35106737e-01 -6.61455621e-03 2.12695673e+02] [ 4.35089714e-01 9.00378657e-01 -3.90072151e-03 2.93910135e+01] [ 7.65283544e-03 6.34107118e-04 9.99970516e-01 1.43816408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.72, Y:29.40, Z:1.44 [[ 9.00850473e-01 -4.34079113e-01 -6.61433491e-03 2.12720111e+02] [ 4.34062059e-01 9.00874525e-01 -3.90109673e-03 2.94019581e+01] [ 7.65207043e-03 6.43273006e-04 9.99970516e-01 1.43974938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.75, Y:29.41, Z:1.44 [[ 8.99894039e-01 -4.36058451e-01 -6.61403736e-03 2.12747546e+02] [ 4.36041446e-01 8.99918127e-01 -3.90160114e-03 2.94101060e+01] [ 7.65341826e-03 6.27033198e-04 9.99970516e-01 1.43813046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.77, Y:29.42, Z:1.44 [[ 8.98578935e-01 -4.38762103e-01 -6.61171848e-03 2.12772183e+02] [ 4.38745142e-01 8.98603053e-01 -3.90553098e-03 2.94215097e+01] [ 7.65490940e-03 6.08568507e-04 9.99970516e-01 1.43633065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.80, Y:29.43, Z:1.44 [[ 8.96972575e-01 -4.42036787e-01 -6.60905522e-03 2.12798029e+02] [ 4.42019881e-01 8.96996731e-01 -3.91004279e-03 2.94339723e+01] [ 7.65668368e-03 5.85867345e-04 9.99970516e-01 1.43652209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.82, Y:29.45, Z:1.44 [[ 8.95387503e-01 -4.45238695e-01 -6.61239415e-03 2.12823239e+02] [ 4.45221917e-01 8.95411749e-01 -3.90438805e-03 2.94457851e+01] [ 7.65920005e-03 5.51957463e-04 9.99970516e-01 1.43687346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.85, Y:29.46, Z:1.44 [[ 8.92110887e-01 -4.51768139e-01 -6.61170745e-03 2.12849642e+02] [ 4.51751530e-01 8.92135249e-01 -3.90555056e-03 2.94551056e+01] [ 7.66294057e-03 4.97335217e-04 9.99970516e-01 1.44007645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.88, Y:29.47, Z:1.44 [[ 8.90591695e-01 -4.54755640e-01 -6.61373188e-03 2.12875217e+02] [ 4.54739139e-01 8.90616129e-01 -3.90212418e-03 2.94676866e+01] [ 7.66480926e-03 4.67676646e-04 9.99970516e-01 1.43792702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.90, Y:29.48, Z:1.44 [[ 8.88914180e-01 -4.58026067e-01 -6.61088298e-03 2.12899810e+02] [ 4.58009620e-01 8.88938650e-01 -3.90694475e-03 2.94803229e+01] [ 7.66615193e-03 4.45090585e-04 9.99970516e-01 1.43857610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.92, Y:29.49, Z:1.44 [[ 8.87227812e-01 -4.61284202e-01 -6.61013464e-03 2.12923931e+02] [ 4.61267835e-01 8.87252337e-01 -3.90821045e-03 2.94936009e+01] [ 7.66765315e-03 4.18430507e-04 9.99970516e-01 1.43795884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.95, Y:29.51, Z:1.44 [[ 8.85645107e-01 -4.64315685e-01 -6.60980878e-03 2.12947314e+02] [ 4.64299398e-01 8.85669685e-01 -3.90876150e-03 2.95068308e+01] [ 7.66900653e-03 3.92845256e-04 9.99970516e-01 1.43872235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.97, Y:29.52, Z:1.44 [[ 8.84302829e-01 -4.66867028e-01 -6.60949659e-03 2.12972582e+02] [ 4.66850808e-01 8.84327451e-01 -3.90928932e-03 2.95215710e+01] [ 7.67007755e-03 3.71346784e-04 9.99970516e-01 1.44009765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.00, Y:29.54, Z:1.44 [[ 8.82048166e-01 -4.71112887e-01 -6.60916555e-03 2.12996153e+02] [ 4.71096782e-01 8.82072863e-01 -3.90984890e-03 2.95370023e+01] [ 7.67174578e-03 3.35118427e-04 9.99970516e-01 1.44378662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.02, Y:29.55, Z:1.44 [[ 8.81305279e-01 -4.72501147e-01 -6.60843352e-03 2.13018378e+02] [ 4.72485072e-01 8.81329995e-01 -3.91108579e-03 2.95517336e+01] [ 7.67220321e-03 3.24474371e-04 9.99970516e-01 1.44459173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.04, Y:29.57, Z:1.45 [[ 8.80792121e-01 -4.73457045e-01 -6.60811438e-03 2.13041110e+02] [ 4.73440992e-01 8.80816852e-01 -3.91162493e-03 2.95680560e+01] [ 7.67252488e-03 3.16776190e-04 9.99970516e-01 1.44513758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.06, Y:29.59, Z:1.45 [[ 8.80518460e-01 -4.73965805e-01 -6.60744995e-03 2.13063683e+02] [ 4.73949758e-01 8.80543195e-01 -3.91274696e-03 2.95852348e+01] [ 7.67265334e-03 3.13646623e-04 9.99970516e-01 1.44628591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.09, Y:29.60, Z:1.45 [[ 8.80558384e-01 -4.73891636e-01 -6.60672718e-03 2.13085032e+02] [ 4.73875578e-01 8.80583112e-01 -3.91396698e-03 2.96023343e+01] [ 7.67256860e-03 3.15709781e-04 9.99970516e-01 1.44673120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.11, Y:29.62, Z:1.45 [[ 8.80794484e-01 -4.73452671e-01 -6.60641301e-03 2.13105678e+02] [ 4.73436597e-01 8.80819202e-01 -3.91449719e-03 2.96196619e+01] [ 7.67238459e-03 3.20149838e-04 9.99970516e-01 1.44768364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.12, Y:29.64, Z:1.45 [[ 8.81147767e-01 -4.72794855e-01 -6.60593385e-03 2.13124887e+02] [ 4.72778756e-01 8.81172468e-01 -3.91530563e-03 2.96429923e+01] [ 7.67210340e-03 3.26817621e-04 9.99970516e-01 1.44783328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.15, Y:29.66, Z:1.45 [[ 8.81066636e-01 -4.72946036e-01 -6.60521842e-03 2.13149346e+02] [ 4.72929932e-01 8.81091335e-01 -3.91651222e-03 2.96576826e+01] [ 7.67209964e-03 3.26902744e-04 9.99970516e-01 1.44805199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.17, Y:29.68, Z:1.45 [[ 8.80907261e-01 -4.73242831e-01 -6.60454625e-03 2.13170146e+02] [ 4.73226727e-01 8.80931959e-01 -3.91764539e-03 2.96762155e+01] [ 7.67215346e-03 3.25634471e-04 9.99970516e-01 1.44713465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.19, Y:29.70, Z:1.45 [[ 8.80273350e-01 -4.74420925e-01 -6.60423452e-03 2.13192034e+02] [ 4.74404850e-01 8.80298067e-01 -3.91817082e-03 2.96952564e+01] [ 7.67255711e-03 3.15980469e-04 9.99970516e-01 1.44614338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.21, Y:29.71, Z:1.45 [[ 8.79110470e-01 -4.76572319e-01 -6.60351191e-03 2.13213438e+02] [ 4.76556296e-01 8.79135220e-01 -3.91938830e-03 2.97129923e+01] [ 7.67325187e-03 2.98630116e-04 9.99970516e-01 1.44519286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.24, Y:29.73, Z:1.44 [[ 8.77441641e-01 -4.79637951e-01 -6.60319695e-03 2.13235942e+02] [ 4.79622010e-01 8.77466445e-01 -3.91991886e-03 2.97308292e+01] [ 7.67422560e-03 2.72461442e-04 9.99970516e-01 1.44397844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.26, Y:29.75, Z:1.44 [[ 8.73430463e-01 -4.86904132e-01 -6.60248837e-03 2.13256590e+02] [ 4.86888388e-01 8.73455392e-01 -3.92111199e-03 2.97505282e+01] [ 7.67618470e-03 2.10143743e-04 9.99970516e-01 1.44149620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.28, Y:29.77, Z:1.44 [[ 8.71567368e-01 -4.90231311e-01 -6.60179801e-03 2.13278556e+02] [ 4.90215654e-01 8.71592352e-01 -3.92227397e-03 2.97671427e+01] [ 7.67689817e-03 1.82221268e-04 9.99970516e-01 1.44090135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.30, Y:29.78, Z:1.44 [[ 8.69988438e-01 -4.93027929e-01 -6.60147622e-03 2.13301597e+02] [ 4.93012348e-01 8.70013469e-01 -3.92281549e-03 2.97839415e+01] [ 7.67743082e-03 1.58194830e-04 9.99970516e-01 1.44300046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.32, Y:29.80, Z:1.44 [[ 8.68896513e-01 -4.94949776e-01 -6.60074580e-03 2.13323010e+02] [ 4.94934241e-01 8.68921572e-01 -3.92404416e-03 2.97998216e+01] [ 7.67773519e-03 1.42653171e-04 9.99970516e-01 1.44444008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.935898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:213.34, Y:29.82, Z:1.45 [[ 8.67857763e-01 -4.96768897e-01 -6.60042787e-03 2.13344006e+02] [ 4.96753411e-01 8.67882853e-01 -3.92457886e-03 2.98199647e+01] [ 7.67800688e-03 1.27191172e-04 9.99970516e-01 1.44635948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.37, Y:29.84, Z:1.45 [[ 8.67637833e-01 -4.97152929e-01 -6.59973409e-03 2.13366546e+02] [ 4.97137445e-01 8.67662924e-01 -3.92574520e-03 2.98370287e+01] [ 7.67804030e-03 1.25150117e-04 9.99970516e-01 1.44726653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.39, Y:29.85, Z:1.45 [[ 8.67356844e-01 -4.97643003e-01 -6.59898625e-03 2.13388154e+02] [ 4.97627523e-01 8.67381938e-01 -3.92700187e-03 2.98532834e+01] [ 7.67808649e-03 1.22274767e-04 9.99970516e-01 1.44724644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.41, Y:29.87, Z:1.45 [[ 8.66577569e-01 -4.98998772e-01 -6.59866215e-03 2.13410631e+02] [ 4.98983328e-01 8.66602685e-01 -3.92754639e-03 2.98690146e+01] [ 7.67825916e-03 1.10901205e-04 9.99970516e-01 1.44652320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.055898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:213.43, Y:29.89, Z:1.45 [[ 8.65260934e-01 -5.01278343e-01 -6.59834213e-03 2.13433599e+02] [ 5.01262961e-01 8.65286088e-01 -3.92808396e-03 2.98853041e+01] [ 7.67851707e-03 9.13130792e-05 9.99970516e-01 1.44629102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.46, Y:29.90, Z:1.45 [[ 8.63493601e-01 -5.04316639e-01 -6.59761049e-03 2.13456971e+02] [ 5.04301336e-01 8.63518803e-01 -3.92931244e-03 2.99002463e+01] [ 7.67877836e-03 6.57523688e-05 9.99970516e-01 1.44755507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.48, Y:29.92, Z:1.45 [[ 8.59772910e-01 -5.10633944e-01 -6.59687743e-03 2.13479020e+02] [ 5.10618816e-01 8.59798218e-01 -3.93054277e-03 2.99152423e+01] [ 7.67905202e-03 1.08844525e-05 9.99970516e-01 1.45200322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.50, Y:29.93, Z:1.45 [[ 8.58151785e-01 -5.13353680e-01 -6.59646301e-03 2.13501430e+02] [ 5.13338627e-01 8.58177138e-01 -3.93123816e-03 2.99294671e+01] [ 7.67904932e-03 -1.26202230e-05 9.99970516e-01 1.45404437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.175898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:213.52, Y:29.94, Z:1.45 [[ 8.56842641e-01 -5.15535818e-01 -6.59607427e-03 2.13524482e+02] [ 5.15520825e-01 8.56868029e-01 -3.93189031e-03 2.99447430e+01] [ 7.67899544e-03 -3.14023702e-05 9.99970516e-01 1.45429135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.205898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:213.55, Y:29.96, Z:1.45 [[ 8.56238280e-01 -5.16538972e-01 -6.59535784e-03 2.13548228e+02] [ 5.16523999e-01 8.56263680e-01 -3.93309167e-03 2.99599930e+01] [ 7.67896050e-03 -3.89969634e-05 9.99970516e-01 1.45419786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.57, Y:29.98, Z:1.45 [[ 8.56044201e-01 -5.16860558e-01 -6.59464290e-03 2.13570601e+02] [ 5.16845586e-01 8.56069601e-01 -3.93429005e-03 2.99751751e+01] [ 7.67895267e-03 -4.04858900e-05 9.99970516e-01 1.45148832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.59, Y:29.99, Z:1.45 [[ 8.56133779e-01 -5.16712171e-01 -6.59425116e-03 2.13594498e+02] [ 5.16697189e-01 8.56159174e-01 -3.93494655e-03 2.99905641e+01] [ 7.67896340e-03 -3.83903809e-05 9.99970516e-01 1.45192088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.62, Y:30.01, Z:1.45 [[ 8.56548960e-01 -5.16023648e-01 -6.59347073e-03 2.13616957e+02] [ 5.16008635e-01 8.56574337e-01 -3.93625382e-03 3.00050882e+01] [ 7.67899787e-03 -3.06937209e-05 9.99970516e-01 1.45278282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.64, Y:30.02, Z:1.45 [[ 8.56860319e-01 -5.15506473e-01 -6.59313170e-03 2.13640577e+02] [ 5.15491441e-01 8.56885684e-01 -3.93682160e-03 3.00205473e+01] [ 7.67901718e-03 -2.53967531e-05 9.99970516e-01 1.45381439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.66, Y:30.04, Z:1.45 [[ 8.57021854e-01 -5.15237889e-01 -6.59241159e-03 2.13663826e+02] [ 5.15222839e-01 8.57047209e-01 -3.93802709e-03 3.00358246e+01] [ 7.67902871e-03 -2.15857435e-05 9.99970516e-01 1.45398329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.69, Y:30.05, Z:1.45 [[ 8.57014066e-01 -5.15250853e-01 -6.59162995e-03 2.13686879e+02] [ 5.15235794e-01 8.57039415e-01 -3.93933500e-03 3.00507468e+01] [ 7.67903239e-03 -2.01781822e-05 9.99970516e-01 1.45287052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:213.71, Y:30.07, Z:1.45 [[ 8.55958832e-01 -5.17001968e-01 -6.59109618e-03 2.13710201e+02] [ 5.16986954e-01 8.55984208e-01 -3.94022787e-03 3.00668409e+01] [ 7.67897980e-03 -3.48378928e-05 9.99970516e-01 1.44984123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.445898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:213.73, Y:30.08, Z:1.45 [[ 8.55379510e-01 -5.17959904e-01 -6.59035569e-03 2.13732853e+02] [ 5.17944909e-01 8.55404896e-01 -3.94146601e-03 3.00812525e+01] [ 7.67894388e-03 -4.19919116e-05 9.99970516e-01 1.45183249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.76, Y:30.10, Z:1.45 [[ 8.55215189e-01 -5.18231179e-01 -6.58985140e-03 2.13756478e+02] [ 5.18216186e-01 8.55240576e-01 -3.94230897e-03 3.00965945e+01] [ 7.67893573e-03 -4.34451531e-05 9.99970516e-01 1.45416795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.78, Y:30.12, Z:1.45 [[ 8.55617705e-01 -5.17566349e-01 -6.58912533e-03 2.13778333e+02] [ 5.17551326e-01 8.55643076e-01 -3.94352213e-03 3.01153460e+01] [ 7.67897382e-03 -3.60631960e-05 9.99970516e-01 1.45422216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.80, Y:30.13, Z:1.45 [[ 8.55989051e-01 -5.16951969e-01 -6.58839560e-03 2.13800973e+02] [ 5.16936919e-01 8.56014404e-01 -3.94474092e-03 3.01328185e+01] [ 7.67900312e-03 -2.91298873e-05 9.99970516e-01 1.45264300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.82, Y:30.15, Z:1.45 [[ 8.56270730e-01 -5.16485276e-01 -6.58765129e-03 2.13823229e+02] [ 5.16470202e-01 8.56296070e-01 -3.94598351e-03 3.01499998e+01] [ 7.67902229e-03 -2.34954111e-05 9.99970516e-01 1.45037481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.85, Y:30.17, Z:1.45 [[ 8.56154442e-01 -5.16678028e-01 -6.58690838e-03 2.13845336e+02] [ 5.16662951e-01 8.56179780e-01 -3.94722323e-03 3.01667642e+01] [ 7.67902128e-03 -2.37788204e-05 9.99970516e-01 1.44961716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.87, Y:30.18, Z:1.45 [[ 8.55505788e-01 -5.17751359e-01 -6.58616791e-03 2.13867320e+02] [ 5.17736304e-01 8.55531139e-01 -3.94845837e-03 3.01836562e+01] [ 7.67899142e-03 -3.19692431e-05 9.99970516e-01 1.45039503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.89, Y:30.20, Z:1.45 [[ 8.54528504e-01 -5.19362753e-01 -6.58541983e-03 2.13888833e+02] [ 5.19347736e-01 8.54553877e-01 -3.94970565e-03 3.01996574e+01] [ 7.67892605e-03 -4.49868187e-05 9.99970516e-01 1.45261202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.91, Y:30.22, Z:1.45 [[ 8.51617709e-01 -5.24122042e-01 -6.58500429e-03 2.13910067e+02] [ 5.24107162e-01 8.51643163e-01 -3.95039832e-03 3.02181890e+01] [ 7.67856472e-03 -8.70187389e-05 9.99970516e-01 1.45420731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.93, Y:30.23, Z:1.45 [[ 8.49794151e-01 -5.27073569e-01 -6.58430805e-03 2.13931936e+02] [ 5.27058768e-01 8.49819652e-01 -3.95155844e-03 3.02343997e+01] [ 7.67823638e-03 -1.12306037e-04 9.99970516e-01 1.45229146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.95, Y:30.25, Z:1.45 [[ 8.47776030e-01 -5.30313544e-01 -6.58390246e-03 2.13953746e+02] [ 5.30298835e-01 8.47801584e-01 -3.95223409e-03 3.02498843e+01] [ 7.67776620e-03 -1.40826474e-04 9.99970516e-01 1.44963411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.98, Y:30.27, Z:1.45 [[ 8.45512350e-01 -5.33915278e-01 -6.58351121e-03 2.13976741e+02] [ 5.33900673e-01 8.45537963e-01 -3.95288572e-03 3.02655074e+01] [ 7.67711473e-03 -1.72727377e-04 9.99970516e-01 1.44869219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.00, Y:30.28, Z:1.45 [[ 8.43611256e-01 -5.36914068e-01 -6.58275765e-03 2.14000281e+02] [ 5.36899544e-01 8.43636915e-01 -3.95414023e-03 3.02805566e+01] [ 7.67649087e-03 -1.98522377e-04 9.99970516e-01 1.44945404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.835898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:214.02, Y:30.30, Z:1.45 [[ 8.42012140e-01 -5.39418422e-01 -6.58199271e-03 2.14023422e+02] [ 5.39403965e-01 8.42037836e-01 -3.95541313e-03 3.02962719e+01] [ 7.67590961e-03 -2.19847091e-04 9.99970516e-01 1.45048934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.05, Y:30.31, Z:1.45 [[ 8.40340053e-01 -5.42019634e-01 -6.58122254e-03 2.14046032e+02] [ 5.42005246e-01 8.40365788e-01 -3.95669416e-03 3.03109429e+01] [ 7.67524019e-03 -2.42088561e-04 9.99970516e-01 1.45208356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.07, Y:30.33, Z:1.45 [[ 8.39724003e-01 -5.42973564e-01 -6.58079675e-03 2.14070130e+02] [ 5.42959200e-01 8.39749752e-01 -3.95740221e-03 3.03261896e+01] [ 7.67498722e-03 -2.49978511e-04 9.99970516e-01 1.45290904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.09, Y:30.34, Z:1.45 [[ 8.39064476e-01 -5.43992195e-01 -6.58002535e-03 2.14092747e+02] [ 5.43977852e-01 8.39090237e-01 -3.95868442e-03 3.03404383e+01] [ 7.67472845e-03 -2.57796584e-04 9.99970516e-01 1.45319546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.955898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:214.12, Y:30.36, Z:1.45 [[ 8.38217604e-01 -5.45296211e-01 -6.57950107e-03 2.14115663e+02] [ 5.45281902e-01 8.38243383e-01 -3.95955560e-03 3.03554830e+01] [ 7.67435390e-03 -2.68713642e-04 9.99970516e-01 1.45279995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.14, Y:30.37, Z:1.45 [[ 8.38085906e-01 -5.45498607e-01 -6.57910206e-03 2.14139551e+02] [ 5.45484298e-01 8.38111685e-01 -3.96021848e-03 3.03702418e+01] [ 7.67431598e-03 -2.69793578e-04 9.99970516e-01 1.45448508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.16, Y:30.39, Z:1.46 [[ 8.38058565e-01 -5.45540619e-01 -6.57834971e-03 2.14161772e+02] [ 5.45526302e-01 8.38084340e-01 -3.96146781e-03 3.03854446e+01] [ 7.67435348e-03 -2.68720761e-04 9.99970516e-01 1.45600468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.18, Y:30.40, Z:1.46 [[ 8.37830060e-01 -5.45891493e-01 -6.57793518e-03 2.14184643e+02] [ 5.45877181e-01 8.37855838e-01 -3.96215600e-03 3.04022248e+01] [ 7.67426865e-03 -2.71131313e-04 9.99970516e-01 1.45772751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.21, Y:30.42, Z:1.46 [[ 8.37789640e-01 -5.45953532e-01 -6.57718704e-03 2.14206698e+02] [ 5.45939213e-01 8.37815414e-01 -3.96339754e-03 3.04186964e+01] [ 7.67429957e-03 -2.70250919e-04 9.99970516e-01 1.45792801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.23, Y:30.44, Z:1.46 [[ 8.36922467e-01 -5.47281947e-01 -6.57677668e-03 2.14228157e+02] [ 5.47267663e-01 8.36948260e-01 -3.96407836e-03 3.04371070e+01] [ 7.67389033e-03 -2.81630965e-04 9.99970516e-01 1.45736814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.25, Y:30.45, Z:1.46 [[ 8.36498965e-01 -5.47929044e-01 -6.57604001e-03 2.14250310e+02] [ 5.47914770e-01 8.36524764e-01 -3.96530006e-03 3.04531947e+01] [ 7.67372338e-03 -2.86140055e-04 9.99970516e-01 1.45586359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.27, Y:30.47, Z:1.46 [[ 8.35976651e-01 -5.48725615e-01 -6.57563716e-03 2.14272898e+02] [ 5.48711360e-01 8.36002461e-01 -3.96596799e-03 3.04699525e+01] [ 7.67347707e-03 -2.92670172e-04 9.99970516e-01 1.45503577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.30, Y:30.49, Z:1.45 [[ 8.35515331e-01 -5.49427795e-01 -6.57491120e-03 2.14295826e+02] [ 5.49413553e-01 8.35541147e-01 -3.96717114e-03 3.04869344e+01] [ 7.67328294e-03 -2.97713019e-04 9.99970516e-01 1.45481239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.32, Y:30.50, Z:1.46 [[ 8.35273248e-01 -5.49795763e-01 -6.57418364e-03 2.14318133e+02] [ 5.49781523e-01 8.35299065e-01 -3.96837645e-03 3.05037000e+01] [ 7.67320601e-03 -2.99686007e-04 9.99970516e-01 1.45592857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.34, Y:30.52, Z:1.46 [[ 8.35009630e-01 -5.50196063e-01 -6.57345966e-03 2.14338880e+02] [ 5.50181825e-01 8.35035449e-01 -3.96957534e-03 3.05225905e+01] [ 7.67311656e-03 -3.01964399e-04 9.99970516e-01 1.45750876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.285898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:214.36, Y:30.54, Z:1.46 [[ 8.34693287e-01 -5.50675872e-01 -6.57275155e-03 2.14360611e+02] [ 5.50661641e-01 8.34719109e-01 -3.97074746e-03 3.05397589e+01] [ 7.67299614e-03 -3.05005903e-04 9.99970516e-01 1.45694008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.38, Y:30.56, Z:1.46 [[ 8.34424400e-01 -5.51083229e-01 -6.57233502e-03 2.14382683e+02] [ 5.51069004e-01 8.34450226e-01 -3.97143677e-03 3.05553252e+01] [ 7.67287865e-03 -3.07946372e-04 9.99970516e-01 1.45648226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.41, Y:30.57, Z:1.45 [[ 8.33636775e-01 -5.52273970e-01 -6.57192311e-03 2.14405255e+02] [ 5.52259777e-01 8.33662618e-01 -3.97211828e-03 3.05722320e+01] [ 7.67246416e-03 -3.18104921e-04 9.99970516e-01 1.45460139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.43, Y:30.59, Z:1.45 [[ 8.32636359e-01 -5.53781107e-01 -6.57116987e-03 2.14427920e+02] [ 5.53766951e-01 8.32662222e-01 -3.97336399e-03 3.05888593e+01] [ 7.67193882e-03 -3.30529376e-04 9.99970516e-01 1.45280648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.45, Y:30.60, Z:1.45 [[ 8.31393657e-01 -5.55645046e-01 -6.57040628e-03 2.14449978e+02] [ 5.55630938e-01 8.31419547e-01 -3.97462628e-03 3.06041529e+01] [ 7.67124561e-03 -3.46241926e-04 9.99970516e-01 1.45154630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.47, Y:30.62, Z:1.45 [[ 8.28801523e-01 -5.59504129e-01 -6.56999513e-03 2.14473313e+02] [ 5.59490136e-01 8.28827476e-01 -3.97530579e-03 3.06198881e+01] [ 7.66959248e-03 -3.81107975e-04 9.99970516e-01 1.45120338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.50, Y:30.63, Z:1.45 [[ 8.27839970e-01 -5.60925868e-01 -6.56925205e-03 2.14495894e+02] [ 5.60911910e-01 8.27865941e-01 -3.97653336e-03 3.06339341e+01] [ 7.66900046e-03 -3.92838464e-04 9.99970516e-01 1.45044092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.52, Y:30.65, Z:1.45 [[ 8.27289411e-01 -5.61737555e-01 -6.56885099e-03 2.14518955e+02] [ 5.61723617e-01 8.27315393e-01 -3.97719576e-03 3.06483354e+01] [ 7.66865176e-03 -3.99586800e-04 9.99970516e-01 1.45018876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.54, Y:30.66, Z:1.45 [[ 8.26805704e-01 -5.62449272e-01 -6.56845551e-03 2.14542969e+02] [ 5.62435352e-01 8.26831695e-01 -3.97784880e-03 3.06635797e+01] [ 7.66834537e-03 -4.05423507e-04 9.99970516e-01 1.45026417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.57, Y:30.68, Z:1.45 [[ 8.26702251e-01 -5.62601327e-01 -6.56772096e-03 2.14567253e+02] [ 5.62587402e-01 8.26728240e-01 -3.97906123e-03 3.06785135e+01] [ 7.66834552e-03 -4.05418197e-04 9.99970516e-01 1.45048289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.59, Y:30.69, Z:1.45 [[ 8.26390765e-01 -5.63058769e-01 -6.56698894e-03 2.14589898e+02] [ 5.63044849e-01 8.26416757e-01 -3.98026898e-03 3.06924824e+01] [ 7.66819505e-03 -4.08251768e-04 9.99970516e-01 1.45116623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.61, Y:30.71, Z:1.45 [[ 8.25445211e-01 -5.64444049e-01 -6.56658668e-03 2.14613758e+02] [ 5.64430167e-01 8.25471222e-01 -3.98093251e-03 3.07069227e+01] [ 7.66754200e-03 -4.20337936e-04 9.99970516e-01 1.45224934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.64, Y:30.72, Z:1.45 [[ 8.25163591e-01 -5.64855678e-01 -6.56586492e-03 2.14637307e+02] [ 5.64841799e-01 8.25189605e-01 -3.98212257e-03 3.07210298e+01] [ 7.66740803e-03 -4.22772399e-04 9.99970516e-01 1.45219620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.66, Y:30.73, Z:1.45 [[ 8.25230006e-01 -5.64758652e-01 -6.56521768e-03 2.14661642e+02] [ 5.64744762e-01 8.25256014e-01 -3.98318938e-03 3.07346681e+01] [ 7.66752603e-03 -4.20624902e-04 9.99970516e-01 1.45233433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.705898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:214.69, Y:30.75, Z:1.46 [[ 8.26079774e-01 -5.63514963e-01 -6.56450037e-03 2.14686195e+02] [ 5.63501025e-01 8.26105756e-01 -3.98437119e-03 3.07481639e+01] [ 7.66822432e-03 -4.07694232e-04 9.99970516e-01 1.45510717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.71, Y:30.76, Z:1.46 [[ 8.26935220e-01 -5.62258890e-01 -6.56375704e-03 2.14709468e+02] [ 5.62244902e-01 8.26961175e-01 -3.98559535e-03 3.07610722e+01] [ 7.66890865e-03 -3.94609772e-04 9.99970516e-01 1.45703506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.765898227 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:214.73, Y:30.78, Z:1.46 [[ 8.27272972e-01 -5.61761829e-01 -6.56335007e-03 2.14732364e+02] [ 5.61747821e-01 8.27298915e-01 -3.98626543e-03 3.07767376e+01] [ 7.66918415e-03 -3.89217954e-04 9.99970516e-01 1.45661611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.76, Y:30.79, Z:1.46 [[ 8.27976022e-01 -5.60725102e-01 -6.56259071e-03 2.14755821e+02] [ 5.60711051e-01 8.28001943e-01 -3.98751517e-03 3.07917537e+01] [ 7.66973771e-03 -3.78150188e-04 9.99970516e-01 1.45574613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.78, Y:30.81, Z:1.45 [[ 8.28521585e-01 -5.59918677e-01 -6.56183468e-03 2.14778508e+02] [ 5.59904591e-01 8.28547487e-01 -3.98875890e-03 3.08071138e+01] [ 7.67017224e-03 -3.69228514e-04 9.99970516e-01 1.45313394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.80, Y:30.82, Z:1.45 [[ 8.28752137e-01 -5.59577379e-01 -6.56143491e-03 2.14801870e+02] [ 5.59563277e-01 8.28778031e-01 -3.98941640e-03 3.08225864e+01] [ 7.67036028e-03 -3.65300653e-04 9.99970516e-01 1.45316486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.82, Y:30.84, Z:1.46 [[ 8.28836127e-01 -5.59452976e-01 -6.56070467e-03 2.14824750e+02] [ 5.59438860e-01 8.28862013e-01 -3.99061695e-03 3.08385129e+01] [ 7.67048140e-03 -3.62745650e-04 9.99970516e-01 1.45638666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.85, Y:30.85, Z:1.46 [[ 8.28785664e-01 -5.59527738e-01 -6.55995885e-03 2.14847733e+02] [ 5.59513615e-01 8.28811546e-01 -3.99184258e-03 3.08546896e+01] [ 7.67051629e-03 -3.62004388e-04 9.99970516e-01 1.45845931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.87, Y:30.87, Z:1.46 [[ 8.28797550e-01 -5.59510142e-01 -6.55921105e-03 2.14869421e+02] [ 5.59496009e-01 8.28823426e-01 -3.99307096e-03 3.08708466e+01] [ 7.67059147e-03 -3.60404977e-04 9.99970516e-01 1.45952046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.89, Y:30.89, Z:1.46 [[ 8.28791044e-01 -5.59519784e-01 -6.55880184e-03 2.14891309e+02] [ 5.59505646e-01 8.28816917e-01 -3.99374299e-03 3.08878704e+01] [ 7.67062413e-03 -3.59708232e-04 9.99970516e-01 1.46004102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.91, Y:30.91, Z:1.46 [[ 8.29103343e-01 -5.59056919e-01 -6.55806541e-03 2.14910790e+02] [ 5.59042757e-01 8.29129203e-01 -3.99495190e-03 3.09074979e+01] [ 7.67088905e-03 -3.54010997e-04 9.99970516e-01 1.45948163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.93, Y:30.92, Z:1.46 [[ 8.28939462e-01 -5.59299890e-01 -6.55756321e-03 2.14932756e+02] [ 5.59285729e-01 8.28965323e-01 -3.99577608e-03 3.09249107e+01] [ 7.67082962e-03 -3.55295048e-04 9.99970516e-01 1.45968537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.95, Y:30.94, Z:1.46 [[ 8.28444507e-01 -5.60032773e-01 -6.55683561e-03 2.14954721e+02] [ 5.60018626e-01 8.28470375e-01 -3.99696966e-03 3.09419654e+01] [ 7.67057807e-03 -3.60682513e-04 9.99970516e-01 1.46087286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.98, Y:30.96, Z:1.46 [[ 8.27596493e-01 -5.61285188e-01 -6.55610860e-03 2.14976215e+02] [ 5.61271071e-01 8.27622377e-01 -3.99816180e-03 3.09581278e+01] [ 7.67009119e-03 -3.70889416e-04 9.99970516e-01 1.46196306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.00, Y:30.97, Z:1.46 [[ 8.26164547e-01 -5.63390773e-01 -6.55570791e-03 2.14998512e+02] [ 5.63376717e-01 8.26190465e-01 -3.99881869e-03 3.09744785e+01] [ 7.66916093e-03 -3.89650963e-04 9.99970516e-01 1.46274846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:30.99, Z:1.46 [[ 8.24591953e-01 -5.65689971e-01 -6.55498581e-03 2.15021067e+02] [ 5.65675978e-01 8.24617904e-01 -4.00000203e-03 3.09902000e+01] [ 7.66811970e-03 -4.09628523e-04 9.99970516e-01 1.46301700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.04, Y:31.01, Z:1.46 [[ 8.21186353e-01 -5.70622477e-01 -6.55459411e-03 2.15043144e+02] [ 5.70608634e-01 8.21212385e-01 -4.00064380e-03 3.10063929e+01] [ 7.66557114e-03 -4.54833899e-04 9.99970516e-01 1.46260991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.215898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:215.07, Y:31.02, Z:1.46 [[ 8.19586670e-01 -5.72917739e-01 -6.55395796e-03 2.15066151e+02] [ 5.72903961e-01 8.19612737e-01 -4.00168568e-03 3.10222567e+01] [ 7.66434413e-03 -4.75060235e-04 9.99970516e-01 1.46220271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.09, Y:31.04, Z:1.46 [[ 8.18504764e-01 -5.74462363e-01 -6.55325512e-03 2.15089854e+02] [ 5.74448624e-01 8.18530852e-01 -4.00283634e-03 3.10368158e+01] [ 7.66352032e-03 -4.88167777e-04 9.99970516e-01 1.46285409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.11, Y:31.05, Z:1.46 [[ 8.17456823e-01 -5.75952608e-01 -6.55255719e-03 2.15113348e+02] [ 5.75938908e-01 8.17482931e-01 -4.00397851e-03 3.10519721e+01] [ 7.66270552e-03 -5.00793082e-04 9.99970516e-01 1.46288700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.14, Y:31.07, Z:1.46 [[ 8.16592030e-01 -5.77178075e-01 -6.55185863e-03 2.15136115e+02] [ 5.77164404e-01 8.16618154e-01 -4.00512126e-03 3.10664889e+01] [ 7.66203488e-03 -5.10949485e-04 9.99970516e-01 1.46281385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:31.08, Z:1.46 [[ 8.15481900e-01 -5.78745499e-01 -6.55123283e-03 2.15158918e+02] [ 5.78731871e-01 8.15508045e-01 -4.00614463e-03 3.10801045e+01] [ 7.66112125e-03 -5.24468799e-04 9.99970516e-01 1.46285547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:31.09, Z:1.46 [[ 8.15100495e-01 -5.79282550e-01 -6.55061095e-03 2.15183140e+02] [ 5.79268932e-01 8.15126645e-01 -4.00716123e-03 3.10944543e+01] [ 7.66085611e-03 -5.28326311e-04 9.99970516e-01 1.46329448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.395898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:215.21, Y:31.11, Z:1.46 [[ 8.14499513e-01 -5.80127261e-01 -6.55018258e-03 2.15206581e+02] [ 5.80113664e-01 8.14525674e-01 -4.00786133e-03 3.11099649e+01] [ 7.66036150e-03 -5.35449318e-04 9.99970516e-01 1.46285153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.425898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:215.23, Y:31.12, Z:1.46 [[ 8.14475469e-01 -5.80161025e-01 -6.54949399e-03 2.15229546e+02] [ 5.80147420e-01 8.14501626e-01 -4.00898628e-03 3.11232923e+01] [ 7.66043110e-03 -5.34451057e-04 9.99970516e-01 1.46204924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.25, Y:31.14, Z:1.46 [[ 8.14625287e-01 -5.79950648e-01 -6.54887998e-03 2.15253170e+02] [ 5.79937028e-01 8.14651437e-01 -4.00998905e-03 3.11371519e+01] [ 7.66065023e-03 -5.31299509e-04 9.99970516e-01 1.46034009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.28, Y:31.15, Z:1.46 [[ 8.14598286e-01 -5.79988580e-01 -6.54820313e-03 2.15276853e+02] [ 5.79974953e-01 8.14624432e-01 -4.01109402e-03 3.11515555e+01] [ 7.66071498e-03 -5.30363489e-04 9.99970516e-01 1.46008418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.30, Y:31.17, Z:1.46 [[ 8.14732986e-01 -5.79799356e-01 -6.54742815e-03 2.15301661e+02] [ 5.79785712e-01 8.14759124e-01 -4.01235864e-03 3.11662071e+01] [ 7.66093978e-03 -5.27104359e-04 9.99970516e-01 1.45790024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.32, Y:31.18, Z:1.45 [[ 8.15006874e-01 -5.79414304e-01 -6.54671553e-03 2.15324687e+02] [ 5.79400639e-01 8.15033000e-01 -4.01352104e-03 3.11798942e+01] [ 7.66128070e-03 -5.22123923e-04 9.99970516e-01 1.45483111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.35, Y:31.19, Z:1.45 [[ 8.15483401e-01 -5.78743439e-01 -6.54631558e-03 2.15348899e+02] [ 5.78729746e-01 8.15509514e-01 -4.01417328e-03 3.11943714e+01] [ 7.66175909e-03 -5.15055878e-04 9.99970516e-01 1.45453709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.37, Y:31.21, Z:1.45 [[ 8.15758629e-01 -5.78355439e-01 -6.54564227e-03 2.15372140e+02] [ 5.78341725e-01 8.15784730e-01 -4.01527090e-03 3.12088334e+01] [ 7.66208878e-03 -5.10126162e-04 9.99970516e-01 1.45432259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.635898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:215.40, Y:31.22, Z:1.45 [[ 8.15793425e-01 -5.78306364e-01 -6.54503907e-03 2.15395848e+02] [ 5.78292641e-01 8.15819521e-01 -4.01625391e-03 3.12242178e+01] [ 7.66219583e-03 -5.08514399e-04 9.99970516e-01 1.45476311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.42, Y:31.24, Z:1.46 [[ 8.15798539e-01 -5.78299157e-01 -6.54437288e-03 2.15419834e+02] [ 5.78285425e-01 8.15824631e-01 -4.01733915e-03 3.12380827e+01] [ 7.66228443e-03 -5.07176041e-04 9.99970516e-01 1.45910311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.44, Y:31.25, Z:1.46 [[ 8.15344713e-01 -5.78938840e-01 -6.54360969e-03 2.15443243e+02] [ 5.78925119e-01 8.15370810e-01 -4.01858189e-03 3.12511150e+01] [ 7.66198147e-03 -5.11730518e-04 9.99970516e-01 1.45716738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.47, Y:31.27, Z:1.46 [[ 8.14881998e-01 -5.79589956e-01 -6.54318712e-03 2.15467157e+02] [ 5.79576250e-01 8.14908103e-01 -4.01926981e-03 3.12655081e+01] [ 7.66162461e-03 -5.17045238e-04 9.99970516e-01 1.45869742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.49, Y:31.28, Z:1.46 [[ 8.14365419e-01 -5.80315569e-01 -6.54252722e-03 2.15492072e+02] [ 5.80301878e-01 8.14391532e-01 -4.02034369e-03 3.12804629e+01] [ 7.66124680e-03 -5.22611961e-04 9.99970516e-01 1.46268335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.52, Y:31.29, Z:1.47 [[ 8.13803871e-01 -5.81102800e-01 -6.54188546e-03 2.15515610e+02] [ 5.81089126e-01 8.13829992e-01 -4.02138769e-03 3.12947503e+01] [ 7.66082224e-03 -5.28797640e-04 9.99970516e-01 1.46578467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.815898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:215.54, Y:31.31, Z:1.47 [[ 8.12607735e-01 -5.82774298e-01 -6.54115562e-03 2.15539793e+02] [ 5.82760668e-01 8.12633880e-01 -4.02257449e-03 3.13095249e+01] [ 7.65981770e-03 -5.43153078e-04 9.99970516e-01 1.46810773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.56, Y:31.32, Z:1.47 [[ 8.12294132e-01 -5.83211339e-01 -6.54041049e-03 2.15564095e+02] [ 5.83197713e-01 8.12320280e-01 -4.02378566e-03 3.13230580e+01] [ 7.65962550e-03 -5.45854953e-04 9.99970516e-01 1.46785471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.59, Y:31.34, Z:1.47 [[ 8.11925512e-01 -5.83724417e-01 -6.53965430e-03 2.15587985e+02] [ 5.83710798e-01 8.11951663e-01 -4.02501428e-03 3.13373414e+01] [ 7.65938230e-03 -5.49255052e-04 9.99970516e-01 1.46638921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.61, Y:31.35, Z:1.47 [[ 8.12024473e-01 -5.83586753e-01 -6.53889473e-03 2.15612135e+02] [ 5.83573120e-01 8.12050616e-01 -4.02624788e-03 3.13516357e+01] [ 7.65957842e-03 -5.46511383e-04 9.99970516e-01 1.46505819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.64, Y:31.37, Z:1.47 [[ 8.12261359e-01 -5.83257008e-01 -6.53814011e-03 2.15635985e+02] [ 5.83243355e-01 8.12287491e-01 -4.02747291e-03 3.13663980e+01] [ 7.65990123e-03 -5.41966149e-04 9.99970516e-01 1.46518583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.66, Y:31.38, Z:1.47 [[ 8.13056188e-01 -5.82148519e-01 -6.53736728e-03 2.15658922e+02] [ 5.82134819e-01 8.13082297e-01 -4.02872697e-03 3.13811944e+01] [ 7.66073504e-03 -5.30047723e-04 9.99970516e-01 1.46553282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.68, Y:31.40, Z:1.47 [[ 8.15456855e-01 -5.78780948e-01 -6.53693935e-03 2.15681428e+02] [ 5.78767136e-01 8.15482904e-01 -4.02942120e-03 3.13985958e+01] [ 7.66291451e-03 -4.97546528e-04 9.99970516e-01 1.46761971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.70, Y:31.41, Z:1.47 [[ 8.16257613e-01 -5.77651094e-01 -6.53625391e-03 2.15704301e+02] [ 5.77637237e-01 8.16283638e-01 -4.03053277e-03 3.14145784e+01] [ 7.66367879e-03 -4.85630585e-04 9.99970516e-01 1.46823090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.73, Y:31.43, Z:1.47 [[ 8.16669459e-01 -5.77068697e-01 -6.53552167e-03 2.15727294e+02] [ 5.77054812e-01 8.16695469e-01 -4.03171976e-03 3.14304645e+01] [ 7.66411020e-03 -4.78771829e-04 9.99970516e-01 1.46843976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.75, Y:31.45, Z:1.47 [[ 8.16661052e-01 -5.77080603e-01 -6.53479351e-03 2.15750181e+02] [ 5.77066708e-01 8.16687058e-01 -4.03289964e-03 3.14461733e+01] [ 7.66418944e-03 -4.77499717e-04 9.99970516e-01 1.46793986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.77, Y:31.46, Z:1.47 [[ 8.15435017e-01 -5.78811748e-01 -6.53406651e-03 2.15773459e+02] [ 5.78797900e-01 8.15461046e-01 -4.03407717e-03 3.14613490e+01] [ 7.66324797e-03 -4.92376190e-04 9.99970516e-01 1.46667497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.80, Y:31.48, Z:1.47 [[ 8.14436092e-01 -5.80216484e-01 -6.53332967e-03 2.15797761e+02] [ 5.80202671e-01 8.14462140e-01 -4.03527016e-03 3.14755385e+01] [ 7.66247993e-03 -5.04185672e-04 9.99970516e-01 1.46634533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.82, Y:31.49, Z:1.47 [[ 8.13364742e-01 -5.81717389e-01 -6.53259517e-03 2.15820721e+02] [ 5.81703615e-01 8.13390811e-01 -4.03645887e-03 3.14889082e+01] [ 7.66163120e-03 -5.16920893e-04 9.99970516e-01 1.46553965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.85, Y:31.50, Z:1.46 [[ 8.12506735e-01 -5.82915206e-01 -6.53217216e-03 2.15845007e+02] [ 5.82901464e-01 8.12532821e-01 -4.03714331e-03 3.15029008e+01] [ 7.66091649e-03 -5.27406594e-04 9.99970516e-01 1.46452861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.87, Y:31.52, Z:1.47 [[ 8.12199858e-01 -5.83342722e-01 -6.53142864e-03 2.15869390e+02] [ 5.83328984e-01 8.12225947e-01 -4.03834585e-03 3.15176285e+01] [ 7.66073547e-03 -5.30027701e-04 9.99970516e-01 1.46512368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.89, Y:31.53, Z:1.46 [[ 8.13849001e-01 -5.81039718e-01 -6.53065917e-03 2.15892112e+02] [ 5.81025897e-01 8.13875045e-01 -4.03958981e-03 3.15324547e+01] [ 7.66230266e-03 -5.06865970e-04 9.99970516e-01 1.46466640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.92, Y:31.55, Z:1.47 [[ 8.15300426e-01 -5.79001356e-01 -6.53028979e-03 2.15915807e+02] [ 5.78987465e-01 8.15326433e-01 -4.04018687e-03 3.15482341e+01] [ 7.66359155e-03 -4.86989852e-04 9.99970516e-01 1.46585940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.94, Y:31.56, Z:1.47 [[ 8.16804974e-01 -5.76876936e-01 -6.52954295e-03 2.15939729e+02] [ 5.76862967e-01 8.16830940e-01 -4.04139351e-03 3.15640591e+01] [ 7.66491941e-03 -4.65621204e-04 9.99970516e-01 1.46816099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.96, Y:31.58, Z:1.47 [[ 8.18055009e-01 -5.75102927e-01 -6.52886702e-03 2.15961830e+02] [ 5.75088893e-01 8.18080939e-01 -4.04248517e-03 3.15794145e+01] [ 7.66598672e-03 -4.47703665e-04 9.99970516e-01 1.46892431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.98, Y:31.59, Z:1.47 [[ 8.18903669e-01 -5.73893858e-01 -6.52842855e-03 2.15984053e+02] [ 5.73879781e-01 8.18929576e-01 -4.04319316e-03 3.15947705e+01] [ 7.66668694e-03 -4.35547435e-04 9.99970516e-01 1.46842059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.01, Y:31.61, Z:1.47 [[ 8.19303721e-01 -5.73322598e-01 -6.52768158e-03 2.16007150e+02] [ 5.73308493e-01 8.19329613e-01 -4.04439878e-03 3.16104302e+01] [ 7.66706804e-03 -4.28784324e-04 9.99970516e-01 1.46719840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.03, Y:31.63, Z:1.47 [[ 8.19197966e-01 -5.73473707e-01 -6.52692999e-03 2.16031277e+02] [ 5.73459597e-01 8.19223855e-01 -4.04561135e-03 3.16256042e+01] [ 7.66706848e-03 -4.28774051e-04 9.99970516e-01 1.46741712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.05, Y:31.64, Z:1.47 [[ 8.19584775e-01 -5.72920767e-01 -6.52618359e-03 2.16054577e+02] [ 5.72906630e-01 8.19610649e-01 -4.04681505e-03 3.16427022e+01] [ 7.66743395e-03 -4.22185844e-04 9.99970516e-01 1.46542901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.08, Y:31.66, Z:1.47 [[ 8.19649259e-01 -5.72828518e-01 -6.52551769e-03 2.16077491e+02] [ 5.72814369e-01 8.19675127e-01 -4.04788852e-03 3.16584425e+01] [ 7.66755052e-03 -4.20061475e-04 9.99970516e-01 1.46560079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.10, Y:31.67, Z:1.47 [[ 8.19673366e-01 -5.72794030e-01 -6.52475380e-03 2.16099523e+02] [ 5.72779871e-01 8.19699228e-01 -4.04911945e-03 3.16737384e+01] [ 7.66764710e-03 -4.18292272e-04 9.99970516e-01 1.46682590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.12, Y:31.69, Z:1.47 [[ 8.19601461e-01 -5.72896918e-01 -6.52423449e-03 2.16121911e+02] [ 5.72882756e-01 8.19627321e-01 -4.04995604e-03 3.16893321e+01] [ 7.66764817e-03 -4.18271543e-04 9.99970516e-01 1.46829871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.14, Y:31.71, Z:1.47 [[ 8.18969272e-01 -5.73800288e-01 -6.52380861e-03 2.16143463e+02] [ 5.73786149e-01 8.18995145e-01 -4.05064194e-03 3.17067703e+01] [ 7.66722709e-03 -4.25919733e-04 9.99970516e-01 1.47179798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.17, Y:31.72, Z:1.47 [[ 8.18385548e-01 -5.74632531e-01 -6.52305549e-03 2.16165755e+02] [ 5.74618408e-01 8.18411429e-01 -4.05185439e-03 3.17228361e+01] [ 7.66687051e-03 -4.32288687e-04 9.99970516e-01 1.47163552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.19, Y:31.74, Z:1.47 [[ 8.17686276e-01 -5.75627145e-01 -6.52263878e-03 2.16189043e+02] [ 5.75613048e-01 8.17712172e-01 -4.05252509e-03 3.17390604e+01] [ 7.66638457e-03 -4.40821846e-04 9.99970516e-01 1.47200309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.21, Y:31.75, Z:1.47 [[ 8.16854677e-01 -5.76806642e-01 -6.52189480e-03 2.16210884e+02] [ 5.76792573e-01 8.16880588e-01 -4.05372205e-03 3.17543215e+01] [ 7.66582306e-03 -4.50478666e-04 9.99970516e-01 1.47160293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.23, Y:31.77, Z:1.47 [[ 8.15927642e-01 -5.78117248e-01 -6.52148778e-03 2.16234351e+02] [ 5.78103216e-01 8.15953573e-01 -4.05437674e-03 3.17700558e+01] [ 7.66513638e-03 -4.62015007e-04 9.99970516e-01 1.47256580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.26, Y:31.79, Z:1.47 [[ 8.14616427e-01 -5.79963410e-01 -6.52073994e-03 2.16256132e+02] [ 5.79949427e-01 8.14642385e-01 -4.05557915e-03 3.17851977e+01] [ 7.66415865e-03 -4.77957996e-04 9.99970516e-01 1.47438883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.28, Y:31.80, Z:1.48 [[ 8.14048895e-01 -5.80759747e-01 -6.52015653e-03 2.16279119e+02] [ 5.80745782e-01 8.14074863e-01 -4.05651689e-03 3.18015708e+01] [ 7.66375725e-03 -4.84350301e-04 9.99970516e-01 1.47550179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.30, Y:31.82, Z:1.47 [[ 8.13648319e-01 -5.81320833e-01 -6.51938193e-03 2.16300623e+02] [ 5.81306876e-01 8.13674290e-01 -4.05776139e-03 3.18181363e+01] [ 7.66351470e-03 -4.88170816e-04 9.99970516e-01 1.47396525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.32, Y:31.84, Z:1.47 [[ 8.13504584e-01 -5.81521965e-01 -6.51885338e-03 2.16321426e+02] [ 5.81508007e-01 8.13530556e-01 -4.05861034e-03 3.18350257e+01] [ 7.66345747e-03 -4.89067319e-04 9.99970516e-01 1.47249643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.34, Y:31.85, Z:1.47 [[ 8.13306314e-01 -5.81799234e-01 -6.51849409e-03 2.16343516e+02] [ 5.81785281e-01 8.13332287e-01 -4.05918730e-03 3.18526307e+01] [ 7.66333378e-03 -4.91001256e-04 9.99970516e-01 1.47223762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.36, Y:31.87, Z:1.48 [[ 8.13767436e-01 -5.81154092e-01 -6.51775983e-03 2.16364044e+02] [ 5.81140109e-01 8.13793394e-01 -4.06036595e-03 3.18720643e+01] [ 7.66380818e-03 -4.83538066e-04 9.99970516e-01 1.47693397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.39, Y:31.89, Z:1.48 [[ 8.14022099e-01 -5.80797335e-01 -6.51744092e-03 2.16385320e+02] [ 5.80783336e-01 8.14048049e-01 -4.06087779e-03 3.18899858e+01] [ 7.66405706e-03 -4.79576821e-04 9.99970516e-01 1.48054171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.955898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:216.41, Y:31.91, Z:1.48 [[ 8.14393203e-01 -5.80276868e-01 -6.51670595e-03 2.16406112e+02] [ 5.80262843e-01 8.14419138e-01 -4.06205689e-03 3.19091769e+01] [ 7.66444769e-03 -4.73290802e-04 9.99970516e-01 1.48240509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.43, Y:31.93, Z:1.48 [[ 8.15313617e-01 -5.78982943e-01 -6.51595915e-03 2.16428308e+02] [ 5.78968868e-01 8.15339525e-01 -4.06325448e-03 3.19268632e+01] [ 7.66527407e-03 -4.59710781e-04 9.99970516e-01 1.48376255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.015898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.45, Y:31.94, Z:1.48 [[ 8.15746746e-01 -5.78372543e-01 -6.51517927e-03 2.16448908e+02] [ 5.78358439e-01 8.15772638e-01 -4.06450459e-03 3.19447479e+01] [ 7.66570283e-03 -4.52502516e-04 9.99970516e-01 1.48176252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.47, Y:31.96, Z:1.48 [[ 8.14799977e-01 -5.79705575e-01 -6.51484046e-03 2.16469127e+02] [ 5.79691508e-01 8.14825890e-01 -4.06504757e-03 3.19644051e+01] [ 7.66499142e-03 -4.64397024e-04 9.99970516e-01 1.47705846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.49, Y:31.98, Z:1.48 [[ 8.13331796e-01 -5.81763660e-01 -6.51406662e-03 2.16490618e+02] [ 5.81749649e-01 8.13357739e-01 -4.06628724e-03 3.19813880e+01] [ 7.66388465e-03 -4.82315263e-04 9.99970516e-01 1.47561472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.51, Y:32.00, Z:1.48 [[ 8.11356854e-01 -5.84514865e-01 -6.51364946e-03 2.16511887e+02] [ 5.84500936e-01 8.11382841e-01 -4.06695537e-03 3.19979493e+01] [ 7.66225928e-03 -5.07482088e-04 9.99970516e-01 1.47545679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.53, Y:32.02, Z:1.48 [[ 8.07126071e-01 -5.90343192e-01 -6.51314580e-03 2.16533844e+02] [ 5.90329444e-01 8.07152154e-01 -4.06776181e-03 3.20155548e+01] [ 7.65847516e-03 -5.61705132e-04 9.99970516e-01 1.47739840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.16589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.56, Y:32.03, Z:1.48 [[ 8.05264103e-01 -5.92880522e-01 -6.51239175e-03 2.16555742e+02] [ 5.92866847e-01 8.05290224e-01 -4.06896867e-03 3.20313369e+01] [ 7.65677768e-03 -5.84386763e-04 9.99970516e-01 1.47706314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.58, Y:32.05, Z:1.48 [[ 8.03987582e-01 -5.94610429e-01 -6.51197998e-03 2.16578312e+02] [ 5.94596805e-01 8.04013730e-01 -4.06962756e-03 3.20459793e+01] [ 7.65556430e-03 -6.00072467e-04 9.99970516e-01 1.47796027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.60, Y:32.06, Z:1.48 [[ 8.02903445e-01 -5.96073534e-01 -6.51157501e-03 2.16600580e+02] [ 5.96059952e-01 8.02929615e-01 -4.07027543e-03 3.20611873e+01] [ 7.65451987e-03 -6.13250922e-04 9.99970516e-01 1.47838773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.62, Y:32.08, Z:1.48 [[ 8.02228302e-01 -5.96981873e-01 -6.51117984e-03 2.16623706e+02] [ 5.96968316e-01 8.02254484e-01 -4.07090748e-03 3.20764368e+01] [ 7.65388120e-03 -6.21170870e-04 9.99970516e-01 1.47839185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.65, Y:32.09, Z:1.48 [[ 8.01815603e-01 -5.97536068e-01 -6.51051053e-03 2.16647264e+02] [ 5.97522520e-01 8.01841790e-01 -4.07197760e-03 3.20912088e+01] [ 7.65355291e-03 -6.25201488e-04 9.99970516e-01 1.47775580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.67, Y:32.10, Z:1.47 [[ 8.01706095e-01 -5.97682993e-01 -6.50977344e-03 2.16670901e+02] [ 5.97669441e-01 8.01732280e-01 -4.07315564e-03 3.21047484e+01] [ 7.65355135e-03 -6.25218954e-04 9.99970516e-01 1.47424600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.69, Y:32.12, Z:1.47 [[ 8.01613183e-01 -5.97807604e-01 -6.50942480e-03 2.16693891e+02] [ 5.97794051e-01 8.01639368e-01 -4.07371273e-03 3.21185159e+01] [ 7.65350763e-03 -6.25753596e-04 9.99970516e-01 1.47388143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.72, Y:32.13, Z:1.47 [[ 8.01379855e-01 -5.98120356e-01 -6.50902633e-03 2.16717205e+02] [ 5.98106809e-01 8.01406043e-01 -4.07434931e-03 3.21321953e+01] [ 7.65332429e-03 -6.27991505e-04 9.99970516e-01 1.47397065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.74, Y:32.14, Z:1.48 [[ 8.01067032e-01 -5.98539262e-01 -6.50862945e-03 2.16741685e+02] [ 5.98525723e-01 8.01093224e-01 -4.07498322e-03 3.21442009e+01] [ 7.65305640e-03 -6.31247426e-04 9.99970516e-01 1.47504513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.77, Y:32.16, Z:1.47 [[ 8.01110931e-01 -5.98480509e-01 -6.50822590e-03 2.16766564e+02] [ 5.98466963e-01 8.01137119e-01 -4.07562763e-03 3.21572931e+01] [ 7.65316505e-03 -6.29928340e-04 9.99970516e-01 1.47479607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.79, Y:32.17, Z:1.47 [[ 8.01355349e-01 -5.98153205e-01 -6.50750909e-03 2.16790839e+02] [ 5.98139639e-01 8.01381527e-01 -4.07677183e-03 3.21698839e+01] [ 7.65353171e-03 -6.25456233e-04 9.99970516e-01 1.47414565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.81, Y:32.18, Z:1.47 [[ 8.01723457e-01 -5.97659735e-01 -6.50686867e-03 2.16814909e+02] [ 5.97646145e-01 8.01749623e-01 -4.07779373e-03 3.21818952e+01] [ 7.65401263e-03 -6.19542087e-04 9.99970516e-01 1.47396137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.84, Y:32.19, Z:1.47 [[ 8.02426666e-01 -5.96715271e-01 -6.50622894e-03 2.16840059e+02] [ 5.96701642e-01 8.02452811e-01 -4.07881419e-03 3.21949881e+01] [ 7.65483242e-03 -6.09328214e-04 9.99970516e-01 1.47468117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.555898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.86, Y:32.21, Z:1.48 [[ 8.03358458e-01 -5.95460214e-01 -6.50552130e-03 2.16864138e+02] [ 5.95446535e-01 8.03384577e-01 -4.07994253e-03 3.22085752e+01] [ 7.65587893e-03 -5.96033777e-04 9.99970516e-01 1.47614044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.89, Y:32.22, Z:1.48 [[ 8.07155803e-01 -5.90302631e-01 -6.50481314e-03 2.16888217e+02] [ 5.90288776e-01 8.07181829e-01 -4.08107126e-03 3.22208629e+01] [ 7.65963408e-03 -5.45657836e-04 9.99970516e-01 1.48016666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.91, Y:32.24, Z:1.48 [[ 8.09139472e-01 -5.87580640e-01 -6.50432967e-03 2.16911449e+02] [ 5.87566691e-01 8.09165448e-01 -4.08184167e-03 3.22356871e+01] [ 7.66148997e-03 -5.18948239e-04 9.99970516e-01 1.48014362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.93, Y:32.25, Z:1.48 [[ 8.10790355e-01 -5.85300524e-01 -6.50362400e-03 2.16934571e+02] [ 5.85286493e-01 8.10816286e-01 -4.08296571e-03 3.22507254e+01] [ 7.66300623e-03 -4.96054062e-04 9.99970516e-01 1.48032210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:32.27, Z:1.48 [[ 8.12114801e-01 -5.83461448e-01 -6.50291940e-03 2.16958157e+02] [ 5.83447349e-01 8.12140696e-01 -4.08408761e-03 3.22665156e+01] [ 7.66419316e-03 -4.77363092e-04 9.99970516e-01 1.48050685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:32.28, Z:1.48 [[ 8.12878877e-01 -5.82396474e-01 -6.50216951e-03 2.16981070e+02] [ 5.82382332e-01 8.12904749e-01 -4.08528115e-03 3.22826554e+01] [ 7.66489780e-03 -4.65909884e-04 9.99970516e-01 1.48066524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.735898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:217.00, Y:32.30, Z:1.48 [[ 8.13318700e-01 -5.81782111e-01 -6.50142029e-03 2.17002898e+02] [ 5.81767940e-01 8.13344555e-01 -4.08647312e-03 3.23013767e+01] [ 7.66533175e-03 -4.58712884e-04 9.99970516e-01 1.48213625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.765898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:217.02, Y:32.32, Z:1.48 [[ 8.12519208e-01 -5.82898170e-01 -6.50067489e-03 2.17024793e+02] [ 5.82884025e-01 8.12545078e-01 -4.08765854e-03 3.23194328e+01] [ 7.66478007e-03 -4.67838467e-04 9.99970516e-01 1.48146193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.05, Y:32.33, Z:1.48 [[ 8.11830867e-01 -5.83856484e-01 -6.49993086e-03 2.17046525e+02] [ 5.83842360e-01 8.11856749e-01 -4.08884130e-03 3.23348476e+01] [ 7.66430924e-03 -4.75487394e-04 9.99970516e-01 1.48164984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.825898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:217.07, Y:32.35, Z:1.48 [[ 8.10471349e-01 -5.85742220e-01 -6.49953043e-03 2.17068379e+02] [ 5.85728151e-01 8.10497260e-01 -4.08947772e-03 3.23523022e+01] [ 7.66323137e-03 -4.92553414e-04 9.99970516e-01 1.47979784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.855898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:217.09, Y:32.37, Z:1.48 [[ 8.08132632e-01 -5.88964697e-01 -6.49879514e-03 2.17089181e+02] [ 5.88950722e-01 8.08158594e-01 -4.09064588e-03 3.23692204e+01] [ 7.66130316e-03 -5.21685662e-04 9.99970516e-01 1.47844384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.11, Y:32.38, Z:1.48 [[ 8.07265289e-01 -5.90152967e-01 -6.49841104e-03 2.17110951e+02] [ 5.90139025e-01 8.07291269e-01 -4.09125596e-03 3.23847932e+01] [ 7.66057734e-03 -5.32237033e-04 9.99970516e-01 1.48005149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.13, Y:32.40, Z:1.48 [[ 8.06645851e-01 -5.90999363e-01 -6.49801067e-03 2.17133371e+02] [ 5.90985443e-01 8.06671843e-01 -4.09189176e-03 3.24022551e+01] [ 7.66006767e-03 -5.39522204e-04 9.99970516e-01 1.48132544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.16, Y:32.42, Z:1.48 [[ 8.06278110e-01 -5.91500967e-01 -6.49729331e-03 2.17155438e+02] [ 5.91487055e-01 8.06304106e-01 -4.09303051e-03 3.24193845e+01] [ 7.65982578e-03 -5.42943976e-04 9.99970516e-01 1.48261069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.18, Y:32.44, Z:1.48 [[ 8.06387019e-01 -5.91352492e-01 -6.49657667e-03 2.17177824e+02] [ 5.91338566e-01 8.06413007e-01 -4.09416766e-03 3.24358837e+01] [ 7.66002018e-03 -5.40192681e-04 9.99970516e-01 1.48398851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.20, Y:32.45, Z:1.49 [[ 8.06805806e-01 -5.90781005e-01 -6.49586331e-03 2.17199363e+02] [ 5.90767051e-01 8.06831779e-01 -4.09529918e-03 3.24514191e+01] [ 7.66049391e-03 -5.33430860e-04 9.99970516e-01 1.48501858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.22, Y:32.47, Z:1.49 [[ 8.08182478e-01 -5.88896334e-01 -6.49547261e-03 2.17220649e+02] [ 5.88882314e-01 8.08208416e-01 -4.09591877e-03 3.24683299e+01] [ 7.66176717e-03 -5.14819166e-04 9.99970516e-01 1.48523352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.24, Y:32.48, Z:1.48 [[ 8.09204406e-01 -5.87491316e-01 -6.49483486e-03 2.17243693e+02] [ 5.87477244e-01 8.09230315e-01 -4.09692978e-03 3.24845967e+01] [ 7.66272793e-03 -5.00314052e-04 9.99970516e-01 1.48403997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.095898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:217.27, Y:32.50, Z:1.48 [[ 8.10626793e-01 -5.85527138e-01 -6.49413165e-03 2.17266300e+02] [ 5.85512994e-01 8.10652663e-01 -4.09804415e-03 3.25001584e+01] [ 7.66400118e-03 -4.80414083e-04 9.99970516e-01 1.48271416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.125898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:217.29, Y:32.52, Z:1.48 [[ 8.12119575e-01 -5.83454908e-01 -6.49350201e-03 2.17288700e+02] [ 5.83440690e-01 8.12145405e-01 -4.09904160e-03 3.25168729e+01] [ 7.66527376e-03 -4.59661377e-04 9.99970516e-01 1.48164655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.31, Y:32.53, Z:1.49 [[ 8.17174707e-01 -5.76353487e-01 -6.49278219e-03 2.17309540e+02] [ 5.76339035e-01 8.17200407e-01 -4.10018146e-03 3.25342627e+01] [ 7.66905813e-03 -3.91479238e-04 9.99970516e-01 1.48600140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.185898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:217.33, Y:32.55, Z:1.49 [[ 8.19830197e-01 -5.72569907e-01 -6.49237656e-03 2.17330744e+02] [ 5.72555331e-01 8.19855826e-01 -4.10082364e-03 3.25517754e+01] [ 7.67082096e-03 -3.55265761e-04 9.99970516e-01 1.48903877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.215898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:217.35, Y:32.57, Z:1.49 [[ 8.22154616e-01 -5.69227235e-01 -6.49175270e-03 2.17351957e+02] [ 5.69212548e-01 8.22180182e-01 -4.10181100e-03 3.25702434e+01] [ 7.67225295e-03 -3.22864246e-04 9.99970516e-01 1.49039066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.37, Y:32.59, Z:1.49 [[ 8.24318885e-01 -5.66088546e-01 -6.49105935e-03 2.17373160e+02] [ 5.66073752e-01 8.24344390e-01 -4.10290793e-03 3.25866315e+01] [ 7.67347754e-03 -2.92313832e-04 9.99970516e-01 1.49299246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.39, Y:32.61, Z:1.49 [[ 8.26779859e-01 -5.62488168e-01 -6.49044010e-03 2.17393170e+02] [ 5.62473256e-01 8.26805294e-01 -4.10388729e-03 3.26051240e+01] [ 7.67471828e-03 -2.57687623e-04 9.99970516e-01 1.49223027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.42, Y:32.62, Z:1.49 [[ 8.27264183e-01 -5.61775627e-01 -6.48982115e-03 2.17415576e+02] [ 5.61760685e-01 8.27289600e-01 -4.10486586e-03 3.26220502e+01] [ 7.67497513e-03 -2.49917873e-04 9.99970516e-01 1.49012832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.44, Y:32.64, Z:1.49 [[ 8.27697874e-01 -5.61136456e-01 -6.48906077e-03 2.17438309e+02] [ 5.61121485e-01 8.27723275e-01 -4.10606753e-03 3.26392902e+01] [ 7.67521081e-03 -2.42568056e-04 9.99970516e-01 1.48902375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.46, Y:32.65, Z:1.49 [[ 8.27593446e-01 -5.61290468e-01 -6.48829637e-03 2.17462276e+02] [ 5.61275493e-01 8.27618844e-01 -4.10727506e-03 3.26546809e+01] [ 7.67521068e-03 -2.42567819e-04 9.99970516e-01 1.48924247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.48, Y:32.67, Z:1.49 [[ 8.28275932e-01 -5.60282868e-01 -6.48753186e-03 2.17483330e+02] [ 5.60267852e-01 8.28301307e-01 -4.10848226e-03 3.26711714e+01] [ 7.67554334e-03 -2.31798563e-04 9.99970516e-01 1.48878497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.51, Y:32.69, Z:1.49 [[ 8.29049286e-01 -5.59137908e-01 -6.48701084e-03 2.17505092e+02] [ 5.59122851e-01 8.29074636e-01 -4.10930475e-03 3.26881819e+01] [ 7.67588421e-03 -2.20219820e-04 9.99970516e-01 1.48892034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.53, Y:32.71, Z:1.49 [[ 8.29930254e-01 -5.57829457e-01 -6.48621382e-03 2.17526507e+02] [ 5.57814350e-01 8.29955574e-01 -4.11056240e-03 3.27051136e+01] [ 7.67626211e-03 -2.06623045e-04 9.99970516e-01 1.49002694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.485898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.55, Y:32.73, Z:1.49 [[ 8.31703715e-01 -5.55181830e-01 -6.48586781e-03 2.17545941e+02] [ 5.55166638e-01 8.31728984e-01 -4.11110828e-03 3.27250963e+01] [ 7.67689686e-03 -1.81513406e-04 9.99970516e-01 1.49114914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.57, Y:32.74, Z:1.49 [[ 8.32484014e-01 -5.54011105e-01 -6.48546790e-03 2.17566964e+02] [ 5.53995873e-01 8.32509259e-01 -4.11173907e-03 3.27421770e+01] [ 7.67716118e-03 -1.69965401e-04 9.99970516e-01 1.48841009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.59, Y:32.76, Z:1.48 [[ 8.33236530e-01 -5.52878675e-01 -6.48506429e-03 2.17588460e+02] [ 5.52863404e-01 8.33261751e-01 -4.11237555e-03 3.27610136e+01] [ 7.67740077e-03 -1.58773181e-04 9.99970516e-01 1.48257522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.61, Y:32.78, Z:1.48 [[ 8.33256950e-01 -5.52847909e-01 -6.48429747e-03 2.17611084e+02] [ 5.52832627e-01 8.33282164e-01 -4.11358430e-03 3.27775693e+01] [ 7.67743590e-03 -1.57058499e-04 9.99970516e-01 1.48186580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.605898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:217.63, Y:32.79, Z:1.48 [[ 8.32785305e-01 -5.53558127e-01 -6.48352353e-03 2.17632569e+02] [ 5.53542857e-01 8.32810527e-01 -4.11480375e-03 3.27939405e+01] [ 7.67732971e-03 -1.62160041e-04 9.99970516e-01 1.48204974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.66, Y:32.81, Z:1.48 [[ 8.32131973e-01 -5.54539764e-01 -6.48299451e-03 2.17655058e+02] [ 5.54524518e-01 8.32157209e-01 -4.11563707e-03 3.28094783e+01] [ 7.67715503e-03 -1.70226202e-04 9.99970516e-01 1.48403014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.66589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.68, Y:32.82, Z:1.49 [[ 8.30965896e-01 -5.56285590e-01 -6.48247006e-03 2.17676897e+02] [ 5.56270390e-01 8.30991160e-01 -4.11646296e-03 3.28247343e+01] [ 7.67680434e-03 -1.85365823e-04 9.99970516e-01 1.48535835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.70, Y:32.84, Z:1.49 [[ 8.29543058e-01 -5.58405136e-01 -6.48213849e-03 2.17700045e+02] [ 5.58389997e-01 8.29568359e-01 -4.11698502e-03 3.28396887e+01] [ 7.67632257e-03 -2.04344944e-04 9.99970516e-01 1.48697780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.72, Y:32.85, Z:1.49 [[ 8.26787008e-01 -5.62477764e-01 -6.48137384e-03 2.17723962e+02] [ 5.62462740e-01 8.26812377e-01 -4.11818845e-03 3.28540263e+01] [ 7.67526954e-03 -2.40666577e-04 9.99970516e-01 1.48869302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.755898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:217.75, Y:32.87, Z:1.49 [[ 8.25353725e-01 -5.64578808e-01 -6.48060543e-03 2.17747851e+02] [ 5.64563839e-01 8.25379127e-01 -4.11939730e-03 3.28693891e+01] [ 7.67468087e-03 -2.58755574e-04 9.99970516e-01 1.48879695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.785898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:217.77, Y:32.88, Z:1.49 [[ 8.23982781e-01 -5.66577787e-01 -6.47982990e-03 2.17770955e+02] [ 5.66562870e-01 8.24008213e-01 -4.12061686e-03 3.28836540e+01] [ 7.67408304e-03 -2.75913680e-04 9.99970516e-01 1.48929587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.815898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:217.79, Y:32.90, Z:1.49 [[ 8.22540238e-01 -5.68670006e-01 -6.47930184e-03 2.17794109e+02] [ 5.68655147e-01 8.22565704e-01 -4.12144702e-03 3.28976245e+01] [ 7.67339478e-03 -2.94432329e-04 9.99970516e-01 1.48950768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.82, Y:32.91, Z:1.49 [[ 8.20281658e-01 -5.71923094e-01 -6.47890199e-03 2.17818363e+02] [ 5.71908331e-01 8.20307180e-01 -4.12207548e-03 3.29116579e+01] [ 7.67219999e-03 -3.24075116e-04 9.99970516e-01 1.48967416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.84, Y:32.93, Z:1.49 [[ 8.19442034e-01 -5.73125454e-01 -6.47822859e-03 2.17842224e+02] [ 5.73110720e-01 8.19467572e-01 -4.12313353e-03 3.29265938e+01] [ 7.67177103e-03 -3.34073331e-04 9.99970516e-01 1.49033843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.905898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.86, Y:32.94, Z:1.49 [[ 8.18856595e-01 -5.73961601e-01 -6.47747495e-03 2.17864649e+02] [ 5.73946883e-01 8.18882144e-01 -4.12431716e-03 3.29412008e+01] [ 7.67148825e-03 -3.40502259e-04 9.99970516e-01 1.49005272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.935898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.89, Y:32.96, Z:1.49 [[ 8.18346455e-01 -5.74688722e-01 -6.47714715e-03 2.17887846e+02] [ 5.74674023e-01 8.18372014e-01 -4.12483189e-03 3.29565844e+01] [ 7.67121033e-03 -3.46706659e-04 9.99970516e-01 1.49087745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.965898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.91, Y:32.97, Z:1.49 [[ 8.17956892e-01 -5.75243061e-01 -6.47639428e-03 2.17910410e+02] [ 5.75228370e-01 8.17982456e-01 -4.12601364e-03 3.29713429e+01] [ 7.67103761e-03 -3.50504431e-04 9.99970516e-01 1.49036623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.995898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:217.93, Y:32.99, Z:1.49 [[ 8.17568560e-01 -5.75794852e-01 -6.47598404e-03 2.17932644e+02] [ 5.75780174e-01 8.17594131e-01 -4.12665743e-03 3.29860331e+01] [ 7.67083465e-03 -3.54917849e-04 9.99970516e-01 1.49041330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.025898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:217.96, Y:33.00, Z:1.49 [[ 8.16581890e-01 -5.77193387e-01 -6.46610286e-03 2.17958613e+02] [ 5.77178630e-01 8.16607416e-01 -4.14216837e-03 3.30016042e+01] [ 7.67109973e-03 -3.49676713e-04 9.99970516e-01 1.49142025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.98, Y:33.01, Z:1.49 [[ 8.14740858e-01 -5.79789091e-01 -6.47643011e-03 2.17984461e+02] [ 5.79774543e-01 8.14766504e-01 -4.12595789e-03 3.30138998e+01] [ 7.66896369e-03 -3.93282839e-04 9.99970516e-01 1.49320626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.01, Y:33.03, Z:1.49 [[ 8.13489594e-01 -5.81543417e-01 -6.47566213e-03 2.18008447e+02] [ 5.81528915e-01 8.13515266e-01 -4.12716288e-03 3.30267750e+01] [ 7.66817440e-03 -4.08380716e-04 9.99970516e-01 1.49170762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.04, Y:33.04, Z:1.49 [[ 8.11143786e-01 -5.84810935e-01 -6.47532980e-03 2.18035140e+02] [ 5.84796532e-01 8.11169513e-01 -4.12768422e-03 3.30366389e+01] [ 7.66650499e-03 -4.38605010e-04 9.99970516e-01 1.48729018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.145898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.06, Y:33.05, Z:1.49 [[ 8.10439280e-01 -5.85786868e-01 -6.47456410e-03 2.18059288e+02] [ 5.85772486e-01 8.10465019e-01 -4.12888493e-03 3.30485328e+01] [ 7.66605428e-03 -4.46410980e-04 9.99970516e-01 1.48557659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.08, Y:33.06, Z:1.49 [[ 8.10182330e-01 -5.86142199e-01 -6.47417809e-03 2.18084598e+02] [ 5.86127824e-01 8.10208073e-01 -4.12949011e-03 3.30612025e+01] [ 7.66589977e-03 -4.49055997e-04 9.99970516e-01 1.48511021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.11, Y:33.07, Z:1.49 [[ 8.10691196e-01 -5.85438195e-01 -6.47341732e-03 2.18109165e+02] [ 5.85423789e-01 8.10716921e-01 -4.13068236e-03 3.30731744e+01] [ 7.66636818e-03 -4.40984669e-04 9.99970516e-01 1.48732051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.235898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.14, Y:33.09, Z:1.49 [[ 8.11180008e-01 -5.84760788e-01 -6.46643867e-03 2.18135599e+02] [ 5.84746274e-01 8.11205672e-01 -4.14161753e-03 3.30865166e+01] [ 7.66746726e-03 -4.21628571e-04 9.99970516e-01 1.48599059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.16, Y:33.10, Z:1.48 [[ 8.12941906e-01 -5.82308818e-01 -6.47291343e-03 2.18161854e+02] [ 5.82294306e-01 8.12967571e-01 -4.13147331e-03 3.30954747e+01] [ 7.66806205e-03 -4.10492847e-04 9.99970516e-01 1.48400666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.295898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.19, Y:33.11, Z:1.48 [[ 8.13504381e-01 -5.81522768e-01 -6.47237394e-03 2.18186616e+02] [ 5.81508225e-01 8.13530029e-01 -4.13231830e-03 3.31076502e+01] [ 7.66850774e-03 -4.02079644e-04 9.99970516e-01 1.48288360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.325898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:218.21, Y:33.12, Z:1.48 [[ 8.13803889e-01 -5.81103557e-01 -6.47196384e-03 2.18211823e+02] [ 5.81088995e-01 8.13829527e-01 -4.13296049e-03 3.31197127e+01] [ 7.66875331e-03 -3.97367641e-04 9.99970516e-01 1.48381297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.24, Y:33.13, Z:1.49 [[ 8.13803405e-01 -5.81104243e-01 -6.47121776e-03 2.18237000e+02] [ 5.81089672e-01 8.13829038e-01 -4.13412834e-03 3.31319727e+01] [ 7.66882444e-03 -3.95990085e-04 9.99970516e-01 1.48581336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.385898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:218.26, Y:33.14, Z:1.49 [[ 8.13940175e-01 -5.80912666e-01 -6.47043633e-03 2.18261226e+02] [ 5.80898079e-01 8.13965798e-01 -4.13535103e-03 3.31437390e+01] [ 7.66899166e-03 -3.92735698e-04 9.99970516e-01 1.48599251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.29, Y:33.16, Z:1.48 [[ 8.13891805e-01 -5.80980437e-01 -6.47000068e-03 2.18288075e+02] [ 5.80965847e-01 8.13917427e-01 -4.13603251e-03 3.31551617e+01] [ 7.66900028e-03 -3.92566464e-04 9.99970516e-01 1.48364862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.31, Y:33.17, Z:1.48 [[ 8.14080018e-01 -5.80716688e-01 -6.46931066e-03 2.18311494e+02] [ 5.80702081e-01 8.14105630e-01 -4.13711152e-03 3.31679018e+01] [ 7.66919193e-03 -3.88802342e-04 9.99970516e-01 1.48256242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.475898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:218.34, Y:33.18, Z:1.48 [[ 8.14184080e-01 -5.80570785e-01 -6.46893439e-03 2.18335737e+02] [ 5.80556169e-01 8.14209687e-01 -4.13769978e-03 3.31817029e+01] [ 7.66929665e-03 -3.86730468e-04 9.99970516e-01 1.48353138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.505898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.36, Y:33.20, Z:1.48 [[ 8.14138390e-01 -5.80634863e-01 -6.46815240e-03 2.18359550e+02] [ 5.80620240e-01 8.14163993e-01 -4.13892184e-03 3.31955061e+01] [ 7.66933910e-03 -3.85885037e-04 9.99970516e-01 1.48494559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.38, Y:33.21, Z:1.49 [[ 8.13799628e-01 -5.81109572e-01 -6.46774463e-03 2.18384133e+02] [ 5.81094958e-01 8.13825236e-01 -4.13955895e-03 3.32085806e+01] [ 7.66915113e-03 -3.89602255e-04 9.99970516e-01 1.48893203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.565898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.41, Y:33.22, Z:1.49 [[ 8.13908313e-01 -5.80957340e-01 -6.46738996e-03 2.18407373e+02] [ 5.80942717e-01 8.13933916e-01 -4.14011299e-03 3.32219551e+01] [ 7.66925706e-03 -3.87510715e-04 9.99970516e-01 1.48953763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.43, Y:33.24, Z:1.49 [[ 8.13995005e-01 -5.80835872e-01 -6.46696567e-03 2.18431450e+02] [ 5.80821240e-01 8.14020603e-01 -4.14077563e-03 3.32356996e+01] [ 7.66935432e-03 -3.85580338e-04 9.99970516e-01 1.49079320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.625898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.46, Y:33.25, Z:1.49 [[ 8.13924654e-01 -5.80934459e-01 -6.46620362e-03 2.18455453e+02] [ 5.80919821e-01 8.13950248e-01 -4.14196531e-03 3.32500462e+01] [ 7.66937841e-03 -3.85098159e-04 9.99970516e-01 1.49156500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.48, Y:33.26, Z:1.49 [[ 8.13716606e-01 -5.81225845e-01 -6.46543266e-03 2.18479674e+02] [ 5.81211206e-01 8.13742200e-01 -4.14316840e-03 3.32646662e+01] [ 7.66931195e-03 -3.86416984e-04 9.99970516e-01 1.49211920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.50, Y:33.28, Z:1.49 [[ 8.13220367e-01 -5.81919963e-01 -6.46463936e-03 2.18502707e+02] [ 5.81905337e-01 8.13245967e-01 -4.14440583e-03 3.32795056e+01] [ 7.66905437e-03 -3.91492914e-04 9.99970516e-01 1.49189817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.53, Y:33.29, Z:1.49 [[ 8.12741398e-01 -5.82588735e-01 -6.46420846e-03 2.18525816e+02] [ 5.82574124e-01 8.12767008e-01 -4.14507781e-03 3.32939177e+01] [ 7.66877100e-03 -3.97004244e-04 9.99970516e-01 1.49163908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.55, Y:33.31, Z:1.49 [[ 8.12482189e-01 -5.82950180e-01 -6.46377937e-03 2.18548971e+02] [ 5.82935575e-01 8.12507802e-01 -4.14574682e-03 3.33084934e+01] [ 7.66863502e-03 -3.99621499e-04 9.99970516e-01 1.49199515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.775898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.57, Y:33.32, Z:1.49 [[ 8.12542287e-01 -5.82866414e-01 -6.46336449e-03 2.18571602e+02] [ 5.82851801e-01 8.12567896e-01 -4.14639352e-03 3.33235541e+01] [ 7.66871601e-03 -3.98063556e-04 9.99970516e-01 1.49140374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.805898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.59, Y:33.34, Z:1.49 [[ 8.13497015e-01 -5.81533178e-01 -6.46295955e-03 2.18594295e+02] [ 5.81518518e-01 8.13522597e-01 -4.14702460e-03 3.33396941e+01] [ 7.66939603e-03 -3.84738527e-04 9.99970516e-01 1.49131997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.62, Y:33.36, Z:1.49 [[ 8.13947685e-01 -5.80902234e-01 -6.46222650e-03 2.18617288e+02] [ 5.80887546e-01 8.13973250e-01 -4.14816659e-03 3.33564461e+01] [ 7.66975875e-03 -3.77436304e-04 9.99970516e-01 1.49217886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.865898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:218.64, Y:33.37, Z:1.49 [[ 8.14265031e-01 -5.80457328e-01 -6.46145025e-03 2.18638515e+02] [ 5.80442616e-01 8.14290582e-01 -4.14937538e-03 3.33733152e+01] [ 7.67003343e-03 -3.71809817e-04 9.99970516e-01 1.49191672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.66, Y:33.39, Z:1.49 [[ 8.15153162e-01 -5.79209443e-01 -6.46102519e-03 2.18660972e+02] [ 5.79194686e-01 8.15178688e-01 -4.15003713e-03 3.33886507e+01] [ 7.67063073e-03 -3.59275575e-04 9.99970516e-01 1.49365248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.925898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.68, Y:33.41, Z:1.49 [[ 8.15885492e-01 -5.78177418e-01 -6.46050017e-03 2.18683590e+02] [ 5.78162623e-01 8.15910995e-01 -4.15085429e-03 3.34056507e+01] [ 7.67112334e-03 -3.48597925e-04 9.99970516e-01 1.49487644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.955898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.71, Y:33.42, Z:1.49 [[ 8.17158598e-01 -5.76376698e-01 -6.45973466e-03 2.18705182e+02] [ 5.76361837e-01 8.17184063e-01 -4.15204526e-03 3.34239430e+01] [ 7.67193436e-03 -3.30265051e-04 9.99970516e-01 1.49426575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.73, Y:33.44, Z:1.49 [[ 8.17328890e-01 -5.76135199e-01 -6.45896894e-03 2.18727236e+02] [ 5.76120321e-01 8.17354345e-01 -4.15323609e-03 3.34408856e+01] [ 7.67209183e-03 -3.26583416e-04 9.99970516e-01 1.49295194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.75, Y:33.46, Z:1.49 [[ 8.17293939e-01 -5.76184787e-01 -6.45820096e-03 2.18750084e+02] [ 5.76169901e-01 8.17319390e-01 -4.15442993e-03 3.34578611e+01] [ 7.67213220e-03 -3.25630611e-04 9.99970516e-01 1.49259793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.77, Y:33.47, Z:1.49 [[ 8.16948324e-01 -5.76674724e-01 -6.45740066e-03 2.18772604e+02] [ 5.76659844e-01 8.16973779e-01 -4.15567351e-03 3.34748461e+01] [ 7.67199889e-03 -3.28753144e-04 9.99970516e-01 1.49155001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.075898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.79, Y:33.49, Z:1.49 [[ 8.15858005e-01 -5.78216247e-01 -6.45660364e-03 2.18793559e+02] [ 5.78201405e-01 8.15883481e-01 -4.15691145e-03 3.34915458e+01] [ 7.67142999e-03 -3.41767816e-04 9.99970516e-01 1.48937269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.105898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.82, Y:33.51, Z:1.49 [[ 8.14996724e-01 -5.79429596e-01 -6.45625755e-03 2.18815892e+02] [ 5.79414788e-01 8.15022220e-01 -4.15744891e-03 3.35067749e+01] [ 7.67094230e-03 -3.52543855e-04 9.99970516e-01 1.48955738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.135898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.84, Y:33.52, Z:1.49 [[ 8.13869092e-01 -5.81012412e-01 -6.45583452e-03 2.18839011e+02] [ 5.80997648e-01 8.13894614e-01 -4.15810570e-03 3.35230172e+01] [ 7.67027997e-03 -3.66670962e-04 9.99970516e-01 1.49026958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.86, Y:33.54, Z:1.49 [[ 8.12749754e-01 -5.82577179e-01 -6.45506805e-03 2.18862170e+02] [ 5.82562456e-01 8.12775298e-01 -4.15929523e-03 3.35388740e+01] [ 7.66963035e-03 -3.80014117e-04 9.99970516e-01 1.49092612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.195898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:218.89, Y:33.56, Z:1.49 [[ 8.11090475e-01 -5.84885103e-01 -6.45430289e-03 2.18885333e+02] [ 5.84870442e-01 8.11116056e-01 -4.16048226e-03 3.35555323e+01] [ 7.66859279e-03 -4.00403453e-04 9.99970516e-01 1.48943729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.91, Y:33.57, Z:1.49 [[ 8.10564347e-01 -5.85614029e-01 -6.45358245e-03 2.18909162e+02] [ 5.85599383e-01 8.10589936e-01 -4.16159947e-03 3.35704534e+01] [ 7.66830002e-03 -4.05969746e-04 9.99970516e-01 1.48915492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.93, Y:33.59, Z:1.49 [[ 8.10455733e-01 -5.85764344e-01 -6.45280940e-03 2.18933003e+02] [ 5.85749692e-01 8.10481319e-01 -4.16279779e-03 3.35860436e+01] [ 7.66829999e-03 -4.05967783e-04 9.99970516e-01 1.48937363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.96, Y:33.60, Z:1.49 [[ 8.09817786e-01 -5.86645997e-01 -6.45203718e-03 2.18955285e+02] [ 5.86631364e-01 8.09843383e-01 -4.16399433e-03 3.36008859e+01] [ 7.66793022e-03 -4.12890701e-04 9.99970516e-01 1.48773558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.98, Y:33.62, Z:1.49 [[ 8.09169625e-01 -5.87539696e-01 -6.45166741e-03 2.18977476e+02] [ 5.87525086e-01 8.09195236e-01 -4.16456717e-03 3.36155718e+01] [ 7.66750706e-03 -4.20675203e-04 9.99970516e-01 1.48648645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.345898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.00, Y:33.63, Z:1.49 [[ 8.08759963e-01 -5.88103480e-01 -6.45126362e-03 2.19000597e+02] [ 5.88088884e-01 8.08785581e-01 -4.16519257e-03 3.36309587e+01] [ 7.66725325e-03 -4.25275431e-04 9.99970516e-01 1.48911387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.02, Y:33.65, Z:1.49 [[ 8.08811495e-01 -5.88032615e-01 -6.45050339e-03 2.19023946e+02] [ 5.88018007e-01 8.08837106e-01 -4.16636960e-03 3.36464982e+01] [ 7.66736770e-03 -4.23204523e-04 9.99970516e-01 1.49185350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.05, Y:33.66, Z:1.50 [[ 8.10774275e-01 -5.85323389e-01 -6.45017322e-03 2.19045671e+02] [ 5.85308692e-01 8.10799835e-01 -4.16688068e-03 3.36631707e+01] [ 7.66877211e-03 -3.96942784e-04 9.99970516e-01 1.49833147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.07, Y:33.68, Z:1.50 [[ 8.12369420e-01 -5.83107474e-01 -6.44972606e-03 2.19068209e+02] [ 5.83092701e-01 8.12394937e-01 -4.16757270e-03 3.36803106e+01] [ 7.66986759e-03 -3.75179569e-04 9.99970516e-01 1.50031530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.09, Y:33.70, Z:1.50 [[ 8.14220588e-01 -5.80519807e-01 -6.44896176e-03 2.19090129e+02] [ 5.80504943e-01 8.14246051e-01 -4.16875506e-03 3.36975212e+01] [ 7.67108653e-03 -3.49367987e-04 9.99970516e-01 1.50050520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.495898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.11, Y:33.72, Z:1.50 [[ 8.16975228e-01 -5.76636712e-01 -6.44820202e-03 2.19111479e+02] [ 5.76621719e-01 8.17000615e-01 -4.16992989e-03 3.37166760e+01] [ 7.67271968e-03 -3.11443912e-04 9.99970516e-01 1.49864224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.13, Y:33.73, Z:1.50 [[ 8.17704844e-01 -5.75601615e-01 -6.44741908e-03 2.19133393e+02] [ 5.75586580e-01 8.17730207e-01 -4.17114009e-03 3.37327911e+01] [ 7.67316431e-03 -3.00286441e-04 9.99970516e-01 1.49804374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.15, Y:33.75, Z:1.50 [[ 8.18264773e-01 -5.74805355e-01 -6.44707843e-03 2.19154997e+02] [ 5.74790291e-01 8.18290119e-01 -4.17166656e-03 3.37485030e+01] [ 7.67347685e-03 -2.92190294e-04 9.99970516e-01 1.49795576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.18, Y:33.76, Z:1.50 [[ 8.18933578e-01 -5.73852102e-01 -6.44664855e-03 2.19177441e+02] [ 5.73837003e-01 8.18958903e-01 -4.17233076e-03 3.37646199e+01] [ 7.67384100e-03 -2.82463722e-04 9.99970516e-01 1.50031060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.20, Y:33.78, Z:1.50 [[ 8.20986098e-01 -5.70911794e-01 -6.44587896e-03 2.19199025e+02] [ 5.70896596e-01 8.21011363e-01 -4.17351937e-03 3.37819690e+01] [ 7.67485130e-03 -2.53528971e-04 9.99970516e-01 1.50221710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.22, Y:33.80, Z:1.50 [[ 8.22112449e-01 -5.69288664e-01 -6.44508104e-03 2.19221083e+02] [ 5.69273405e-01 8.22137678e-01 -4.17475121e-03 3.37988027e+01] [ 7.67538250e-03 -2.36898290e-04 9.99970516e-01 1.50202451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.24, Y:33.82, Z:1.50 [[ 8.23523212e-01 -5.67245970e-01 -6.44428197e-03 2.19242255e+02] [ 5.67230640e-01 8.23548397e-01 -4.17598433e-03 3.38150788e+01] [ 7.67598837e-03 -2.16374155e-04 9.99970516e-01 1.50152380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.26, Y:33.83, Z:1.50 [[ 8.25072820e-01 -5.64989661e-01 -6.44393377e-03 2.19264486e+02] [ 5.64974257e-01 8.25097961e-01 -4.17652155e-03 3.38324212e+01] [ 7.67656811e-03 -1.94722282e-04 9.99970516e-01 1.50293384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.29, Y:33.85, Z:1.50 [[ 8.26671138e-01 -5.62648482e-01 -6.44313409e-03 2.19285608e+02] [ 5.62632998e-01 8.26696229e-01 -4.17775486e-03 3.38492913e+01] [ 7.67712209e-03 -1.71490485e-04 9.99970516e-01 1.50445743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.31, Y:33.87, Z:1.51 [[ 8.29234311e-01 -5.58863981e-01 -6.44278607e-03 2.19306258e+02] [ 5.58848378e-01 8.29259328e-01 -4.17829150e-03 3.38679374e+01] [ 7.67783706e-03 -1.35757871e-04 9.99970516e-01 1.50881023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.795898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.33, Y:33.89, Z:1.51 [[ 8.29676146e-01 -5.58207836e-01 -6.44242136e-03 2.19328617e+02] [ 5.58192209e-01 8.29701148e-01 -4.17885377e-03 3.38855223e+01] [ 7.67795331e-03 -1.29014119e-04 9.99970516e-01 1.50911941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.825898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.35, Y:33.90, Z:1.51 [[ 8.29979834e-01 -5.57756202e-01 -6.44163745e-03 2.19350635e+02] [ 5.57740551e-01 8.30004822e-01 -4.18006180e-03 3.39027734e+01] [ 7.67804553e-03 -1.23395422e-04 9.99970516e-01 1.50867039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.37, Y:33.92, Z:1.51 [[ 8.30194565e-01 -5.57436543e-01 -6.44085662e-03 2.19373006e+02] [ 5.57420874e-01 8.30219541e-01 -4.18126459e-03 3.39194650e+01] [ 7.67811471e-03 -1.19004786e-04 9.99970516e-01 1.50742490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.40, Y:33.94, Z:1.51 [[ 8.30083592e-01 -5.57601790e-01 -6.44006970e-03 2.19396063e+02] [ 5.57586116e-01 8.30108565e-01 -4.18247627e-03 3.39357943e+01] [ 7.67811327e-03 -1.19088527e-04 9.99970516e-01 1.50676016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.42, Y:33.95, Z:1.51 [[ 8.29605700e-01 -5.58312564e-01 -6.43927984e-03 2.19417234e+02] [ 5.58296902e-01 8.29630680e-01 -4.18369197e-03 3.39519362e+01] [ 7.67803191e-03 -1.24215282e-04 9.99970516e-01 1.50713193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.44, Y:33.97, Z:1.51 [[ 8.29205505e-01 -5.58906765e-01 -6.43893673e-03 2.19439956e+02] [ 5.58891117e-01 8.29230494e-01 -4.18421998e-03 3.39680136e+01] [ 7.67795153e-03 -1.29086296e-04 9.99970516e-01 1.50669355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.46, Y:33.98, Z:1.50 [[ 8.28285667e-01 -5.60269046e-01 -6.43816358e-03 2.19463582e+02] [ 5.60253430e-01 8.28310676e-01 -4.18540926e-03 3.39826112e+01] [ 7.67775489e-03 -1.40288730e-04 9.99970516e-01 1.50379360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.49, Y:34.00, Z:1.50 [[ 8.27790161e-01 -5.61000900e-01 -6.43739090e-03 2.19488021e+02] [ 5.60985297e-01 8.27815178e-01 -4.18659735e-03 3.39969467e+01] [ 7.67765478e-03 -1.45657554e-04 9.99970516e-01 1.50144088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.51, Y:34.01, Z:1.50 [[ 8.27220283e-01 -5.61840879e-01 -6.43662164e-03 2.19511753e+02] [ 5.61825293e-01 8.27245310e-01 -4.18777970e-03 3.40109849e+01] [ 7.67753090e-03 -1.52040528e-04 9.99970516e-01 1.50053512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.54, Y:34.03, Z:1.50 [[ 8.26736819e-01 -5.62552052e-01 -6.43585553e-03 2.19535906e+02] [ 5.62536478e-01 8.26761855e-01 -4.18895675e-03 3.40258780e+01] [ 7.67742607e-03 -1.57238715e-04 9.99970516e-01 1.50151429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.095898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:219.56, Y:34.04, Z:1.50 [[ 8.26468455e-01 -5.62946251e-01 -6.43508380e-03 2.19559617e+02] [ 5.62930680e-01 8.26493492e-01 -4.19014194e-03 3.40410322e+01] [ 7.67737958e-03 -1.59485958e-04 9.99970516e-01 1.50297013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.58, Y:34.05, Z:1.50 [[ 8.26582912e-01 -5.62778188e-01 -6.43427036e-03 2.19582806e+02] [ 5.62762602e-01 8.26607940e-01 -4.19139068e-03 3.40541729e+01] [ 7.67744221e-03 -1.56434814e-04 9.99970516e-01 1.50386480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.61, Y:34.07, Z:1.50 [[ 8.27313606e-01 -5.61703483e-01 -6.43391842e-03 2.19608601e+02] [ 5.61687859e-01 8.27338610e-01 -4.19193084e-03 3.40654852e+01] [ 7.67765128e-03 -1.45812443e-04 9.99970516e-01 1.50379502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.63, Y:34.08, Z:1.50 [[ 8.27586767e-01 -5.61300950e-01 -6.43317366e-03 2.19633430e+02] [ 5.61285306e-01 8.27611759e-01 -4.19307348e-03 3.40786582e+01] [ 7.67774630e-03 -1.40713722e-04 9.99970516e-01 1.50416464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.66, Y:34.09, Z:1.50 [[ 8.27921843e-01 -5.60806604e-01 -6.43239268e-03 2.19657097e+02] [ 5.60790935e-01 8.27946819e-01 -4.19427120e-03 3.40914427e+01] [ 7.67785404e-03 -1.34698769e-04 9.99970516e-01 1.50479971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.68, Y:34.11, Z:1.51 [[ 8.28050176e-01 -5.60617101e-01 -6.43205316e-03 2.19681940e+02] [ 5.60601423e-01 8.28075146e-01 -4.19479180e-03 3.41050479e+01] [ 7.67789538e-03 -1.32320069e-04 9.99970516e-01 1.50601813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.71, Y:34.12, Z:1.51 [[ 8.27933090e-01 -5.60790011e-01 -6.43127501e-03 2.19707106e+02] [ 5.60774329e-01 8.27958058e-01 -4.19598448e-03 3.41154110e+01] [ 7.67789216e-03 -1.32499529e-04 9.99970516e-01 1.50615087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.73, Y:34.13, Z:1.51 [[ 8.27537593e-01 -5.61373474e-01 -6.43074544e-03 2.19732000e+02] [ 5.61357803e-01 8.27562568e-01 -4.19679594e-03 3.41282900e+01] [ 7.67781413e-03 -1.36942717e-04 9.99970516e-01 1.50540674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.335898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:219.76, Y:34.14, Z:1.50 [[ 8.27048552e-01 -5.62093719e-01 -6.42997859e-03 2.19756459e+02] [ 5.62078060e-01 8.27073534e-01 -4.19797052e-03 3.41416009e+01] [ 7.67771798e-03 -1.42224458e-04 9.99970516e-01 1.50381101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.78, Y:34.15, Z:1.50 [[ 8.26974859e-01 -5.62202142e-01 -6.42916949e-03 2.19781030e+02] [ 5.62186477e-01 8.26999838e-01 -4.19920929e-03 3.41532298e+01] [ 7.67772658e-03 -1.41751641e-04 9.99970516e-01 1.50445480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.81, Y:34.17, Z:1.50 [[ 8.27119107e-01 -5.61989905e-01 -6.42881850e-03 2.19806384e+02] [ 5.61974230e-01 8.27144079e-01 -4.19974656e-03 3.41664811e+01] [ 7.67777433e-03 -1.39139699e-04 9.99970516e-01 1.50491224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.83, Y:34.18, Z:1.51 [[ 8.27549800e-01 -5.61355510e-01 -6.42802694e-03 2.19829945e+02] [ 5.61339807e-01 8.27574754e-01 -4.20095776e-03 3.41789028e+01] [ 7.67790360e-03 -1.31805650e-04 9.99970516e-01 1.50575190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.86, Y:34.19, Z:1.51 [[ 8.28330586e-01 -5.60202754e-01 -6.42758178e-03 2.19855858e+02] [ 5.60187010e-01 8.28355515e-01 -4.20163875e-03 3.41905491e+01] [ 7.67809242e-03 -1.20301929e-04 9.99970516e-01 1.50900502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.88, Y:34.20, Z:1.51 [[ 8.28395422e-01 -5.60106878e-01 -6.42725166e-03 2.19880261e+02] [ 5.60091127e-01 8.28420347e-01 -4.20214369e-03 3.42041212e+01] [ 7.67811563e-03 -1.18810025e-04 9.99970516e-01 1.51109736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.90, Y:34.22, Z:1.51 [[ 8.28283581e-01 -5.60272264e-01 -6.42647314e-03 2.19904375e+02] [ 5.60256509e-01 8.28308503e-01 -4.20333396e-03 3.42175564e+01] [ 7.67811378e-03 -1.18920904e-04 9.99970516e-01 1.51202489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.93, Y:34.23, Z:1.51 [[ 8.28040058e-01 -5.60632120e-01 -6.42568631e-03 2.19928443e+02] [ 5.60616366e-01 8.28064980e-01 -4.20453645e-03 3.42310597e+01] [ 7.67808399e-03 -1.20820303e-04 9.99970516e-01 1.51262789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.95, Y:34.24, Z:1.51 [[ 8.27406828e-01 -5.61566258e-01 -6.42486460e-03 2.19953795e+02] [ 5.61550523e-01 8.27431762e-01 -4.20579172e-03 3.42423406e+01] [ 7.67796776e-03 -1.27985296e-04 9.99970516e-01 1.51306063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.98, Y:34.26, Z:1.51 [[ 8.26906766e-01 -5.62302345e-01 -6.42450763e-03 2.19977313e+02] [ 5.62286628e-01 8.26931711e-01 -4.20633694e-03 3.42559456e+01] [ 7.67786221e-03 -1.34166258e-04 9.99970516e-01 1.51468506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.00, Y:34.27, Z:1.52 [[ 8.26404048e-01 -5.63040924e-01 -6.42395288e-03 2.19999978e+02] [ 5.63025223e-01 8.26429004e-01 -4.20718398e-03 3.42700331e+01] [ 7.67775774e-03 -1.40013633e-04 9.99970516e-01 1.51643988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.02, Y:34.29, Z:1.52 [[ 8.25910932e-01 -5.63764020e-01 -6.42352268e-03 2.20023035e+02] [ 5.63748335e-01 8.25935899e-01 -4.20784072e-03 3.42852237e+01] [ 7.67764717e-03 -1.45948567e-04 9.99970516e-01 1.51721936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.05, Y:34.30, Z:1.52 [[ 8.25562999e-01 -5.64273412e-01 -6.42273641e-03 2.20045584e+02] [ 5.64257733e-01 8.25587969e-01 -4.20904051e-03 3.42994224e+01] [ 7.67758356e-03 -1.49250575e-04 9.99970516e-01 1.51572165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.07, Y:34.31, Z:1.51 [[ 8.24885340e-01 -5.65263593e-01 -6.42230081e-03 2.20069927e+02] [ 5.65247940e-01 8.24910325e-01 -4.20970506e-03 3.43125550e+01] [ 7.67741526e-03 -1.57668305e-04 9.99970516e-01 1.51209611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.09, Y:34.33, Z:1.51 [[ 8.24557444e-01 -5.65741801e-01 -6.42152102e-03 2.20093810e+02] [ 5.65726153e-01 8.24582433e-01 -4.21089422e-03 3.43272917e+01] [ 7.67735231e-03 -1.60698204e-04 9.99970516e-01 1.51145739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.12, Y:34.34, Z:1.51 [[ 8.24491192e-01 -5.65838359e-01 -6.42074157e-03 2.20116912e+02] [ 5.65822704e-01 8.24516177e-01 -4.21208238e-03 3.43419586e+01] [ 7.67736308e-03 -1.60176535e-04 9.99970516e-01 1.51101947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.14, Y:34.36, Z:1.51 [[ 8.24504101e-01 -5.65819553e-01 -6.42031850e-03 2.20140068e+02] [ 5.65803893e-01 8.24529082e-01 -4.21272716e-03 3.43572070e+01] [ 7.67738272e-03 -1.59230384e-04 9.99970516e-01 1.51238432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.16, Y:34.37, Z:1.51 [[ 8.25198616e-01 -5.64806191e-01 -6.41953176e-03 2.20162517e+02] [ 5.64790491e-01 8.25223572e-01 -4.21392568e-03 3.43742272e+01] [ 7.67760025e-03 -1.48364856e-04 9.99970516e-01 1.51164968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.875898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:220.18, Y:34.39, Z:1.51 [[ 8.25588655e-01 -5.64235918e-01 -6.41878225e-03 2.20184285e+02] [ 5.64220192e-01 8.25613595e-01 -4.21506705e-03 3.43914786e+01] [ 7.67772612e-03 -1.41695008e-04 9.99970516e-01 1.50872295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.905898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:220.21, Y:34.41, Z:1.51 [[ 8.25936772e-01 -5.63726227e-01 -6.41796534e-03 2.20206624e+02] [ 5.63710475e-01 8.25961696e-01 -4.21631053e-03 3.44089807e+01] [ 7.67783836e-03 -1.35468385e-04 9.99970516e-01 1.50534760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.23, Y:34.43, Z:1.51 [[ 8.25624795e-01 -5.64183047e-01 -6.41771294e-03 2.20228465e+02] [ 5.64167306e-01 8.25649726e-01 -4.21669468e-03 3.44275111e+01] [ 7.67777058e-03 -1.39256139e-04 9.99970516e-01 1.50525246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.25, Y:34.44, Z:1.51 [[ 8.24412189e-01 -5.65953501e-01 -6.41691315e-03 2.20251237e+02] [ 5.65937805e-01 8.24437148e-01 -4.21791144e-03 3.44442642e+01] [ 7.67748332e-03 -1.54276138e-04 9.99970516e-01 1.50684195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.27, Y:34.46, Z:1.51 [[ 8.22691670e-01 -5.68451620e-01 -6.41656206e-03 2.20274316e+02] [ 5.68435995e-01 8.22716673e-01 -4.21844547e-03 3.44612930e+01] [ 7.67699475e-03 -1.76924893e-04 9.99970516e-01 1.51231493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.30, Y:34.48, Z:1.51 [[ 8.20679405e-01 -5.71352913e-01 -6.41585615e-03 2.20297295e+02] [ 5.71337368e-01 8.20704458e-01 -4.21951882e-03 3.44779911e+01] [ 7.67635611e-03 -2.02746174e-04 9.99970516e-01 1.51350606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.32, Y:34.49, Z:1.51 [[ 8.18575599e-01 -5.74362983e-01 -6.41504884e-03 2.20318781e+02] [ 5.74347520e-01 8.18600703e-01 -4.22074583e-03 3.44936671e+01] [ 7.67560366e-03 -2.29467845e-04 9.99970516e-01 1.51184099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.34, Y:34.51, Z:1.51 [[ 8.14749871e-01 -5.79777113e-01 -6.41461960e-03 2.20340499e+02] [ 5.79761812e-01 8.14775074e-01 -4.22139809e-03 3.45109622e+01] [ 7.67394216e-03 -2.79567931e-04 9.99970516e-01 1.50952781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.36, Y:34.53, Z:1.51 [[ 8.13240682e-01 -5.81892134e-01 -6.41384733e-03 2.20362740e+02] [ 5.81876889e-01 8.13265920e-01 -4.22257112e-03 3.45272909e+01] [ 7.67324437e-03 -2.98102919e-04 9.99970516e-01 1.51191326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.38, Y:34.54, Z:1.52 [[ 8.12127040e-01 -5.83445408e-01 -6.41304932e-03 2.20384891e+02] [ 5.83430202e-01 8.12152301e-01 -4.22378276e-03 3.45444985e+01] [ 7.67271941e-03 -3.11318471e-04 9.99970516e-01 1.51581871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.175898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:220.41, Y:34.56, Z:1.52 [[ 8.11425352e-01 -5.84420894e-01 -6.41223538e-03 2.20405087e+02] [ 5.84405709e-01 8.11450625e-01 -4.22501806e-03 3.45620322e+01] [ 7.67240124e-03 -3.19060201e-04 9.99970516e-01 1.51813172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.205898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:220.43, Y:34.58, Z:1.52 [[ 8.11317894e-01 -5.84570067e-01 -6.41188234e-03 2.20428771e+02] [ 5.84554882e-01 8.11343167e-01 -4.22555377e-03 3.45778612e+01] [ 7.67236917e-03 -3.19829741e-04 9.99970516e-01 1.51835045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.45, Y:34.59, Z:1.52 [[ 8.11249101e-01 -5.84665540e-01 -6.41110524e-03 2.20449768e+02] [ 5.84650349e-01 8.11274371e-01 -4.22673247e-03 3.45947192e+01] [ 7.67239019e-03 -3.19322001e-04 9.99970516e-01 1.52090145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.47, Y:34.61, Z:1.52 [[ 8.10612168e-01 -5.85548303e-01 -6.41068416e-03 2.20470261e+02] [ 5.85533135e-01 8.10637451e-01 -4.22737102e-03 3.46146661e+01] [ 7.67207060e-03 -3.26909604e-04 9.99970516e-01 1.51776186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.295898227 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:220.49, Y:34.63, Z:1.52 [[ 8.09971546e-01 -5.86434146e-01 -6.40991459e-03 2.20491975e+02] [ 5.86418996e-01 8.09996840e-01 -4.22853759e-03 3.46328269e+01] [ 7.67176939e-03 -3.33900553e-04 9.99970516e-01 1.51561857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.51, Y:34.65, Z:1.52 [[ 8.09714448e-01 -5.86789089e-01 -6.40914102e-03 2.20513926e+02] [ 5.86773941e-01 8.09739743e-01 -4.22970975e-03 3.46503860e+01] [ 7.67168374e-03 -3.35859837e-04 9.99970516e-01 1.51764193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.53, Y:34.67, Z:1.52 [[ 8.09263254e-01 -5.87411201e-01 -6.40836055e-03 2.20532682e+02] [ 5.87396062e-01 8.09288555e-01 -4.23089191e-03 3.46722207e+01] [ 7.67148614e-03 -3.40340396e-04 9.99970516e-01 1.51913657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.385898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:220.55, Y:34.69, Z:1.52 [[ 8.09069924e-01 -5.87677463e-01 -6.40757696e-03 2.20552994e+02] [ 5.87662324e-01 8.09095225e-01 -4.23207829e-03 3.46907145e+01] [ 7.67143696e-03 -3.41444308e-04 9.99970516e-01 1.51853223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.57, Y:34.71, Z:1.52 [[ 8.09391929e-01 -5.87233900e-01 -6.40714972e-03 2.20573589e+02] [ 5.87218742e-01 8.09417218e-01 -4.23272502e-03 3.47090318e+01] [ 7.67165692e-03 -3.36464929e-04 9.99970516e-01 1.51985148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.59, Y:34.73, Z:1.52 [[ 8.09852497e-01 -5.86598574e-01 -6.40673812e-03 2.20594441e+02] [ 5.86583391e-01 8.09877771e-01 -4.23334793e-03 3.47284268e+01] [ 7.67195065e-03 -3.29698786e-04 9.99970516e-01 1.51999650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.62, Y:34.75, Z:1.52 [[ 8.10474520e-01 -5.85738863e-01 -6.40598804e-03 2.20615242e+02] [ 5.85723644e-01 8.10499773e-01 -4.23448267e-03 3.47478078e+01] [ 7.67235291e-03 -3.20198350e-04 9.99970516e-01 1.52001362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.64, Y:34.77, Z:1.52 [[ 8.11028247e-01 -5.84971927e-01 -6.40519596e-03 2.20635231e+02] [ 5.84956675e-01 8.11053480e-01 -4.23568045e-03 3.47673687e+01] [ 7.67271063e-03 -3.11505634e-04 9.99970516e-01 1.51854280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.65, Y:34.79, Z:1.52 [[ 8.11010549e-01 -5.84996468e-01 -6.40485003e-03 2.20652435e+02] [ 5.84981212e-01 8.11035780e-01 -4.23620347e-03 3.47910082e+01] [ 7.67272661e-03 -3.11111230e-04 9.99970516e-01 1.51547155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.67, Y:34.81, Z:1.51 [[ 8.10181991e-01 -5.86143434e-01 -6.40445762e-03 2.20673012e+02] [ 5.86128209e-01 8.10207240e-01 -4.23679665e-03 3.48106713e+01] [ 7.67230847e-03 -3.21256936e-04 9.99970516e-01 1.51412638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.69, Y:34.83, Z:1.51 [[ 8.09009656e-01 -5.87760469e-01 -6.40368980e-03 2.20693071e+02] [ 5.87745286e-01 8.09034931e-01 -4.23795686e-03 3.48299513e+01] [ 7.67171224e-03 -3.35190469e-04 9.99970516e-01 1.51409429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.71, Y:34.85, Z:1.51 [[ 8.07684381e-01 -5.89580307e-01 -6.40327164e-03 2.20713147e+02] [ 5.89565176e-01 8.07709687e-01 -4.23858856e-03 3.48490781e+01] [ 7.67097288e-03 -3.51704193e-04 9.99970516e-01 1.51420489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.73, Y:34.87, Z:1.51 [[ 8.04374554e-01 -5.94088024e-01 -6.40286108e-03 2.20731256e+02] [ 5.94073029e-01 8.04399941e-01 -4.23920867e-03 3.48716033e+01] [ 7.66892418e-03 -3.93855495e-04 9.99970516e-01 1.51435186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.75, Y:34.89, Z:1.51 [[ 8.02607268e-01 -5.96473459e-01 -6.40211278e-03 2.20752561e+02] [ 5.96458531e-01 8.02632693e-01 -4.24033847e-03 3.48904157e+01] [ 7.66779438e-03 -4.15268306e-04 9.99970516e-01 1.51494470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.77, Y:34.91, Z:1.52 [[ 8.00798247e-01 -5.98899984e-01 -6.40134497e-03 2.20773605e+02] [ 5.98885124e-01 8.00823712e-01 -4.24149725e-03 3.49087615e+01] [ 7.66658148e-03 -4.37086710e-04 9.99970516e-01 1.51636861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.79, Y:34.93, Z:1.52 [[ 7.99438749e-01 -6.00713510e-01 -6.40053332e-03 2.20794908e+02] [ 6.00698697e-01 7.99464242e-01 -4.24272170e-03 3.49261785e+01] [ 7.66565777e-03 -4.52995903e-04 9.99970516e-01 1.51680841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.82, Y:34.94, Z:1.52 [[ 7.98149410e-01 -6.02425561e-01 -6.40018137e-03 2.20816326e+02] [ 6.02410799e-01 7.98174933e-01 -4.24325256e-03 3.49438640e+01] [ 7.66470814e-03 -4.68788841e-04 9.99970516e-01 1.51931044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.805898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:220.84, Y:34.96, Z:1.52 [[ 7.97120734e-01 -6.03786041e-01 -6.39937541e-03 2.20837598e+02] [ 6.03771314e-01 7.97146276e-01 -4.24446771e-03 3.49623216e+01] [ 7.66398863e-03 -4.80406086e-04 9.99970516e-01 1.51970598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.86, Y:34.98, Z:1.52 [[ 7.96240372e-01 -6.04946550e-01 -6.39856137e-03 2.20857296e+02] [ 6.04931849e-01 7.96265930e-01 -4.24569452e-03 3.49813055e+01] [ 7.66337467e-03 -4.90100177e-04 9.99970516e-01 1.51928948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.865898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:220.88, Y:35.00, Z:1.52 [[ 7.95867440e-01 -6.05437101e-01 -6.39800376e-03 2.20879566e+02] [ 6.05422410e-01 7.95893003e-01 -4.24653465e-03 3.49989610e+01] [ 7.66313605e-03 -4.93816192e-04 9.99970516e-01 1.51775073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.90, Y:35.02, Z:1.52 [[ 7.95798597e-01 -6.05527595e-01 -6.39720858e-03 2.20901701e+02] [ 6.05512897e-01 7.95824157e-01 -4.24773220e-03 3.50150810e+01] [ 7.66317219e-03 -4.93252972e-04 9.99970516e-01 1.51752916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.92, Y:35.03, Z:1.52 [[ 7.95457562e-01 -6.05975538e-01 -6.39641813e-03 2.20923302e+02] [ 6.05960845e-01 7.95483124e-01 -4.24892217e-03 3.50321016e+01] [ 7.66298557e-03 -4.96141664e-04 9.99970516e-01 1.51832744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.95, Y:35.05, Z:1.52 [[ 7.94983920e-01 -6.06596783e-01 -6.39607995e-03 2.20946044e+02] [ 6.06582105e-01 7.95009492e-01 -4.24943117e-03 3.50477095e+01] [ 7.66263555e-03 -5.01518193e-04 9.99970516e-01 1.52020281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.97, Y:35.06, Z:1.52 [[ 7.94483245e-01 -6.07252397e-01 -6.39530619e-03 2.20968155e+02] [ 6.07237731e-01 7.94508823e-01 -4.25059535e-03 3.50628930e+01] [ 7.66231141e-03 -5.06444431e-04 9.99970516e-01 1.52049473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.99, Y:35.08, Z:1.52 [[ 7.93739549e-01 -6.08224311e-01 -6.38098562e-03 2.20993182e+02] [ 6.08209504e-01 7.93765046e-01 -4.27213317e-03 3.50781865e+01] [ 7.66341859e-03 -4.90015050e-04 9.99970516e-01 1.52266213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.02, Y:35.09, Z:1.52 [[ 7.92872114e-01 -6.09354511e-01 -6.39456241e-03 2.21016886e+02] [ 6.09339904e-01 7.92897726e-01 -4.25171373e-03 3.50930218e+01] [ 7.66103493e-03 -5.25396785e-04 9.99970516e-01 1.52384063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.075898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:221.04, Y:35.11, Z:1.52 [[ 7.91642851e-01 -6.10950666e-01 -6.39378280e-03 2.21039380e+02] [ 6.10936101e-01 7.91668487e-01 -4.25288578e-03 3.51088084e+01] [ 7.66005976e-03 -5.39426110e-04 9.99970516e-01 1.52338882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.06, Y:35.12, Z:1.52 [[ 7.90932997e-01 -6.11869369e-01 -6.39300859e-03 2.21062142e+02] [ 6.11854825e-01 7.90958644e-01 -4.25404928e-03 3.51244243e+01] [ 7.65952785e-03 -5.46925210e-04 9.99970516e-01 1.52428939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.08, Y:35.14, Z:1.52 [[ 7.91193498e-01 -6.11532491e-01 -6.39222047e-03 2.21083934e+02] [ 6.11517927e-01 7.91219134e-01 -4.25523320e-03 3.51408799e+01] [ 7.65986050e-03 -5.42244565e-04 9.99970516e-01 1.52448564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.11, Y:35.16, Z:1.53 [[ 7.91998855e-01 -6.10489113e-01 -6.39187891e-03 2.21105410e+02] [ 6.10474511e-01 7.92024469e-01 -4.25574619e-03 3.51582512e+01] [ 7.66061122e-03 -5.31533043e-04 9.99970516e-01 1.52583657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.12, Y:35.18, Z:1.53 [[ 7.95242563e-01 -6.06257718e-01 -6.39111086e-03 2.21123582e+02] [ 6.06242970e-01 7.95268093e-01 -4.25689932e-03 3.51787930e+01] [ 7.66342461e-03 -4.89298506e-04 9.99970516e-01 1.52888469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.14, Y:35.20, Z:1.53 [[ 7.96905694e-01 -6.04069926e-01 -6.39058655e-03 2.21144699e+02] [ 6.04055102e-01 7.96931181e-01 -4.25768627e-03 3.51976011e+01] [ 7.66479792e-03 -4.67291978e-04 9.99970516e-01 1.52970269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.16, Y:35.22, Z:1.53 [[ 7.98189224e-01 -6.02372918e-01 -6.38982778e-03 2.21164624e+02] [ 6.02358031e-01 7.98214674e-01 -4.25882471e-03 3.52156946e+01] [ 7.66585497e-03 -4.49616084e-04 9.99970516e-01 1.52959209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.19, Y:35.23, Z:1.53 [[ 7.98797935e-01 -6.01565485e-01 -6.38949723e-03 2.21186067e+02] [ 6.01550568e-01 7.98823368e-01 -4.25932057e-03 3.52346521e+01] [ 7.66633994e-03 -4.41269208e-04 9.99970516e-01 1.52851915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.21, Y:35.25, Z:1.53 [[ 7.98726291e-01 -6.01660616e-01 -6.38872075e-03 2.21206288e+02] [ 6.01645693e-01 7.98751719e-01 -4.26048494e-03 3.52529561e+01] [ 7.66636767e-03 -4.40784989e-04 9.99970516e-01 1.52709863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.23, Y:35.27, Z:1.52 [[ 7.98228891e-01 -6.02320368e-01 -6.38838321e-03 2.21227205e+02] [ 6.02305462e-01 7.98254330e-01 -4.26099100e-03 3.52708977e+01] [ 7.66603622e-03 -4.46511978e-04 9.99970516e-01 1.52412138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.25, Y:35.29, Z:1.52 [[ 7.95874976e-01 -6.05427299e-01 -6.38804844e-03 2.21248899e+02] [ 6.05412488e-01 7.95900471e-01 -4.26149283e-03 3.52905388e+01] [ 7.66427485e-03 -4.75788795e-04 9.99970516e-01 1.51921516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.27, Y:35.31, Z:1.52 [[ 7.94233937e-01 -6.07578517e-01 -6.38736607e-03 2.21270979e+02] [ 6.07563767e-01 7.94259466e-01 -4.26251536e-03 3.53068231e+01] [ 7.66303873e-03 -4.95297830e-04 9.99970516e-01 1.51815330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.29, Y:35.32, Z:1.52 [[ 7.92561455e-01 -6.09758596e-01 -6.38702749e-03 2.21293442e+02] [ 6.09743912e-01 7.92587023e-01 -4.26302263e-03 3.53232992e+01] [ 7.66168979e-03 -5.15743707e-04 9.99970516e-01 1.51911493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.32, Y:35.34, Z:1.52 [[ 7.90493616e-01 -6.12436983e-01 -6.38627151e-03 2.21315474e+02] [ 6.12422377e-01 7.90519228e-01 -4.26415484e-03 3.53397889e+01] [ 7.65999654e-03 -5.40308399e-04 9.99970516e-01 1.51749717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.34, Y:35.36, Z:1.52 [[ 7.89882322e-01 -6.13225192e-01 -6.38603679e-03 2.21339743e+02] [ 6.13210608e-01 7.89907946e-01 -4.26450633e-03 3.53560398e+01] [ 7.65948392e-03 -5.47527343e-04 9.99970516e-01 1.51543861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.36, Y:35.37, Z:1.52 [[ 7.89623982e-01 -6.13557817e-01 -6.38539045e-03 2.21362915e+02] [ 6.13543236e-01 7.89649608e-01 -4.26547388e-03 3.53712747e+01] [ 7.65933591e-03 -5.49592650e-04 9.99970516e-01 1.51523959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.39, Y:35.39, Z:1.52 [[ 7.89709670e-01 -6.13447531e-01 -6.38465044e-03 2.21386043e+02] [ 6.13432938e-01 7.89735289e-01 -4.26658126e-03 3.53863532e+01] [ 7.65950750e-03 -5.47194405e-04 9.99970516e-01 1.51651082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.41, Y:35.40, Z:1.52 [[ 7.90090275e-01 -6.12957256e-01 -6.38430940e-03 2.21410232e+02] [ 6.12942643e-01 7.90115883e-01 -4.26709152e-03 3.54021750e+01] [ 7.65988897e-03 -5.41827965e-04 9.99970516e-01 1.51918187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.43, Y:35.42, Z:1.52 [[ 7.90690621e-01 -6.12182645e-01 -6.38367034e-03 2.21434362e+02] [ 6.12167999e-01 7.90716210e-01 -4.26804735e-03 3.54176555e+01] [ 7.66049614e-03 -5.33173683e-04 9.99970516e-01 1.52174508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.46, Y:35.43, Z:1.53 [[ 7.92506927e-01 -6.09829507e-01 -6.38303434e-03 2.21458002e+02] [ 6.09814777e-01 7.92532468e-01 -4.26899830e-03 3.54335942e+01] [ 7.66212309e-03 -5.09257934e-04 9.99970516e-01 1.52568453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.48, Y:35.45, Z:1.52 [[ 7.93447977e-01 -6.08604612e-01 -6.38235482e-03 2.21480083e+02] [ 6.08589835e-01 7.93473490e-01 -4.27001397e-03 3.54493985e+01] [ 7.66297956e-03 -4.96202325e-04 9.99970516e-01 1.52488173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.50, Y:35.47, Z:1.52 [[ 7.94234020e-01 -6.07578466e-01 -6.38201527e-03 2.21502350e+02] [ 6.07563651e-01 7.94259512e-01 -4.27052142e-03 3.54655802e+01] [ 7.66365318e-03 -4.85687106e-04 9.99970516e-01 1.52448699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.52, Y:35.48, Z:1.52 [[ 7.94814979e-01 -6.06818284e-01 -6.38121968e-03 2.21524305e+02] [ 6.06803436e-01 7.94840451e-01 -4.27170989e-03 3.54818690e+01] [ 7.66420319e-03 -4.76927023e-04 9.99970516e-01 1.52162613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.55, Y:35.50, Z:1.52 [[ 7.94755577e-01 -6.06896084e-01 -6.38087511e-03 2.21546321e+02] [ 6.06881234e-01 7.94781049e-01 -4.27222453e-03 3.54994435e+01] [ 7.66419495e-03 -4.77059091e-04 9.99970516e-01 1.52209992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.57, Y:35.52, Z:1.52 [[ 7.93891723e-01 -6.08025679e-01 -6.38015623e-03 2.21568952e+02] [ 6.08010857e-01 7.93917210e-01 -4.27329784e-03 3.55156257e+01] [ 7.66359066e-03 -4.86668476e-04 9.99970516e-01 1.52337436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.59, Y:35.53, Z:1.53 [[ 7.92663433e-01 -6.09626103e-01 -6.37943979e-03 2.21591912e+02] [ 6.09611324e-01 7.92688945e-01 -4.27436712e-03 3.55318796e+01] [ 7.66267717e-03 -5.00844227e-04 9.99970516e-01 1.52654781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.61, Y:35.55, Z:1.53 [[ 7.91328188e-01 -6.11358334e-01 -6.37865234e-03 2.21613843e+02] [ 6.11343601e-01 7.91353727e-01 -4.27554191e-03 3.55471760e+01] [ 7.66165848e-03 -5.16191457e-04 9.99970516e-01 1.52706678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.64, Y:35.56, Z:1.53 [[ 7.89874370e-01 -6.13235516e-01 -6.37811868e-03 2.21636602e+02] [ 6.13220838e-01 7.89899941e-01 -4.27633785e-03 3.55633379e+01] [ 7.66047782e-03 -5.33425615e-04 9.99970516e-01 1.52884645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.66, Y:35.58, Z:1.53 [[ 7.89962564e-01 -6.13121910e-01 -6.37734873e-03 2.21658095e+02] [ 6.13107219e-01 7.89988128e-01 -4.27748579e-03 3.55794822e+01] [ 7.66065004e-03 -5.30944894e-04 9.99970516e-01 1.53042091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.68, Y:35.60, Z:1.53 [[ 7.90670569e-01 -6.12208614e-01 -6.37682393e-03 2.21680015e+02] [ 6.12193887e-01 7.90696112e-01 -4.27826801e-03 3.55970596e+01] [ 7.66132241e-03 -5.21152027e-04 9.99970516e-01 1.53221398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.70, Y:35.61, Z:1.53 [[ 7.91829404e-01 -6.10709047e-01 -6.37605787e-03 2.21701194e+02] [ 6.10694263e-01 7.91854914e-01 -4.27940939e-03 3.56147665e+01] [ 7.66238679e-03 -5.05259770e-04 9.99970516e-01 1.53369442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.72, Y:35.63, Z:1.53 [[ 7.92902976e-01 -6.09314552e-01 -6.37553486e-03 2.21722597e+02] [ 6.09299716e-01 7.92928456e-01 -4.28018843e-03 3.56334043e+01] [ 7.66332411e-03 -4.90837437e-04 9.99970516e-01 1.53419276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.74, Y:35.65, Z:1.53 [[ 7.94015285e-01 -6.07864367e-01 -6.37477119e-03 2.21742159e+02] [ 6.07849476e-01 7.94040733e-01 -4.28132552e-03 3.56536430e+01] [ 7.66429321e-03 -4.75463426e-04 9.99970516e-01 1.53017361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.77, Y:35.67, Z:1.53 [[ 7.93907525e-01 -6.08005109e-01 -6.37401237e-03 2.21765686e+02] [ 6.07990213e-01 7.93932970e-01 -4.28245494e-03 3.56696525e+01] [ 7.66429306e-03 -4.75463935e-04 9.99970516e-01 1.53039233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.79, Y:35.69, Z:1.53 [[ 7.93755000e-01 -6.08204226e-01 -6.37325306e-03 2.21786630e+02] [ 6.08189328e-01 7.93780444e-01 -4.28358467e-03 3.56868496e+01] [ 7.66425794e-03 -4.76027746e-04 9.99970516e-01 1.52894176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.81, Y:35.70, Z:1.53 [[ 7.93077140e-01 -6.09087873e-01 -6.37273554e-03 2.21808374e+02] [ 6.09072997e-01 7.93102596e-01 -4.28435446e-03 3.57041556e+01] [ 7.66378145e-03 -4.83637547e-04 9.99970516e-01 1.52955915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.83, Y:35.72, Z:1.53 [[ 7.92256623e-01 -6.10154768e-01 -6.37197641e-03 2.21830552e+02] [ 6.10139917e-01 7.92282094e-01 -4.28548318e-03 3.57216441e+01] [ 7.66321081e-03 -4.92594732e-04 9.99970516e-01 1.53072421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.85, Y:35.74, Z:1.53 [[ 7.90076058e-01 -6.12975718e-01 -6.37119965e-03 2.21850210e+02] [ 6.12960949e-01 7.90101576e-01 -4.28663769e-03 3.57402112e+01] [ 7.66149969e-03 -5.18526777e-04 9.99970516e-01 1.52940562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.87, Y:35.76, Z:1.53 [[ 7.88803622e-01 -6.14612282e-01 -6.37086101e-03 2.21871871e+02] [ 6.14597562e-01 7.88829169e-01 -4.28714092e-03 3.57573901e+01] [ 7.66045046e-03 -5.33803356e-04 9.99970516e-01 1.53010297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.89, Y:35.77, Z:1.53 [[ 7.87725902e-01 -6.15992959e-01 -6.37007120e-03 2.21893357e+02] [ 6.15978273e-01 7.87751469e-01 -4.28831413e-03 3.57738642e+01] [ 7.65960426e-03 -5.45809338e-04 9.99970516e-01 1.52927754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.92, Y:35.79, Z:1.53 [[ 7.86742918e-01 -6.17247932e-01 -6.36953553e-03 2.21915684e+02] [ 6.17233281e-01 7.86768505e-01 -4.28910963e-03 3.57901871e+01] [ 7.65879399e-03 -5.57062689e-04 9.99970516e-01 1.53054296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.94, Y:35.81, Z:1.53 [[ 7.85257434e-01 -6.19136658e-01 -6.36877586e-03 2.21938426e+02] [ 6.19122060e-01 7.85283050e-01 -4.29023735e-03 3.58071766e+01] [ 7.65753495e-03 -5.74108853e-04 9.99970516e-01 1.53328387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.96, Y:35.82, Z:1.53 [[ 7.85157502e-01 -6.19263389e-01 -6.36801738e-03 2.21960447e+02] [ 6.19248786e-01 7.85183116e-01 -4.29136286e-03 3.58229491e+01] [ 7.65754364e-03 -5.73991290e-04 9.99970516e-01 1.53284013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.98, Y:35.84, Z:1.53 [[ 7.85315440e-01 -6.19063092e-01 -6.36768868e-03 2.21982498e+02] [ 6.19048479e-01 7.85341048e-01 -4.29185055e-03 3.58395445e+01] [ 7.65773357e-03 -5.71451488e-04 9.99970516e-01 1.53371326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.00, Y:35.86, Z:1.53 [[ 7.86050591e-01 -6.18129381e-01 -6.36691100e-03 2.22004336e+02] [ 6.18114727e-01 7.86076176e-01 -4.29300391e-03 3.58560575e+01] [ 7.65850890e-03 -5.60963200e-04 9.99970516e-01 1.53321446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.03, Y:35.87, Z:1.53 [[ 7.86984079e-01 -6.16940456e-01 -6.36657352e-03 2.22026227e+02] [ 6.16925760e-01 7.87009639e-01 -4.29350435e-03 3.58731818e+01] [ 7.65939126e-03 -5.48783640e-04 9.99970516e-01 1.53423601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.05, Y:35.89, Z:1.54 [[ 7.89795252e-01 -6.13337538e-01 -6.36582965e-03 2.22046189e+02] [ 6.13322716e-01 7.89820740e-01 -4.29460697e-03 3.58932969e+01] [ 7.66190795e-03 -5.12447739e-04 9.99970516e-01 1.53593736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.07, Y:35.91, Z:1.54 [[ 7.91376018e-01 -6.11296560e-01 -6.36507308e-03 2.22066703e+02] [ 6.11281664e-01 7.91401462e-01 -4.29572800e-03 3.59116576e+01] [ 7.66329189e-03 -4.91316343e-04 9.99970516e-01 1.53586187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.09, Y:35.93, Z:1.54 [[ 7.92634086e-01 -6.09664412e-01 -6.36474451e-03 2.22087578e+02] [ 6.09649459e-01 7.92659498e-01 -4.29621477e-03 3.59308578e+01] [ 7.66432444e-03 -4.74936776e-04 9.99970516e-01 1.53621422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.11, Y:35.95, Z:1.54 [[ 7.93357551e-01 -6.08722676e-01 -6.36396117e-03 2.22108643e+02] [ 6.08707684e-01 7.93382939e-01 -4.29737481e-03 3.59498017e+01] [ 7.66496771e-03 -4.64437307e-04 9.99970516e-01 1.53518168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.13, Y:35.97, Z:1.53 [[ 7.93415718e-01 -6.08646867e-01 -6.36316471e-03 2.22128630e+02] [ 6.08631863e-01 7.93441099e-01 -4.29855382e-03 3.59675989e+01] [ 7.66509771e-03 -4.62284624e-04 9.99970516e-01 1.53384970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.15, Y:35.99, Z:1.53 [[ 7.90561576e-01 -6.12349499e-01 -6.36281998e-03 2.22147373e+02] [ 6.12334610e-01 7.90587025e-01 -4.29906403e-03 3.59886381e+01] [ 7.66289262e-03 -4.97500049e-04 9.99970516e-01 1.53393330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.17, Y:36.01, Z:1.53 [[ 7.88408745e-01 -6.15118826e-01 -6.36247740e-03 2.22167537e+02] [ 6.15104022e-01 7.88434243e-01 -4.29957097e-03 3.60064289e+01] [ 7.66114211e-03 -5.23766086e-04 9.99970516e-01 1.53436506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.19, Y:36.02, Z:1.53 [[ 7.86001112e-01 -6.18192345e-01 -6.36213989e-03 2.22189534e+02] [ 6.18177637e-01 7.86026665e-01 -4.30007034e-03 3.60246330e+01] [ 7.65908217e-03 -5.53072536e-04 9.99970516e-01 1.53396129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.21, Y:36.04, Z:1.53 [[ 7.83428469e-01 -6.21449408e-01 -6.36138564e-03 2.22210982e+02] [ 6.21434797e-01 7.83454079e-01 -4.30118586e-03 3.60425705e+01] [ 7.65682293e-03 -5.83514938e-04 9.99970516e-01 1.53216298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.23, Y:36.06, Z:1.53 [[ 7.79583959e-01 -6.26265433e-01 -6.36062652e-03 2.22231741e+02] [ 6.26250971e-01 7.79609653e-01 -4.30230817e-03 3.60627503e+01] [ 7.65319272e-03 -6.29338098e-04 9.99970516e-01 1.53056969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.755898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:222.25, Y:36.08, Z:1.53 [[ 7.78415082e-01 -6.27717700e-01 -6.35996274e-03 2.22251929e+02] [ 6.27703278e-01 7.78440798e-01 -4.30328918e-03 3.60807924e+01] [ 7.65210526e-03 -6.42424263e-04 9.99970516e-01 1.53144665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.27, Y:36.10, Z:1.53 [[ 7.78340086e-01 -6.27810692e-01 -6.35964629e-03 2.22274276e+02] [ 6.27796269e-01 7.78365802e-01 -4.30375680e-03 3.60977476e+01] [ 7.65207572e-03 -6.42775773e-04 9.99970516e-01 1.53428320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.30, Y:36.12, Z:1.54 [[ 7.78523094e-01 -6.27583739e-01 -6.35941471e-03 2.22296982e+02] [ 6.27569306e-01 7.78548804e-01 -4.30409897e-03 3.61150577e+01] [ 7.65229724e-03 -6.40133032e-04 9.99970516e-01 1.53674474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.32, Y:36.13, Z:1.54 [[ 7.78734188e-01 -6.27321791e-01 -6.35881325e-03 2.22319699e+02] [ 6.27307342e-01 7.78759889e-01 -4.30498737e-03 3.61318112e+01] [ 7.65260109e-03 -6.36489394e-04 9.99970516e-01 1.53814259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.34, Y:36.15, Z:1.54 [[ 7.79295770e-01 -6.26624032e-01 -6.35805380e-03 2.22342637e+02] [ 6.26609551e-01 7.79321453e-01 -4.30610871e-03 3.61483392e+01] [ 7.65327893e-03 -6.28284938e-04 9.99970516e-01 1.53910760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.36, Y:36.16, Z:1.54 [[ 7.81252738e-01 -6.24182461e-01 -6.35729625e-03 2.22363779e+02] [ 6.24167890e-01 7.81278371e-01 -4.30722683e-03 3.61647984e+01] [ 7.65531350e-03 -6.02987430e-04 9.99970516e-01 1.54015640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.935898227 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:222.39, Y:36.18, Z:1.54 [[ 7.82656614e-01 -6.22421251e-01 -6.35696715e-03 2.22386030e+02] [ 6.22406620e-01 7.82682211e-01 -4.30771248e-03 3.61813544e+01] [ 7.65669690e-03 -5.85158774e-04 9.99970516e-01 1.54074877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.41, Y:36.20, Z:1.54 [[ 7.84669248e-01 -6.19882059e-01 -6.35647661e-03 2.22409392e+02] [ 6.19867339e-01 7.84694794e-01 -4.30843620e-03 3.61964371e+01] [ 7.65861641e-03 -5.59474851e-04 9.99970516e-01 1.54219754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.43, Y:36.21, Z:1.54 [[ 7.86677349e-01 -6.17331640e-01 -6.35568800e-03 2.22431519e+02] [ 6.17316827e-01 7.86702842e-01 -4.30959923e-03 3.62117614e+01] [ 7.66048977e-03 -5.33209051e-04 9.99970516e-01 1.54334415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.45, Y:36.23, Z:1.55 [[ 7.90688173e-01 -6.12186104e-01 -6.35515178e-03 2.22454521e+02] [ 6.12171119e-01 7.90713565e-01 -4.31038982e-03 3.62281325e+01] [ 7.66386547e-03 -4.82266130e-04 9.99970516e-01 1.54625046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.48, Y:36.24, Z:1.55 [[ 7.92472383e-01 -6.09874696e-01 -6.35437210e-03 2.22477049e+02] [ 6.09859628e-01 7.92497726e-01 -4.31153892e-03 3.62433812e+01] [ 7.66532392e-03 -4.58499482e-04 9.99970516e-01 1.54758857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.50, Y:36.26, Z:1.55 [[ 7.94109782e-01 -6.07741131e-01 -6.35383858e-03 2.22500274e+02] [ 6.07725989e-01 7.94135081e-01 -4.31232502e-03 3.62583557e+01] [ 7.66658340e-03 -4.36933351e-04 9.99970516e-01 1.54708834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.52, Y:36.27, Z:1.55 [[ 7.95577128e-01 -6.05819010e-01 -6.35306589e-03 2.22523462e+02] [ 6.05803797e-01 7.95602384e-01 -4.31346307e-03 3.62733142e+01] [ 7.66769229e-03 -4.17018873e-04 9.99970516e-01 1.54597246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.55, Y:36.29, Z:1.55 [[ 7.97059054e-01 -6.03867960e-01 -6.35229562e-03 2.22547090e+02] [ 6.03852676e-01 7.97084268e-01 -4.31459711e-03 3.62884431e+01] [ 7.66876186e-03 -3.96862020e-04 9.99970516e-01 1.54505206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.57, Y:36.30, Z:1.54 [[ 7.98625058e-01 -6.01795377e-01 -6.35149571e-03 2.22569792e+02] [ 6.01780018e-01 7.98650226e-01 -4.31577435e-03 3.63035437e+01] [ 7.66983653e-03 -3.75517668e-04 9.99970516e-01 1.54454017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.59, Y:36.32, Z:1.55 [[ 8.02428024e-01 -5.96715115e-01 -6.35114789e-03 2.22593559e+02] [ 5.96699594e-01 8.02453092e-01 -4.31628614e-03 3.63185279e+01] [ 7.67209144e-03 -3.26218408e-04 9.99970516e-01 1.54578405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.62, Y:36.33, Z:1.55 [[ 8.04646768e-01 -5.93719843e-01 -6.35038505e-03 2.22616539e+02] [ 5.93704219e-01 8.04671772e-01 -4.31740818e-03 3.63335008e+01] [ 7.67330650e-03 -2.96261856e-04 9.99970516e-01 1.54583076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.64, Y:36.35, Z:1.54 [[ 8.06774999e-01 -5.90824659e-01 -6.35005185e-03 2.22639877e+02] [ 5.90808941e-01 8.06799945e-01 -4.31789821e-03 3.63483202e+01] [ 7.67434221e-03 -2.68095088e-04 9.99970516e-01 1.54418850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.66, Y:36.36, Z:1.54 [[ 8.08589286e-01 -5.88339234e-01 -6.34929233e-03 2.22663347e+02] [ 5.88323431e-01 8.08614177e-01 -4.31901475e-03 3.63629677e+01] [ 7.67517362e-03 -2.43128395e-04 9.99970516e-01 1.54252610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.325898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:222.69, Y:36.38, Z:1.54 [[ 8.10098446e-01 -5.86259502e-01 -6.34853424e-03 2.22687005e+02] [ 5.86243626e-01 8.10123292e-01 -4.32012878e-03 3.63784776e+01] [ 7.67581200e-03 -2.22058124e-04 9.99970516e-01 1.54052467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.71, Y:36.39, Z:1.54 [[ 8.12869252e-01 -5.82411612e-01 -6.34773906e-03 2.22710385e+02] [ 5.82395610e-01 8.12894015e-01 -4.32129685e-03 3.63911556e+01] [ 7.67681256e-03 -1.84246023e-04 9.99970516e-01 1.54231817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.73, Y:36.41, Z:1.54 [[ 8.14033294e-01 -5.80783528e-01 -6.34739323e-03 2.22733122e+02] [ 5.80767472e-01 8.14058023e-01 -4.32180477e-03 3.64054268e+01] [ 7.67717941e-03 -1.68266550e-04 9.99970516e-01 1.54430102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.76, Y:36.42, Z:1.55 [[ 8.15270920e-01 -5.79044940e-01 -6.34705186e-03 2.22756385e+02] [ 5.79028828e-01 8.15295612e-01 -4.32230605e-03 3.64204339e+01] [ 7.67753298e-03 -1.51275568e-04 9.99970516e-01 1.54628926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.78, Y:36.44, Z:1.55 [[ 8.16669069e-01 -5.77071363e-01 -6.34626253e-03 2.22778662e+02] [ 5.77055181e-01 8.16693716e-01 -4.32346470e-03 3.64355016e+01] [ 7.67790039e-03 -1.31303787e-04 9.99970516e-01 1.54684222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.80, Y:36.45, Z:1.55 [[ 8.18240331e-01 -5.74841274e-01 -6.34591920e-03 2.22801112e+02] [ 5.74825022e-01 8.18264931e-01 -4.32396856e-03 3.64514808e+01] [ 7.67823874e-03 -1.09747677e-04 9.99970516e-01 1.54738267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.82, Y:36.47, Z:1.55 [[ 8.20102433e-01 -5.72181560e-01 -6.34517498e-03 2.22823867e+02] [ 5.72165220e-01 8.20126975e-01 -4.32506038e-03 3.64679972e+01] [ 7.67856896e-03 -8.34958975e-05 9.99970516e-01 1.54861755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.85, Y:36.48, Z:1.55 [[ 8.23693236e-01 -5.67000177e-01 -6.34439387e-03 2.22845645e+02] [ 5.66983674e-01 8.23717669e-01 -4.32620589e-03 3.64839589e+01] [ 7.67894883e-03 -3.37012179e-05 9.99970516e-01 1.55082939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.87, Y:36.50, Z:1.55 [[ 8.24752955e-01 -5.65457619e-01 -6.34385937e-03 2.22868909e+02] [ 5.65441064e-01 8.24777352e-01 -4.32698952e-03 3.65003162e+01] [ 7.67900073e-03 -1.83811975e-05 9.99970516e-01 1.55141735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.89, Y:36.52, Z:1.55 [[ 8.25405130e-01 -5.64505215e-01 -6.34308484e-03 2.22892290e+02] [ 5.64488622e-01 8.25429502e-01 -4.32812464e-03 3.65163144e+01] [ 7.67901829e-03 -8.14293797e-06 9.99970516e-01 1.55192297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.92, Y:36.53, Z:1.55 [[ 8.25820355e-01 -5.63897612e-01 -6.34231369e-03 2.22915356e+02] [ 5.63880993e-01 8.25844709e-01 -4.32925437e-03 3.65318040e+01] [ 7.67902240e-03 -1.12376488e-06 9.99970516e-01 1.55093824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.94, Y:36.55, Z:1.55 [[ 8.26236446e-01 -5.63287777e-01 -6.34154401e-03 2.22938802e+02] [ 5.63271131e-01 8.26260782e-01 -4.33038151e-03 3.65464385e+01] [ 7.67902009e-03 5.91035796e-06 9.99970516e-01 1.54888137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.685898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:222.96, Y:36.56, Z:1.55 [[ 8.26703188e-01 -5.62602554e-01 -6.34072771e-03 2.22961213e+02] [ 5.62585879e-01 8.26727504e-01 -4.33157645e-03 3.65607493e+01] [ 7.67900996e-03 1.37241898e-05 9.99970516e-01 1.54718729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.99, Y:36.57, Z:1.55 [[ 8.28198832e-01 -5.60398514e-01 -6.34037298e-03 2.22985652e+02] [ 5.60381770e-01 8.28223101e-01 -4.33209562e-03 3.65747968e+01] [ 7.67894331e-03 3.48071052e-05 9.99970516e-01 1.54872086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.01, Y:36.59, Z:1.55 [[ 8.28889876e-01 -5.59375888e-01 -6.33956060e-03 2.23007821e+02] [ 5.59359105e-01 8.28914117e-01 -4.33328412e-03 3.65895576e+01] [ 7.67888593e-03 4.57243937e-05 9.99970516e-01 1.54952398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.03, Y:36.60, Z:1.55 [[ 8.29544241e-01 -5.58405025e-01 -6.33874945e-03 2.23031403e+02] [ 5.58388205e-01 8.29568457e-01 -4.33447035e-03 3.66046188e+01] [ 7.67881663e-03 5.61519892e-05 9.99970516e-01 1.54896072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.05, Y:36.62, Z:1.55 [[ 8.30224383e-01 -5.57393311e-01 -6.33793650e-03 2.23054548e+02] [ 5.57376453e-01 8.30248572e-01 -4.33565874e-03 3.66185159e+01] [ 7.67872991e-03 6.69530393e-05 9.99970516e-01 1.54751318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.08, Y:36.63, Z:1.55 [[ 8.31381506e-01 -5.55665931e-01 -6.33758398e-03 2.23080053e+02] [ 5.55649018e-01 8.31405657e-01 -4.33617397e-03 3.66300982e+01] [ 7.67856731e-03 8.35425306e-05 9.99970516e-01 1.54676825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.10, Y:36.64, Z:1.55 [[ 8.31613149e-01 -5.55319201e-01 -6.33683447e-03 2.23104214e+02] [ 5.55302269e-01 8.31637287e-01 -4.33726901e-03 3.66443038e+01] [ 7.67851659e-03 8.80713827e-05 9.99970516e-01 1.54781733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.13, Y:36.66, Z:1.55 [[ 8.31679509e-01 -5.55219820e-01 -6.33603390e-03 2.23127697e+02] [ 5.55202877e-01 8.31703639e-01 -4.33843821e-03 3.66578269e+01] [ 7.67848933e-03 9.04059106e-05 9.99970516e-01 1.54880774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.15, Y:36.67, Z:1.55 [[ 8.31584844e-01 -5.55361599e-01 -6.33568527e-03 2.23152373e+02] [ 5.55344657e-01 8.31608974e-01 -4.33894727e-03 3.66717886e+01] [ 7.67849742e-03 8.97138309e-05 9.99970516e-01 1.54937872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.18, Y:36.68, Z:1.55 [[ 8.31280432e-01 -5.55817158e-01 -6.33488477e-03 2.23176529e+02] [ 5.55800220e-01 8.31304565e-01 -4.34011568e-03 3.66847325e+01] [ 7.67852939e-03 8.69228919e-05 9.99970516e-01 1.55002613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.20, Y:36.69, Z:1.55 [[ 8.31297693e-01 -5.55791345e-01 -6.33453762e-03 2.23202939e+02] [ 5.55774402e-01 8.31321823e-01 -4.34062230e-03 3.66946067e+01] [ 7.67851967e-03 8.77754467e-05 9.99970516e-01 1.54969384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.23, Y:36.71, Z:1.55 [[ 8.31197451e-01 -5.55941252e-01 -6.33419344e-03 2.23226296e+02] [ 5.55924310e-01 8.31221581e-01 -4.34112450e-03 3.67108540e+01] [ 7.67852848e-03 8.69995043e-05 9.99970516e-01 1.54991243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.25, Y:36.72, Z:1.55 [[ 8.31643309e-01 -5.55274072e-01 -6.33341035e-03 2.23249908e+02] [ 5.55257101e-01 8.31667419e-01 -4.34226667e-03 3.67237038e+01] [ 7.67843914e-03 9.45459501e-05 9.99970516e-01 1.54943342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.27, Y:36.74, Z:1.55 [[ 8.32143837e-01 -5.54523694e-01 -6.33306996e-03 2.23274119e+02] [ 5.54506698e-01 8.32167929e-01 -4.34276307e-03 3.67374735e+01] [ 7.67834273e-03 1.02073811e-04 9.99970516e-01 1.54973000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.30, Y:36.75, Z:1.55 [[ 8.32752024e-01 -5.53609942e-01 -6.33228780e-03 2.23298726e+02] [ 5.53592911e-01 8.32776092e-01 -4.34390326e-03 3.67517345e+01] [ 7.67820592e-03 1.11884593e-04 9.99970516e-01 1.55069786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.32, Y:36.77, Z:1.55 [[ 8.33378254e-01 -5.52666806e-01 -6.33148458e-03 2.23323240e+02] [ 5.52649739e-01 8.33402296e-01 -4.34507367e-03 3.67657488e+01] [ 7.67805178e-03 1.21996609e-04 9.99970516e-01 1.55186092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:223.35, Y:36.78, Z:1.55 [[ 8.33977061e-01 -5.51762798e-01 -6.33068212e-03 2.23347581e+02] [ 5.51745695e-01 8.34001078e-01 -4.34624253e-03 3.67802678e+01] [ 7.67789065e-03 1.31739960e-04 9.99970516e-01 1.55191120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.37, Y:36.79, Z:1.55 [[ 8.35756071e-01 -5.49064407e-01 -6.32988060e-03 2.23373192e+02] [ 5.49047218e-01 8.35780026e-01 -4.34740956e-03 3.67900477e+01] [ 7.67739562e-03 1.57970596e-04 9.99970516e-01 1.55344435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.40, Y:36.80, Z:1.55 [[ 8.36416673e-01 -5.48057557e-01 -6.32953277e-03 2.23397902e+02] [ 5.48040335e-01 8.36440605e-01 -4.34791591e-03 3.68034970e+01] [ 7.67718639e-03 1.67830096e-04 9.99970516e-01 1.55290570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.42, Y:36.82, Z:1.55 [[ 8.36987730e-01 -5.47185057e-01 -6.32871497e-03 2.23422967e+02] [ 5.47167802e-01 8.37011638e-01 -4.34910596e-03 3.68171768e+01] [ 7.67697387e-03 1.77279271e-04 9.99970516e-01 1.55277472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.45, Y:36.83, Z:1.55 [[ 8.37641377e-01 -5.46183927e-01 -6.32787471e-03 2.23446668e+02] [ 5.46166634e-01 8.37665257e-01 -4.35032817e-03 3.68299648e+01] [ 7.67672012e-03 1.87940852e-04 9.99970516e-01 1.55218410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.47, Y:36.84, Z:1.55 [[ 8.38416421e-01 -5.44993457e-01 -6.32751010e-03 2.23471668e+02] [ 5.44976126e-01 8.38440274e-01 -4.35085844e-03 3.68433412e+01] [ 7.67642868e-03 1.99489219e-04 9.99970516e-01 1.55119062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.50, Y:36.86, Z:1.55 [[ 8.39197387e-01 -5.43790142e-01 -6.32666454e-03 2.23495732e+02] [ 5.43772768e-01 8.39221208e-01 -4.35208763e-03 3.68559756e+01] [ 7.67609341e-03 2.11992686e-04 9.99970516e-01 1.55106334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.52, Y:36.87, Z:1.55 [[ 8.41298371e-01 -5.40534023e-01 -6.32629617e-03 2.23522693e+02] [ 5.40516552e-01 8.41322121e-01 -4.35262303e-03 3.68663351e+01] [ 7.67519375e-03 2.42386866e-04 9.99970516e-01 1.55316612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.405898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:223.55, Y:36.88, Z:1.55 [[ 8.42413197e-01 -5.38794946e-01 -6.32546596e-03 2.23547051e+02] [ 5.38777418e-01 8.42436905e-01 -4.35382920e-03 3.68794316e+01] [ 7.67462714e-03 2.59704962e-04 9.99970516e-01 1.55313593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.57, Y:36.89, Z:1.55 [[ 8.43947495e-01 -5.36388502e-01 -6.32460122e-03 2.23571515e+02] [ 5.36370896e-01 8.43971146e-01 -4.35508501e-03 3.68917516e+01] [ 7.67379846e-03 2.83131061e-04 9.99970516e-01 1.55306144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.60, Y:36.91, Z:1.55 [[ 8.45280676e-01 -5.34285114e-01 -6.32422637e-03 2.23596653e+02] [ 5.34267445e-01 8.45304280e-01 -4.35562928e-03 3.69050609e+01] [ 7.67304350e-03 3.02900993e-04 9.99970516e-01 1.55280983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.62, Y:36.92, Z:1.55 [[ 8.46302727e-01 -5.32664725e-01 -6.32338131e-03 2.23621108e+02] [ 5.32647002e-01 8.46326290e-01 -4.35685577e-03 3.69182313e+01] [ 7.67238722e-03 3.19088819e-04 9.99970516e-01 1.55224328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.525898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:223.65, Y:36.93, Z:1.55 [[ 8.47948787e-01 -5.30040452e-01 -6.32253301e-03 2.23647473e+02] [ 5.30022647e-01 8.47972288e-01 -4.35808645e-03 3.69284257e+01] [ 7.67129489e-03 3.44348438e-04 9.99970516e-01 1.55016770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.67, Y:36.94, Z:1.55 [[ 8.48521417e-01 -5.29123270e-01 -6.32216526e-03 2.23671868e+02] [ 5.29105436e-01 8.48544896e-01 -4.35861986e-03 3.69398561e+01] [ 7.67088826e-03 3.53290300e-04 9.99970516e-01 1.55059022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.70, Y:36.95, Z:1.55 [[ 8.48648669e-01 -5.28919154e-01 -6.32180347e-03 2.23697193e+02] [ 5.28901310e-01 8.48672140e-01 -4.35914455e-03 3.69527628e+01] [ 7.67077353e-03 3.55772084e-04 9.99970516e-01 1.55055318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.72, Y:36.97, Z:1.55 [[ 8.48626829e-01 -5.28954205e-01 -6.32098429e-03 2.23722672e+02] [ 5.28936353e-01 8.48650294e-01 -4.36033209e-03 3.69650511e+01] [ 7.67072117e-03 3.56896417e-04 9.99970516e-01 1.55092005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.75, Y:36.98, Z:1.55 [[ 8.48586121e-01 -5.29019518e-01 -6.32015923e-03 2.23747448e+02] [ 5.29001659e-01 8.48609581e-01 -4.36152765e-03 3.69762995e+01] [ 7.67068093e-03 3.57757115e-04 9.99970516e-01 1.55092834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.77, Y:36.99, Z:1.55 [[ 8.48290928e-01 -5.29492740e-01 -6.31980143e-03 2.23773322e+02] [ 5.29474891e-01 8.48314395e-01 -4.36204604e-03 3.69885205e+01] [ 7.67085024e-03 3.54107909e-04 9.99970516e-01 1.55114072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.80, Y:37.00, Z:1.55 [[ 8.47866517e-01 -5.30172086e-01 -6.31898998e-03 2.23801350e+02] [ 5.30154246e-01 8.47889991e-01 -4.36322121e-03 3.69965305e+01] [ 7.67106645e-03 3.49389801e-04 9.99970516e-01 1.55038226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.83, Y:37.01, Z:1.55 [[ 8.47641433e-01 -5.30531885e-01 -6.31818001e-03 2.23826490e+02] [ 5.30514047e-01 8.47664909e-01 -4.36439377e-03 3.70089612e+01] [ 7.67114954e-03 3.47557748e-04 9.99970516e-01 1.55092697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.85, Y:37.02, Z:1.55 [[ 8.47470190e-01 -5.30805396e-01 -6.31737126e-03 2.23850853e+02] [ 5.30787556e-01 8.47493665e-01 -4.36556411e-03 3.70211973e+01] [ 7.67119711e-03 3.46503392e-04 9.99970516e-01 1.55201003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.88, Y:37.03, Z:1.55 [[ 8.47551045e-01 -5.30676292e-01 -6.31656688e-03 2.23876621e+02] [ 5.30658440e-01 8.47574511e-01 -4.36672766e-03 3.70338982e+01] [ 7.67107993e-03 3.49085061e-04 9.99970516e-01 1.55262506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.90, Y:37.05, Z:1.55 [[ 8.47803624e-01 -5.30272690e-01 -6.31576216e-03 2.23902097e+02] [ 5.30254818e-01 8.47827075e-01 -4.36789125e-03 3.70462979e+01] [ 7.67084760e-03 3.54150713e-04 9.99970516e-01 1.55204136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.93, Y:37.06, Z:1.55 [[ 8.48253451e-01 -5.29552835e-01 -6.31493764e-03 2.23927467e+02] [ 5.29534935e-01 8.48276879e-01 -4.36908299e-03 3.70585073e+01] [ 7.67047588e-03 3.62109634e-04 9.99970516e-01 1.55190406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.885898227 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:223.95, Y:37.07, Z:1.55 [[ 8.50019820e-01 -5.26712861e-01 -6.31408789e-03 2.23953052e+02] [ 5.26694874e-01 8.50043182e-01 -4.37031067e-03 3.70684014e+01] [ 7.66914620e-03 3.89252968e-04 9.99970516e-01 1.55285474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.98, Y:37.08, Z:1.55 [[ 8.51448827e-01 -5.24399688e-01 -6.31371945e-03 2.23976761e+02] [ 5.24381633e-01 8.51472136e-01 -4.37084289e-03 3.70811121e+01] [ 7.66802484e-03 4.10750533e-04 9.99970516e-01 1.55421233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.00, Y:37.10, Z:1.55 [[ 8.52782240e-01 -5.22228489e-01 -6.31314731e-03 2.24000620e+02] [ 5.22210369e-01 8.52805499e-01 -4.37166913e-03 3.70959916e+01] [ 7.66689690e-03 4.31290810e-04 9.99970516e-01 1.55454619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.02, Y:37.11, Z:1.55 [[ 8.54416705e-01 -5.19550045e-01 -6.31237350e-03 2.24024516e+02] [ 5.19531843e-01 8.54439900e-01 -4.37278617e-03 3.71112297e+01] [ 7.66542503e-03 4.56702511e-04 9.99970516e-01 1.55357410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.05, Y:37.13, Z:1.55 [[ 8.56190674e-01 -5.16621421e-01 -6.31159608e-03 2.24047290e+02] [ 5.16603132e-01 8.56213801e-01 -4.37390799e-03 3.71258932e+01] [ 7.66373023e-03 4.84308924e-04 9.99970516e-01 1.55307894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.07, Y:37.14, Z:1.55 [[ 8.57782507e-01 -5.13974064e-01 -6.31125841e-03 2.24070517e+02] [ 5.13955700e-01 8.57805574e-01 -4.37439517e-03 3.71420033e+01] [ 7.66215831e-03 5.08572429e-04 9.99970516e-01 1.55377057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.09, Y:37.16, Z:1.55 [[ 8.61212249e-01 -5.08206297e-01 -6.31046920e-03 2.24092854e+02] [ 5.08187770e-01 8.61235186e-01 -4.37553339e-03 3.71597257e+01] [ 7.65847173e-03 5.61359682e-04 9.99970516e-01 1.55275037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.11, Y:37.18, Z:1.55 [[ 8.62388650e-01 -5.06207473e-01 -6.30966817e-03 2.24114427e+02] [ 5.06188885e-01 8.62411536e-01 -4.37668818e-03 3.71772551e+01] [ 7.65704289e-03 5.80522318e-04 9.99970516e-01 1.55174035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.14, Y:37.19, Z:1.55 [[ 8.63143749e-01 -5.04918871e-01 -6.30885590e-03 2.24135309e+02] [ 5.04900241e-01 8.63166601e-01 -4.37785874e-03 3.71947673e+01] [ 7.65605720e-03 5.93378543e-04 9.99970516e-01 1.55022867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.16, Y:37.21, Z:1.55 [[ 8.63086286e-01 -5.05017094e-01 -6.30850275e-03 2.24155937e+02] [ 5.04998462e-01 8.63109137e-01 -4.37836757e-03 3.72120325e+01] [ 7.65607683e-03 5.93124824e-04 9.99970516e-01 1.54981559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.18, Y:37.23, Z:1.55 [[ 8.62343513e-01 -5.06284379e-01 -6.30815796e-03 2.24178137e+02] [ 5.06265778e-01 8.62366389e-01 -4.37886427e-03 3.72298658e+01] [ 7.65689398e-03 5.82480708e-04 9.99970516e-01 1.55187733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.20, Y:37.25, Z:1.55 [[ 8.61256174e-01 -5.08131893e-01 -6.30732577e-03 2.24199132e+02] [ 5.08113331e-01 8.61279082e-01 -4.38006263e-03 3.72461547e+01] [ 7.65801727e-03 5.67519667e-04 9.99970516e-01 1.55369292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.22, Y:37.26, Z:1.56 [[ 8.57856261e-01 -5.13851008e-01 -6.30696407e-03 2.24221135e+02] [ 5.13832595e-01 8.57879289e-01 -4.38058340e-03 3.72632916e+01] [ 7.66158104e-03 5.17187180e-04 9.99970516e-01 1.55805239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.275898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:224.24, Y:37.28, Z:1.56 [[ 8.55861964e-01 -5.17165864e-01 -6.30616186e-03 2.24243315e+02] [ 5.17147532e-01 8.55885057e-01 -4.38173792e-03 3.72797942e+01] [ 7.66343498e-03 4.88946781e-04 9.99970516e-01 1.55747998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.27, Y:37.29, Z:1.56 [[ 8.54455198e-01 -5.19486821e-01 -6.30534138e-03 2.24265884e+02] [ 5.19468544e-01 8.54478333e-01 -4.38291828e-03 3.72946900e+01] [ 7.66464588e-03 4.69580805e-04 9.99970516e-01 1.55692201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.29, Y:37.31, Z:1.56 [[ 8.53192695e-01 -5.21557739e-01 -6.30477972e-03 2.24288899e+02] [ 5.21539511e-01 8.53215870e-01 -4.38372607e-03 3.73103202e+01] [ 7.66570437e-03 4.51971330e-04 9.99970516e-01 1.55563809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.365898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:224.31, Y:37.33, Z:1.55 [[ 8.52227845e-01 -5.23132832e-01 -6.30397258e-03 2.24311663e+02] [ 5.23114639e-01 8.52251047e-01 -4.38488647e-03 3.73257629e+01] [ 7.66644531e-03 4.39222005e-04 9.99970516e-01 1.55478800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.34, Y:37.34, Z:1.55 [[ 8.51456368e-01 -5.24387570e-01 -6.30316490e-03 2.24335296e+02] [ 5.24369403e-01 8.51479590e-01 -4.38604718e-03 3.73406090e+01] [ 7.66700489e-03 4.29340984e-04 9.99970516e-01 1.55479344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.36, Y:37.35, Z:1.55 [[ 8.50367937e-01 -5.26150788e-01 -6.30235733e-03 2.24359031e+02] [ 5.26132660e-01 8.50391190e-01 -4.38720728e-03 3.73539877e+01] [ 7.66780172e-03 4.14864370e-04 9.99970516e-01 1.55274103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.38, Y:37.37, Z:1.55 [[ 8.50049502e-01 -5.26665101e-01 -6.30200654e-03 2.24382743e+02] [ 5.26646983e-01 8.50072763e-01 -4.38771112e-03 3.73687429e+01] [ 7.66801843e-03 4.10838922e-04 9.99970516e-01 1.55300874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.41, Y:37.38, Z:1.55 [[ 8.49874264e-01 -5.26947844e-01 -6.30120021e-03 2.24406628e+02] [ 5.26929726e-01 8.49897524e-01 -4.38886878e-03 3.73835432e+01] [ 7.66807940e-03 4.09696924e-04 9.99970516e-01 1.55399324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.43, Y:37.40, Z:1.56 [[ 8.50110920e-01 -5.26565978e-01 -6.30039508e-03 2.24430665e+02] [ 5.26547841e-01 8.50134165e-01 -4.39002427e-03 3.73978414e+01] [ 7.66781854e-03 4.14548142e-04 9.99970516e-01 1.55540626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.45, Y:37.41, Z:1.56 [[ 8.50316823e-01 -5.26233423e-01 -6.29959115e-03 2.24454732e+02] [ 5.26215269e-01 8.50340055e-01 -4.39117759e-03 3.74123029e+01] [ 7.66757910e-03 4.18951132e-04 9.99970516e-01 1.55681178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.575898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:224.48, Y:37.43, Z:1.56 [[ 8.50698527e-01 -5.25616154e-01 -6.29873363e-03 2.24477737e+02] [ 5.25597974e-01 8.50721739e-01 -4.39240728e-03 3.74256495e+01] [ 7.66718985e-03 4.26012768e-04 9.99970516e-01 1.55811474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.605898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:224.50, Y:37.44, Z:1.56 [[ 8.51698115e-01 -5.23994899e-01 -6.29815047e-03 2.24503187e+02] [ 5.23976668e-01 8.51721287e-01 -4.39324330e-03 3.74365012e+01] [ 7.66630590e-03 4.41633141e-04 9.99970516e-01 1.55960654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.635898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:224.53, Y:37.45, Z:1.56 [[ 8.51827136e-01 -5.23785135e-01 -6.29778090e-03 2.24527981e+02] [ 5.23766894e-01 8.51850301e-01 -4.39377301e-03 3.74501166e+01] [ 7.66615955e-03 4.44165935e-04 9.99970516e-01 1.55833396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:224.55, Y:37.46, Z:1.56 [[ 8.51660272e-01 -5.24056417e-01 -6.29696991e-03 2.24552765e+02] [ 5.24038176e-01 8.51683436e-01 -4.39493499e-03 3.74636981e+01] [ 7.66621885e-03 4.43138912e-04 9.99970516e-01 1.55646713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.695898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:224.58, Y:37.48, Z:1.56 [[ 8.51564185e-01 -5.24212549e-01 -6.29616225e-03 2.24578050e+02] [ 5.24194303e-01 8.51587345e-01 -4.39609173e-03 3.74765482e+01] [ 7.66621855e-03 4.43141891e-04 9.99970516e-01 1.55525035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.60, Y:37.49, Z:1.56 [[ 8.51407266e-01 -5.24467384e-01 -6.29532040e-03 2.24603191e+02] [ 5.24449136e-01 8.51430424e-01 -4.39729695e-03 3.74891904e+01] [ 7.66626615e-03 4.42315228e-04 9.99970516e-01 1.55578885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.63, Y:37.50, Z:1.56 [[ 8.51244696e-01 -5.24731213e-01 -6.29448444e-03 2.24628351e+02] [ 5.24712964e-01 8.51267854e-01 -4.39849326e-03 3.75012100e+01] [ 7.66631896e-03 4.41396473e-04 9.99970516e-01 1.55778212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.66, Y:37.51, Z:1.56 [[ 8.51406648e-01 -5.24468407e-01 -6.29363967e-03 2.24656774e+02] [ 5.24450141e-01 8.51429793e-01 -4.39970167e-03 3.75090919e+01] [ 7.66609685e-03 4.45235040e-04 9.99970516e-01 1.56233034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.815898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.68, Y:37.52, Z:1.56 [[ 8.51638487e-01 -5.24091864e-01 -6.29324411e-03 2.24681338e+02] [ 5.24073584e-01 8.51661621e-01 -4.40026740e-03 3.75219633e+01] [ 7.66585882e-03 4.49314072e-04 9.99970516e-01 1.56124791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.845898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:224.71, Y:37.53, Z:1.56 [[ 8.52550745e-01 -5.22606576e-01 -6.29240329e-03 2.24706840e+02] [ 5.22588247e-01 8.52573839e-01 -4.40146946e-03 3.75340415e+01] [ 7.66497531e-03 4.64140057e-04 9.99970516e-01 1.56079878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.875898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:224.73, Y:37.55, Z:1.56 [[ 8.52455652e-01 -5.22761676e-01 -6.29214163e-03 2.24730075e+02] [ 5.22743348e-01 8.52478748e-01 -4.40184348e-03 3.75505179e+01] [ 7.66503209e-03 4.63201175e-04 9.99970516e-01 1.56101751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.905898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:224.76, Y:37.56, Z:1.56 [[ 8.54544608e-01 -5.19339900e-01 -6.29134056e-03 2.24756202e+02] [ 5.19321471e-01 8.54567623e-01 -4.40298811e-03 3.75608935e+01] [ 7.66302336e-03 4.95321508e-04 9.99970516e-01 1.55715024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.935898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:224.78, Y:37.57, Z:1.56 [[ 8.55638374e-01 -5.17535889e-01 -6.29101197e-03 2.24780911e+02] [ 5.17517409e-01 8.55661347e-01 -4.40345755e-03 3.75748510e+01] [ 7.66192310e-03 5.12059040e-04 9.99970516e-01 1.55714925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.81, Y:37.59, Z:1.56 [[ 8.56678791e-01 -5.15811868e-01 -6.29021283e-03 2.24805466e+02] [ 5.15793333e-01 8.56701720e-01 -4.40459881e-03 3.75888661e+01] [ 7.66078049e-03 5.28876545e-04 9.99970516e-01 1.55776081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.995898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:224.83, Y:37.60, Z:1.56 [[ 8.57860431e-01 -5.13844261e-01 -6.28940068e-03 2.24829023e+02] [ 5.13825665e-01 8.57883311e-01 -4.40575819e-03 3.76023896e+01] [ 7.65944544e-03 5.47870130e-04 9.99970516e-01 1.55773715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.025898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:224.85, Y:37.62, Z:1.56 [[ 8.58911778e-01 -5.12084959e-01 -6.28904726e-03 2.24852910e+02] [ 5.12066313e-01 8.58934617e-01 -4.40626262e-03 3.76166502e+01] [ 7.65826121e-03 5.64181619e-04 9.99970516e-01 1.55596531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.055898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.88, Y:37.63, Z:1.55 [[ 8.59887557e-01 -5.10444755e-01 -6.28824022e-03 2.24876057e+02] [ 5.10426057e-01 8.59910353e-01 -4.40741405e-03 3.76315662e+01] [ 7.65706426e-03 5.80198835e-04 9.99970516e-01 1.55353184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.085898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:224.90, Y:37.65, Z:1.55 [[ 8.61740592e-01 -5.07310182e-01 -6.28739929e-03 2.24900250e+02] [ 5.07291392e-01 8.61763313e-01 -4.40861336e-03 3.76452983e+01] [ 7.65478449e-03 6.09537555e-04 9.99970516e-01 1.54966648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.92, Y:37.66, Z:1.55 [[ 8.62247411e-01 -5.06448293e-01 -6.28713871e-03 2.24923901e+02] [ 5.06429478e-01 8.62270111e-01 -4.40898494e-03 3.76607906e+01] [ 7.65413469e-03 6.17643474e-04 9.99970516e-01 1.55106910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.95, Y:37.68, Z:1.55 [[ 8.63174128e-01 -5.04867217e-01 -6.28630834e-03 2.24947103e+02] [ 5.04848351e-01 8.63196787e-01 -4.41016856e-03 3.76761321e+01] [ 7.65287069e-03 6.33111001e-04 9.99970516e-01 1.55263394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.97, Y:37.69, Z:1.55 [[ 8.64448120e-01 -5.02682743e-01 -6.28546778e-03 2.24969332e+02] [ 5.02663812e-01 8.64470724e-01 -4.41136622e-03 3.76921729e+01] [ 7.65112055e-03 6.53920037e-04 9.99970516e-01 1.55286091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.205898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:224.99, Y:37.71, Z:1.55 [[ 8.65902197e-01 -5.00173856e-01 -6.28489365e-03 2.24991946e+02] [ 5.00154853e-01 8.65924740e-01 -4.41218403e-03 3.77090758e+01] [ 7.64910400e-03 6.77099781e-04 9.99970516e-01 1.55241465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.235898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:225.01, Y:37.73, Z:1.55 [[ 8.67328274e-01 -4.97696871e-01 -6.28409431e-03 2.25014193e+02] [ 4.97677795e-01 8.67350756e-01 -4.41332221e-03 3.77254350e+01] [ 7.64701060e-03 7.00344935e-04 9.99970516e-01 1.55197512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.04, Y:37.74, Z:1.55 [[ 8.69371139e-01 -4.94119766e-01 -6.28329488e-03 2.25037104e+02] [ 4.94100590e-01 8.69393535e-01 -4.41446006e-03 3.77422166e+01] [ 7.64392793e-03 7.33224463e-04 9.99970516e-01 1.55266736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.295898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.06, Y:37.76, Z:1.55 [[ 8.69608384e-01 -4.93702125e-01 -6.28249776e-03 2.25059692e+02] [ 4.93682931e-01 8.69630764e-01 -4.41559421e-03 3.77590576e+01] [ 7.64344158e-03 7.38275840e-04 9.99970516e-01 1.55358275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.08, Y:37.78, Z:1.55 [[ 8.69566307e-01 -4.93776243e-01 -6.28168345e-03 2.25081148e+02] [ 4.93757042e-01 8.69588682e-01 -4.41675235e-03 3.77751330e+01] [ 7.64336822e-03 7.39033596e-04 9.99970516e-01 1.55429077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:37.79, Z:1.55 [[ 8.69323716e-01 -4.94203220e-01 -6.28132998e-03 2.25103864e+02] [ 4.94184026e-01 8.69346097e-01 -4.41725498e-03 3.77921764e+01] [ 7.64367134e-03 7.35891571e-04 9.99970516e-01 1.55499319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.13, Y:37.81, Z:1.56 [[ 8.69132249e-01 -4.94539876e-01 -6.28052751e-03 2.25125812e+02] [ 4.94520683e-01 8.69154630e-01 -4.41839566e-03 3.78084156e+01] [ 7.64382241e-03 7.34319395e-04 9.99970516e-01 1.55549621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41589822699999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:225.15, Y:37.83, Z:1.56 [[ 8.68879404e-01 -4.94983981e-01 -6.28017927e-03 2.25148526e+02] [ 4.94964796e-01 8.68901792e-01 -4.41889058e-03 3.78254801e+01] [ 7.64413907e-03 7.31015360e-04 9.99970516e-01 1.55595930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.17, Y:37.84, Z:1.56 [[ 8.68798887e-01 -4.95125301e-01 -6.27939129e-03 2.25169496e+02] [ 4.95106112e-01 8.68821271e-01 -4.42001005e-03 3.78434620e+01] [ 7.64412753e-03 7.31134799e-04 9.99970516e-01 1.55754836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.475898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:225.19, Y:37.86, Z:1.56 [[ 8.69069115e-01 -4.94650840e-01 -6.27860066e-03 2.25190545e+02] [ 4.94631630e-01 8.69091482e-01 -4.42113284e-03 3.78601898e+01] [ 7.64359543e-03 7.36675527e-04 9.99970516e-01 1.55798309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.21, Y:37.88, Z:1.56 [[ 8.69385786e-01 -4.94094058e-01 -6.27825588e-03 2.25212965e+02] [ 4.94074831e-01 8.69408138e-01 -4.42162240e-03 3.78776318e+01] [ 7.64306411e-03 7.42167453e-04 9.99970516e-01 1.55832559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.535898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:225.23, Y:37.89, Z:1.56 [[ 8.69397698e-01 -4.94073108e-01 -6.27749662e-03 2.25234919e+02] [ 4.94053873e-01 8.69420043e-01 -4.42270008e-03 3.78949446e+01] [ 7.64291855e-03 7.43663749e-04 9.99970516e-01 1.55768279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.565898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.26, Y:37.91, Z:1.56 [[ 8.69175754e-01 -4.94463459e-01 -6.27669951e-03 2.25256978e+02] [ 4.94444225e-01 8.69198101e-01 -4.42383105e-03 3.79125280e+01] [ 7.64311809e-03 7.41608863e-04 9.99970516e-01 1.55675451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.595898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:225.28, Y:37.93, Z:1.56 [[ 8.68516527e-01 -4.95620475e-01 -6.27588066e-03 2.25277469e+02] [ 4.95601263e-01 8.68538892e-01 -4.42499240e-03 3.79305251e+01] [ 7.64396328e-03 7.32844648e-04 9.99970516e-01 1.55588850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.625898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:225.30, Y:37.95, Z:1.56 [[ 8.66748906e-01 -4.98705279e-01 -6.27532176e-03 2.25297991e+02] [ 4.98686140e-01 8.66771334e-01 -4.42578488e-03 3.79501036e+01] [ 7.64643129e-03 7.06628213e-04 9.99970516e-01 1.55795431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.655898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:225.32, Y:37.97, Z:1.56 [[ 8.65624261e-01 -5.00654840e-01 -6.27452121e-03 2.25320542e+02] [ 5.00635745e-01 8.65646726e-01 -4.42691954e-03 3.79674723e+01] [ 7.64787743e-03 6.90799358e-04 9.99970516e-01 1.55991918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.685898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:225.34, Y:37.98, Z:1.56 [[ 8.64442106e-01 -5.02693233e-01 -6.27371711e-03 2.25342933e+02] [ 5.02674182e-01 8.64464609e-01 -4.42805880e-03 3.79848583e+01] [ 7.64936159e-03 6.74164858e-04 9.99970516e-01 1.55995665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.36, Y:38.00, Z:1.56 [[ 8.63183872e-01 -5.04850725e-01 -6.27291753e-03 2.25364499e+02] [ 5.04831722e-01 8.63206415e-01 -4.42919121e-03 3.80024057e+01] [ 7.65090304e-03 6.56438665e-04 9.99970516e-01 1.55959050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.39, Y:38.02, Z:1.56 [[ 8.62444471e-01 -5.06112829e-01 -6.27211818e-03 2.25385241e+02] [ 5.06093851e-01 8.62467035e-01 -4.43032287e-03 3.80194297e+01] [ 7.65173841e-03 6.46627021e-04 9.99970516e-01 1.55935113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:38.04, Z:1.56 [[ 8.61787097e-01 -5.07231372e-01 -6.27176942e-03 2.25405830e+02] [ 5.07212420e-01 8.61809683e-01 -4.43081654e-03 3.80386436e+01] [ 7.65252076e-03 6.37301185e-04 9.99970516e-01 1.55816963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.805898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:225.43, Y:38.06, Z:1.56 [[ 8.61653800e-01 -5.07457787e-01 -6.27093329e-03 2.25426780e+02] [ 5.07438832e-01 8.61676383e-01 -4.43199959e-03 3.80552078e+01] [ 7.65256782e-03 6.36734221e-04 9.99970516e-01 1.55680294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:38.07, Z:1.56 [[ 8.61532319e-01 -5.07664007e-01 -6.27056982e-03 2.25448143e+02] [ 5.07645054e-01 8.61554904e-01 -4.43251379e-03 3.80716977e+01] [ 7.65266789e-03 6.35530135e-04 9.99970516e-01 1.55573613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.865898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:225.47, Y:38.09, Z:1.56 [[ 8.61122479e-01 -5.08358890e-01 -6.27021998e-03 2.25470325e+02] [ 5.08339952e-01 8.61145076e-01 -4.43300862e-03 3.80890704e+01] [ 7.65312840e-03 6.29960050e-04 9.99970516e-01 1.55537574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:38.11, Z:1.56 [[ 8.60379491e-01 -5.09615371e-01 -6.26941139e-03 2.25492152e+02] [ 5.09596457e-01 8.60402109e-01 -4.43415187e-03 3.81065888e+01] [ 7.65392673e-03 6.20183492e-04 9.99970516e-01 1.55590652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.51, Y:38.12, Z:1.56 [[ 8.59579289e-01 -5.10963942e-01 -6.26862582e-03 2.25513300e+02] [ 5.10945056e-01 8.59601930e-01 -4.43526217e-03 3.81227788e+01] [ 7.65478190e-03 6.09536130e-04 9.99970516e-01 1.55624916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.955898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:225.54, Y:38.14, Z:1.56 [[ 8.57634943e-01 -5.14220783e-01 -6.26825965e-03 2.25537279e+02] [ 5.14201979e-01 8.57657653e-01 -4.43577960e-03 3.81393174e+01] [ 7.65699092e-03 5.81128068e-04 9.99970516e-01 1.55963255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.985898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.56, Y:38.15, Z:1.56 [[ 8.56264888e-01 -5.16498945e-01 -6.26754804e-03 2.25560896e+02] [ 5.16480194e-01 8.56287641e-01 -4.43678485e-03 3.81542660e+01] [ 7.65841862e-03 5.61998659e-04 9.99970516e-01 1.56298797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.58, Y:38.17, Z:1.56 [[ 8.54993531e-01 -5.18600800e-01 -6.26673684e-03 2.25584257e+02] [ 5.18582097e-01 8.55016324e-01 -4.43793034e-03 3.81693702e+01] [ 7.65967652e-03 5.44584208e-04 9.99970516e-01 1.56414289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.61, Y:38.18, Z:1.56 [[ 8.53941458e-01 -5.20331362e-01 -6.26586286e-03 2.25606572e+02] [ 5.20312696e-01 8.53964281e-01 -4.43916396e-03 3.81840392e+01] [ 7.66065929e-03 5.30578144e-04 9.99970516e-01 1.56444204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.075898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:225.63, Y:38.20, Z:1.56 [[ 8.53483071e-01 -5.21082902e-01 -6.26548280e-03 2.25629368e+02] [ 5.21064253e-01 8.53505907e-01 -4.43970030e-03 3.81994692e+01] [ 7.66107851e-03 5.24489936e-04 9.99970516e-01 1.56241205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.105898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.65, Y:38.21, Z:1.56 [[ 8.53592497e-01 -5.20903641e-01 -6.26466445e-03 2.25652759e+02] [ 5.20884978e-01 8.53615323e-01 -4.44085475e-03 3.82135081e+01] [ 7.66087097e-03 5.27510694e-04 9.99970516e-01 1.56180477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.135898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:225.68, Y:38.23, Z:1.56 [[ 8.54515967e-01 -5.19387351e-01 -6.26430781e-03 2.25676477e+02] [ 5.19368644e-01 8.54538756e-01 -4.44135777e-03 3.82269122e+01] [ 7.65987885e-03 5.41726084e-04 9.99970516e-01 1.56132223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16589822699999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:225.70, Y:38.24, Z:1.56 [[ 8.54984308e-01 -5.18616042e-01 -6.26376999e-03 2.25699779e+02] [ 5.18597308e-01 8.55007076e-01 -4.44211614e-03 3.82426585e+01] [ 7.65932035e-03 5.49565335e-04 9.99970516e-01 1.56157192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.72, Y:38.26, Z:1.56 [[ 8.55442306e-01 -5.17860248e-01 -6.26291806e-03 2.25722775e+02] [ 5.17841486e-01 8.55465051e-01 -4.44331695e-03 3.82565264e+01] [ 7.65872473e-03 5.57802503e-04 9.99970516e-01 1.56213204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.225898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:225.75, Y:38.27, Z:1.56 [[ 8.55810107e-01 -5.17252202e-01 -6.26254823e-03 2.25746369e+02] [ 5.17233420e-01 8.55832835e-01 -4.44383813e-03 3.82712559e+01] [ 7.65827947e-03 5.63882347e-04 9.99970516e-01 1.56127002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.77, Y:38.28, Z:1.56 [[ 8.55978004e-01 -5.16974320e-01 -6.26170098e-03 2.25770314e+02] [ 5.16955522e-01 8.56000719e-01 -4.44503166e-03 3.82841865e+01] [ 7.65798776e-03 5.67828434e-04 9.99970516e-01 1.56177034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.285898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.80, Y:38.30, Z:1.56 [[ 8.55662253e-01 -5.17496768e-01 -6.26133237e-03 2.25796156e+02] [ 5.17477980e-01 8.55684975e-01 -4.44555083e-03 3.82954126e+01] [ 7.65828622e-03 5.63788406e-04 9.99970516e-01 1.56119494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.82, Y:38.31, Z:1.56 [[ 8.55365440e-01 -5.17987229e-01 -6.26051782e-03 2.25820510e+02] [ 5.17968446e-01 8.55388167e-01 -4.44669763e-03 3.83095473e+01] [ 7.65850545e-03 5.60800790e-04 9.99970516e-01 1.55996639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.345898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.84, Y:38.32, Z:1.56 [[ 8.55565268e-01 -5.17657114e-01 -6.25969805e-03 2.25843823e+02] [ 5.17638314e-01 8.55587981e-01 -4.44785134e-03 3.83231479e+01] [ 7.65818430e-03 5.65167589e-04 9.99970516e-01 1.55775114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.87, Y:38.34, Z:1.56 [[ 8.56042898e-01 -5.16866885e-01 -6.25934197e-03 2.25867952e+02] [ 5.16848060e-01 8.56065590e-01 -4.44835238e-03 3.83378700e+01] [ 7.65761332e-03 5.72851709e-04 9.99970516e-01 1.55713807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.89, Y:38.35, Z:1.56 [[ 8.56892328e-01 -5.15457436e-01 -6.25851932e-03 2.25891815e+02] [ 5.15438566e-01 8.56914982e-01 -4.44950950e-03 3.83529443e+01] [ 7.65655173e-03 5.86868331e-04 9.99970516e-01 1.55714470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.92, Y:38.37, Z:1.56 [[ 8.58021754e-01 -5.13575225e-01 -6.25769612e-03 2.25915392e+02] [ 5.13556296e-01 8.58044359e-01 -4.45066692e-03 3.83685366e+01] [ 7.65513312e-03 6.05089793e-04 9.99970516e-01 1.55846883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.94, Y:38.39, Z:1.56 [[ 8.60867700e-01 -5.08790383e-01 -6.25687013e-03 2.25939250e+02] [ 5.08771321e-01 8.60890193e-01 -4.45182783e-03 3.83850674e+01] [ 7.65152532e-03 6.49118708e-04 9.99970516e-01 1.56197654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.96, Y:38.40, Z:1.56 [[ 8.62322469e-01 -5.06320866e-01 -6.25611900e-03 2.25961192e+02] [ 5.06301732e-01 8.62344901e-01 -4.45288312e-03 3.84009669e+01] [ 7.64951996e-03 6.72337287e-04 9.99970516e-01 1.56289052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.98, Y:38.42, Z:1.56 [[ 8.63762941e-01 -5.03859552e-01 -6.25574601e-03 2.25983823e+02] [ 5.03840350e-01 8.63785314e-01 -4.45340708e-03 3.84176533e+01] [ 7.64751322e-03 6.94790739e-04 9.99970516e-01 1.56390647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.555898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.01, Y:38.43, Z:1.56 [[ 8.65096792e-01 -5.01565963e-01 -6.25493989e-03 2.26005606e+02] [ 5.01546694e-01 8.65119108e-01 -4.45453900e-03 3.84345560e+01] [ 7.64551316e-03 7.16462974e-04 9.99970516e-01 1.56420989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.03, Y:38.45, Z:1.56 [[ 8.66053076e-01 -4.99912947e-01 -6.25413692e-03 2.26027191e+02] [ 4.99893627e-01 8.66075348e-01 -4.45566608e-03 3.84517624e+01] [ 7.64399897e-03 7.32440128e-04 9.99970516e-01 1.56354270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.05, Y:38.47, Z:1.56 [[ 8.66829202e-01 -4.98565974e-01 -6.25331752e-03 2.26049571e+02] [ 4.98546611e-01 8.66851437e-01 -4.45681577e-03 3.84693913e+01] [ 7.64271397e-03 7.45727801e-04 9.99970516e-01 1.56258701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.07, Y:38.49, Z:1.56 [[ 8.67584753e-01 -4.97250040e-01 -6.25248115e-03 2.26069853e+02] [ 4.97230635e-01 8.67606951e-01 -4.45798880e-03 3.84866924e+01] [ 7.64143122e-03 7.58757941e-04 9.99970516e-01 1.56168785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.09, Y:38.50, Z:1.56 [[ 8.67306083e-01 -4.97735943e-01 -6.25211770e-03 2.26092228e+02] [ 4.97716547e-01 8.67328289e-01 -4.45849848e-03 3.85040580e+01] [ 7.64179349e-03 7.55100416e-04 9.99970516e-01 1.56285751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.705898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:226.11, Y:38.52, Z:1.56 [[ 8.66641087e-01 -4.98892923e-01 -6.25129515e-03 2.26112967e+02] [ 4.98873548e-01 8.66663311e-01 -4.45965147e-03 3.85213787e+01] [ 7.64265671e-03 7.46311405e-04 9.99970516e-01 1.56357675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.14, Y:38.54, Z:1.57 [[ 8.65808958e-01 -5.00335661e-01 -6.25093773e-03 2.26135484e+02] [ 5.00316319e-01 8.65831212e-01 -4.46015241e-03 3.85382100e+01] [ 7.64383029e-03 7.34193754e-04 9.99970516e-01 1.56734167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.16, Y:38.55, Z:1.57 [[ 8.64956724e-01 -5.01807535e-01 -6.25011488e-03 2.26156764e+02] [ 5.01788223e-01 8.64979003e-01 -4.46130519e-03 3.85547663e+01] [ 7.64493470e-03 7.22601877e-04 9.99970516e-01 1.56895138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.18, Y:38.57, Z:1.57 [[ 8.64345931e-01 -5.02858880e-01 -6.24975616e-03 2.26177892e+02] [ 5.02839591e-01 8.64368230e-01 -4.46180765e-03 3.85708789e+01] [ 7.64575027e-03 7.13920452e-04 9.99970516e-01 1.56810418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.20, Y:38.59, Z:1.57 [[ 8.64258558e-01 -5.03009035e-01 -6.24940859e-03 2.26200971e+02] [ 5.02989747e-01 8.64280858e-01 -4.46229442e-03 3.85875768e+01] [ 7.64581863e-03 7.13187690e-04 9.99970516e-01 1.56832291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.22, Y:38.61, Z:1.56 [[ 8.63684117e-01 -5.03994743e-01 -6.24863317e-03 2.26223034e+02] [ 5.03975473e-01 8.63706432e-01 -4.46338000e-03 3.86054732e+01] [ 7.64650471e-03 7.05792555e-04 9.99970516e-01 1.56352258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.24, Y:38.62, Z:1.56 [[ 8.63514388e-01 -5.04285500e-01 -6.24782372e-03 2.26244952e+02] [ 5.04266230e-01 8.63536703e-01 -4.46451277e-03 3.86228281e+01] [ 7.64661415e-03 7.04604499e-04 9.99970516e-01 1.56203194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.27, Y:38.64, Z:1.56 [[ 8.63312345e-01 -5.04631322e-01 -6.24700887e-03 2.26266890e+02] [ 5.04612052e-01 8.63334660e-01 -4.46565266e-03 3.86399018e+01] [ 7.64676749e-03 7.02937103e-04 9.99970516e-01 1.56300376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.29, Y:38.66, Z:1.56 [[ 8.63090534e-01 -5.05010602e-01 -6.24675559e-03 2.26289381e+02] [ 5.04991339e-01 8.63112856e-01 -4.46600693e-03 3.86573079e+01] [ 7.64703591e-03 7.00010840e-04 9.99970516e-01 1.56487403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.31, Y:38.67, Z:1.57 [[ 8.62876292e-01 -5.05376586e-01 -6.24595124e-03 2.26310740e+02] [ 5.05357324e-01 8.62898615e-01 -4.46713158e-03 3.86733548e+01] [ 7.64720638e-03 6.98144720e-04 9.99970516e-01 1.56721510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.33, Y:38.69, Z:1.57 [[ 8.62454460e-01 -5.06096135e-01 -6.24560148e-03 2.26333187e+02] [ 5.06076889e-01 8.62476796e-01 -4.46762054e-03 3.86895162e+01] [ 7.64773184e-03 6.92364693e-04 9.99970516e-01 1.56866817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.35, Y:38.71, Z:1.57 [[ 8.61002430e-01 -5.08562502e-01 -6.24479935e-03 2.26354190e+02] [ 5.08543312e-01 8.61024814e-01 -4.46874147e-03 3.87057550e+01] [ 7.64956154e-03 6.71846319e-04 9.99970516e-01 1.56774611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.38, Y:38.72, Z:1.57 [[ 8.60445578e-01 -5.09504086e-01 -6.24445044e-03 2.26376750e+02] [ 5.09484917e-01 8.60467981e-01 -4.46922897e-03 3.87229420e+01] [ 7.65024008e-03 6.64074990e-04 9.99970516e-01 1.56591696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.40, Y:38.74, Z:1.56 [[ 8.60074640e-01 -5.10130014e-01 -6.24365668e-03 2.26399260e+02] [ 5.10110853e-01 8.60097049e-01 -4.47033759e-03 3.87399306e+01] [ 7.65060407e-03 6.59866960e-04 9.99970516e-01 1.56378501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.42, Y:38.76, Z:1.56 [[ 8.59992902e-01 -5.10267807e-01 -6.24286138e-03 2.26421873e+02] [ 5.10248642e-01 8.60015308e-01 -4.47144796e-03 3.87566636e+01] [ 7.65059230e-03 6.60001971e-04 9.99970516e-01 1.56288558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.44, Y:38.77, Z:1.56 [[ 8.60024548e-01 -5.10214477e-01 -6.24207222e-03 2.26444761e+02] [ 5.10195303e-01 8.60046946e-01 -4.47254935e-03 3.87739214e+01] [ 7.65043458e-03 6.61826312e-04 9.99970516e-01 1.56399411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.47, Y:38.79, Z:1.57 [[ 8.60234957e-01 -5.09859652e-01 -6.24138267e-03 2.26466506e+02] [ 5.09840461e-01 8.60257340e-01 -4.47351140e-03 3.87905851e+01] [ 7.65005822e-03 6.66161461e-04 9.99970516e-01 1.56624516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.49, Y:38.81, Z:1.57 [[ 8.60282281e-01 -5.09779801e-01 -6.24113732e-03 2.26487437e+02] [ 5.09760606e-01 8.60304661e-01 -4.47385367e-03 3.88089355e+01] [ 7.64995976e-03 6.67291098e-04 9.99970516e-01 1.57001634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.51, Y:38.83, Z:1.57 [[ 8.60306092e-01 -5.09739627e-01 -6.24030595e-03 2.26508712e+02] [ 5.09720423e-01 8.60328463e-01 -4.47501300e-03 3.88260107e+01] [ 7.64980428e-03 6.69069555e-04 9.99970516e-01 1.57056237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.53, Y:38.84, Z:1.57 [[ 8.60215918e-01 -5.09891789e-01 -6.23994435e-03 2.26530916e+02] [ 5.09872585e-01 8.60238291e-01 -4.47551716e-03 3.88434386e+01] [ 7.64986851e-03 6.68334546e-04 9.99970516e-01 1.56940833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.55, Y:38.86, Z:1.57 [[ 8.60113564e-01 -5.10064438e-01 -6.23912418e-03 2.26552523e+02] [ 5.10045230e-01 8.60135933e-01 -4.47666022e-03 3.88600843e+01] [ 7.64988008e-03 6.68200650e-04 9.99970516e-01 1.56698892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.335898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:226.57, Y:38.88, Z:1.56 [[ 8.59868279e-01 -5.10477835e-01 -6.23876767e-03 2.26574676e+02] [ 5.10458635e-01 8.59890654e-01 -4.47715701e-03 3.88780256e+01] [ 7.65014743e-03 6.65132466e-04 9.99970516e-01 1.56472545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.60, Y:38.89, Z:1.56 [[ 8.59616962e-01 -5.10900936e-01 -6.23794961e-03 2.26596646e+02] [ 5.10881738e-01 8.59639340e-01 -4.47829651e-03 3.88945299e+01] [ 7.65035276e-03 6.62765102e-04 9.99970516e-01 1.56286904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.62, Y:38.91, Z:1.56 [[ 8.58992341e-01 -5.11950438e-01 -6.23759390e-03 2.26618680e+02] [ 5.11931264e-01 8.59014739e-01 -4.47879191e-03 3.89127198e+01] [ 7.65110457e-03 6.54028614e-04 9.99970516e-01 1.56433460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.64, Y:38.93, Z:1.57 [[ 8.58719782e-01 -5.12407492e-01 -6.23691001e-03 2.26640710e+02] [ 5.12388323e-01 8.58742184e-01 -4.47974405e-03 3.89298784e+01] [ 7.65135213e-03 6.51124972e-04 9.99970516e-01 1.56649927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.66, Y:38.95, Z:1.57 [[ 8.58276803e-01 -5.13149135e-01 -6.23654167e-03 2.26662812e+02] [ 5.13129982e-01 8.58299219e-01 -4.48025678e-03 3.89475977e+01] [ 7.65185873e-03 6.45143954e-04 9.99970516e-01 1.56915440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.68, Y:38.96, Z:1.57 [[ 8.57872237e-01 -5.13825204e-01 -6.23574188e-03 2.26683442e+02] [ 5.13806061e-01 8.57894661e-01 -4.48136967e-03 3.89643323e+01] [ 7.65225035e-03 6.40480650e-04 9.99970516e-01 1.57093476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.71, Y:38.98, Z:1.57 [[ 8.57270654e-01 -5.14828271e-01 -6.23519630e-03 2.26705032e+02] [ 5.14809148e-01 8.57293096e-01 -4.48212864e-03 3.89818349e+01] [ 7.65291728e-03 6.32461252e-04 9.99970516e-01 1.57159729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.73, Y:39.00, Z:1.57 [[ 8.55437527e-01 -5.17868487e-01 -6.23439798e-03 2.26725169e+02] [ 5.17849436e-01 8.55460029e-01 -4.48323879e-03 3.89999635e+01] [ 7.65500637e-03 6.06651224e-04 9.99970516e-01 1.57042695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.75, Y:39.02, Z:1.57 [[ 8.54075480e-01 -5.20111730e-01 -6.23405081e-03 2.26746131e+02] [ 5.20092734e-01 8.54098029e-01 -4.48372149e-03 3.90168693e+01] [ 7.65652665e-03 5.87152049e-04 9.99970516e-01 1.57023159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.605898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:226.77, Y:39.04, Z:1.57 [[ 8.52297622e-01 -5.23019987e-01 -6.23351725e-03 2.26768003e+02] [ 5.23001063e-01 8.52320232e-01 -4.48446315e-03 3.90350829e+01] [ 7.65841672e-03 5.61961131e-04 9.99970516e-01 1.57114168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.635898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:226.79, Y:39.05, Z:1.57 [[ 8.50453880e-01 -5.26012692e-01 -6.23267856e-03 2.26789482e+02] [ 5.25993839e-01 8.50476549e-01 -4.48562848e-03 3.90514834e+01] [ 7.66024447e-03 5.36469624e-04 9.99970516e-01 1.57342064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.81, Y:39.07, Z:1.58 [[ 8.48136470e-01 -5.29741150e-01 -6.23231253e-03 2.26811061e+02] [ 5.29722393e-01 8.48159219e-01 -4.48613699e-03 3.90668846e+01] [ 7.66248469e-03 5.03460887e-04 9.99970516e-01 1.57731630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:39.08, Z:1.58 [[ 8.45397926e-01 -5.34100654e-01 -6.23195096e-03 2.26833807e+02] [ 5.34082011e-01 8.45420768e-01 -4.48663921e-03 3.90835529e+01] [ 7.66493771e-03 4.64622584e-04 9.99970516e-01 1.57900245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.86, Y:39.10, Z:1.58 [[ 8.39575451e-01 -5.43207358e-01 -6.23117569e-03 2.26856256e+02] [ 5.43188955e-01 8.39598487e-01 -4.48771567e-03 3.90996535e+01] [ 7.66944585e-03 3.83070103e-04 9.99970516e-01 1.58019519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.88, Y:39.12, Z:1.58 [[ 8.36935804e-01 -5.47265605e-01 -6.23035315e-03 2.26878839e+02] [ 5.47247306e-01 8.36958922e-01 -4.48885732e-03 3.91160739e+01] [ 7.67114687e-03 3.47341432e-04 9.99970516e-01 1.58072697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.90, Y:39.13, Z:1.58 [[ 8.34651972e-01 -5.50742478e-01 -6.22958021e-03 2.26901110e+02] [ 5.50724267e-01 8.34675160e-01 -4.48992974e-03 3.91320705e+01] [ 7.67247089e-03 3.16747723e-04 9.99970516e-01 1.58134410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.92, Y:39.15, Z:1.58 [[ 8.32837322e-01 -5.53482784e-01 -6.22921992e-03 2.26923789e+02] [ 5.53464645e-01 8.32860566e-01 -4.49042954e-03 3.91478709e+01] [ 7.67344707e-03 2.92144322e-04 9.99970516e-01 1.58170360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.95, Y:39.16, Z:1.58 [[ 8.30911324e-01 -5.56370002e-01 -6.22836109e-03 2.26946461e+02] [ 5.56351935e-01 8.30934624e-01 -4.49162046e-03 3.91629376e+01] [ 7.67436376e-03 2.66977554e-04 9.99970516e-01 1.58274664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.97, Y:39.18, Z:1.58 [[ 8.30272984e-01 -5.57322154e-01 -6.22798737e-03 2.26968199e+02] [ 5.57304110e-01 8.30296302e-01 -4.49213859e-03 3.91785432e+01] [ 7.67464324e-03 2.58818350e-04 9.99970516e-01 1.58275165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.99, Y:39.19, Z:1.58 [[ 8.29865669e-01 -5.57928481e-01 -6.22743150e-03 2.26991263e+02] [ 5.57910448e-01 8.29888996e-01 -4.49290904e-03 3.91944970e+01] [ 7.67479880e-03 2.54161868e-04 9.99970516e-01 1.58027127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.01, Y:39.21, Z:1.58 [[ 8.29279959e-01 -5.58798692e-01 -6.22662534e-03 2.27014410e+02] [ 5.58780675e-01 8.29303298e-01 -4.49402601e-03 3.92105176e+01] [ 7.67501679e-03 2.47487797e-04 9.99970516e-01 1.57842085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.04, Y:39.23, Z:1.58 [[ 8.28651142e-01 -5.59730761e-01 -6.22579684e-03 2.27036818e+02] [ 5.59712762e-01 8.28674494e-01 -4.49517348e-03 3.92259670e+01] [ 7.67524592e-03 2.40272693e-04 9.99970516e-01 1.57604790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.06, Y:39.24, Z:1.57 [[ 8.28057199e-01 -5.60609063e-01 -6.22533814e-03 2.27059343e+02] [ 5.60591084e-01 8.28080567e-01 -4.49580865e-03 3.92413059e+01] [ 7.67547260e-03 2.32917662e-04 9.99970516e-01 1.57345850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.08, Y:39.26, Z:1.57 [[ 8.27144066e-01 -5.61955465e-01 -6.22490267e-03 2.27082869e+02] [ 5.61937520e-01 8.27167460e-01 -4.49641152e-03 3.92565313e+01] [ 7.67581995e-03 2.21173741e-04 9.99970516e-01 1.56984725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.10, Y:39.27, Z:1.57 [[ 8.26598978e-01 -5.62756955e-01 -6.22404461e-03 2.27104640e+02] [ 5.62739023e-01 8.26622383e-01 -4.49759895e-03 3.92721420e+01] [ 7.67598967e-03 2.15197912e-04 9.99970516e-01 1.57004158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.13, Y:39.29, Z:1.57 [[ 8.26296104e-01 -5.63201575e-01 -6.22367039e-03 2.27126149e+02] [ 5.63183652e-01 8.26319515e-01 -4.49811672e-03 3.92876788e+01] [ 7.67608672e-03 2.11706900e-04 9.99970516e-01 1.57198844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.15, Y:39.30, Z:1.57 [[ 8.25552024e-01 -5.64291703e-01 -6.22330007e-03 2.27148218e+02] [ 5.64273807e-01 8.25575456e-01 -4.49862902e-03 3.93042138e+01] [ 7.67634282e-03 2.02207078e-04 9.99970516e-01 1.57490600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.17, Y:39.32, Z:1.58 [[ 8.24410403e-01 -5.65958275e-01 -6.22245976e-03 2.27171007e+02] [ 5.65940418e-01 8.24433864e-01 -4.49979103e-03 3.93205769e+01] [ 7.67670051e-03 1.88133057e-04 9.99970516e-01 1.57692726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.19, Y:39.33, Z:1.58 [[ 8.20663679e-01 -5.71377649e-01 -6.22161533e-03 2.27194713e+02] [ 5.71359938e-01 8.20687251e-01 -4.50095827e-03 3.93345058e+01] [ 7.67774733e-03 1.38991226e-04 9.99970516e-01 1.57676846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.22, Y:39.35, Z:1.58 [[ 8.18111841e-01 -5.75025494e-01 -6.22077329e-03 2.27218504e+02] [ 5.75007879e-01 8.18135484e-01 -4.50212176e-03 3.93501162e+01] [ 7.67827015e-03 1.06245466e-04 9.99970516e-01 1.57507600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.235898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.24, Y:39.37, Z:1.57 [[ 8.15400886e-01 -5.78863290e-01 -6.21989472e-03 2.27241899e+02] [ 5.78845777e-01 8.15424605e-01 -4.50333522e-03 3.93660201e+01] [ 7.67867063e-03 7.16637351e-05 9.99970516e-01 1.57368717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.27, Y:39.38, Z:1.58 [[ 8.12641165e-01 -5.82731208e-01 -6.21901657e-03 2.27265071e+02] [ 5.82713799e-01 8.12664960e-01 -4.50454759e-03 3.93804274e+01] [ 7.67891732e-03 3.66740261e-05 9.99970516e-01 1.57508033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.29, Y:39.39, Z:1.58 [[ 8.09717646e-01 -5.86786729e-01 -6.21841601e-03 2.27288614e+02] [ 5.86769433e-01 8.09741523e-01 -4.50537650e-03 3.93947976e+01] [ 7.67900479e-03 -6.93579682e-07 9.99970516e-01 1.57692439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.31, Y:39.41, Z:1.58 [[ 8.06714871e-01 -5.90908164e-01 -6.21756505e-03 2.27311617e+02] [ 5.90890980e-01 8.06738830e-01 -4.50655054e-03 3.94084706e+01] [ 7.67890867e-03 -3.84017701e-05 9.99970516e-01 1.57931314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.34, Y:39.42, Z:1.58 [[ 8.03784324e-01 -5.94888315e-01 -6.21711542e-03 2.27335890e+02] [ 5.94871245e-01 8.03808365e-01 -4.50717075e-03 3.94226389e+01] [ 7.67863260e-03 -7.55899941e-05 9.99970516e-01 1.57940403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.36, Y:39.43, Z:1.58 [[ 7.99353344e-01 -6.00829085e-01 -6.21625823e-03 2.27361651e+02] [ 6.00812185e-01 7.99377503e-01 -4.50835268e-03 3.94337861e+01] [ 7.67788640e-03 -1.31036902e-04 9.99970516e-01 1.57762077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.38, Y:39.45, Z:1.58 [[ 7.97979951e-01 -6.02651941e-01 -6.21576768e-03 2.27384719e+02] [ 6.02635090e-01 7.98004146e-01 -4.50902891e-03 3.94472454e+01] [ 7.67758340e-03 -1.47725048e-04 9.99970516e-01 1.57633551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.41, Y:39.46, Z:1.58 [[ 7.97170413e-01 -6.03722373e-01 -6.21529848e-03 2.27408786e+02] [ 6.03705550e-01 7.97194626e-01 -4.50967556e-03 3.94618364e+01] [ 7.67739458e-03 -1.57230261e-04 9.99970516e-01 1.57554890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:39.48, Z:1.58 [[ 7.96840304e-01 -6.04158018e-01 -6.21445645e-03 2.27431595e+02] [ 6.04141200e-01 7.96864520e-01 -4.51083561e-03 3.94768244e+01] [ 7.67733736e-03 -1.59993562e-04 9.99970516e-01 1.57577222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.46, Y:39.49, Z:1.58 [[ 7.96741726e-01 -6.04288071e-01 -6.20884406e-03 2.27455234e+02] [ 6.04271196e-01 7.96765903e-01 -4.51856421e-03 3.94935336e+01] [ 7.67750969e-03 -1.51696974e-04 9.99970516e-01 1.57619888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.48, Y:39.51, Z:1.58 [[ 7.98101782e-01 -6.02490619e-01 -6.21290089e-03 2.27477206e+02] [ 6.02473733e-01 7.98125951e-01 -4.51297928e-03 3.95108082e+01] [ 7.67770511e-03 -1.41292789e-04 9.99970516e-01 1.57867159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.50, Y:39.53, Z:1.58 [[ 7.99105402e-01 -6.01158853e-01 -6.21205052e-03 2.27498997e+02] [ 6.01141918e-01 7.99129537e-01 -4.51414950e-03 3.95282773e+01] [ 7.67795399e-03 -1.27042718e-04 9.99970516e-01 1.57959151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.52, Y:39.55, Z:1.58 [[ 7.99925175e-01 -6.00067609e-01 -6.21119882e-03 2.27520375e+02] [ 6.00050632e-01 7.99949281e-01 -4.51532108e-03 3.95453630e+01] [ 7.67814195e-03 -1.15114770e-04 9.99970516e-01 1.57943403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.54, Y:39.56, Z:1.58 [[ 8.00086892e-01 -5.99851977e-01 -6.21061548e-03 2.27542108e+02] [ 5.99834987e-01 8.00110988e-01 -4.51612330e-03 3.95624695e+01] [ 7.67818717e-03 -1.12053400e-04 9.99970516e-01 1.57758271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.56, Y:39.58, Z:1.58 [[ 7.99452980e-01 -6.00696572e-01 -6.20976888e-03 2.27563066e+02] [ 6.00679598e-01 7.99477088e-01 -4.51728708e-03 3.95787164e+01] [ 7.67808681e-03 -1.18722856e-04 9.99970516e-01 1.57567556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.59, Y:39.60, Z:1.58 [[ 7.99340838e-01 -6.00845797e-01 -6.20910970e-03 2.27585985e+02] [ 6.00828820e-01 7.99364945e-01 -4.51819296e-03 3.95956331e+01] [ 7.67808188e-03 -1.19035911e-04 9.99970516e-01 1.57589429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.61, Y:39.61, Z:1.57 [[ 7.97971597e-01 -6.02663079e-01 -6.20826608e-03 2.27607474e+02] [ 6.02646149e-01 7.97995736e-01 -4.51935185e-03 3.96120938e+01] [ 7.67781636e-03 -1.35073233e-04 9.99970516e-01 1.57443725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.63, Y:39.63, Z:1.57 [[ 7.96107795e-01 -6.05122997e-01 -6.20780298e-03 2.27629334e+02] [ 6.05106136e-01 7.96131982e-01 -4.51998788e-03 3.96288871e+01] [ 7.67737910e-03 -1.57982090e-04 9.99970516e-01 1.57310338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.775898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:227.65, Y:39.65, Z:1.57 [[ 7.92230030e-01 -6.10190998e-01 -6.20696066e-03 2.27651248e+02] [ 6.10174283e-01 7.92254318e-01 -4.52114427e-03 3.96471356e+01] [ 7.67625292e-03 -2.05541506e-04 9.99970516e-01 1.57321385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.67, Y:39.66, Z:1.58 [[ 7.90526770e-01 -6.12396040e-01 -6.20611902e-03 2.27674166e+02] [ 6.12379384e-01 7.90551098e-01 -4.52229930e-03 3.96637295e+01] [ 7.67569239e-03 -2.25500684e-04 9.99970516e-01 1.57627134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.70, Y:39.68, Z:1.58 [[ 7.88872880e-01 -6.14525080e-01 -6.20528135e-03 2.27696245e+02] [ 6.14508480e-01 7.88897247e-01 -4.52344841e-03 3.96802751e+01] [ 7.67510187e-03 -2.44772232e-04 9.99970516e-01 1.57685503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.72, Y:39.70, Z:1.58 [[ 7.87441456e-01 -6.16358222e-01 -6.20444609e-03 2.27718171e+02] [ 6.16341670e-01 7.87465856e-01 -4.52459378e-03 3.96973847e+01] [ 7.67456003e-03 -2.61205955e-04 9.99970516e-01 1.57629574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.74, Y:39.71, Z:1.58 [[ 7.86619452e-01 -6.17406959e-01 -6.20360591e-03 2.27739421e+02] [ 6.17390430e-01 7.86643868e-01 -4.52574545e-03 3.97143014e+01] [ 7.67425528e-03 -2.70007515e-04 9.99970516e-01 1.57534515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:39.73, Z:1.57 [[ 7.85867815e-01 -6.18363403e-01 -6.20314105e-03 2.27760209e+02] [ 6.18346899e-01 7.85892248e-01 -4.52638250e-03 3.97315509e+01] [ 7.67394975e-03 -2.78554701e-04 9.99970516e-01 1.57443200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.78, Y:39.75, Z:1.57 [[ 7.85481617e-01 -6.18853908e-01 -6.20239310e-03 2.27780931e+02] [ 6.18837411e-01 7.85506054e-01 -4.52740718e-03 3.97503758e+01] [ 7.67382095e-03 -2.82077774e-04 9.99970516e-01 1.57451106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.80, Y:39.77, Z:1.58 [[ 7.85744646e-01 -6.18519920e-01 -6.20156097e-03 2.27802510e+02] [ 6.18503404e-01 7.85769070e-01 -4.52854672e-03 3.97688300e+01] [ 7.67399115e-03 -2.77405232e-04 9.99970516e-01 1.57657169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.82, Y:39.79, Z:1.58 [[ 7.86396931e-01 -6.17690390e-01 -6.20073096e-03 2.27822960e+02] [ 6.17673839e-01 7.86421332e-01 -4.52968293e-03 3.97876348e+01] [ 7.67432871e-03 -2.67900536e-04 9.99970516e-01 1.57788559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.84, Y:39.81, Z:1.58 [[ 7.87246719e-01 -6.16606977e-01 -6.19990390e-03 2.27842815e+02] [ 6.16590384e-01 7.87271091e-01 -4.53081467e-03 3.98068024e+01] [ 7.67473704e-03 -2.55932139e-04 9.99970516e-01 1.57957087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.86, Y:39.83, Z:1.58 [[ 7.87851118e-01 -6.15834543e-01 -6.19934017e-03 2.27862232e+02] [ 6.15817919e-01 7.87875469e-01 -4.53158587e-03 3.98268747e+01] [ 7.67501516e-03 -2.47449765e-04 9.99970516e-01 1.58033388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.105898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.88, Y:39.85, Z:1.58 [[ 7.89091524e-01 -6.14244369e-01 -6.19851537e-03 2.27878074e+02] [ 6.14227688e-01 7.89115835e-01 -4.53271379e-03 3.98514685e+01] [ 7.67554056e-03 -2.30573735e-04 9.99970516e-01 1.57899477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.90, Y:39.87, Z:1.58 [[ 7.89284786e-01 -6.13996020e-01 -6.19795273e-03 2.27897200e+02] [ 6.13979325e-01 7.89309088e-01 -4.53348300e-03 3.98718206e+01] [ 7.67564093e-03 -2.27205674e-04 9.99970516e-01 1.57891949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:39.89, Z:1.58 [[ 7.88887516e-01 -6.14506370e-01 -6.19739480e-03 2.27916297e+02] [ 6.14489685e-01 7.88911825e-01 -4.53424557e-03 3.98931809e+01] [ 7.67552083e-03 -2.31225453e-04 9.99970516e-01 1.57832937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.94, Y:39.91, Z:1.58 [[ 7.88217367e-01 -6.15365733e-01 -6.19658444e-03 2.27935318e+02] [ 6.15349065e-01 7.88241688e-01 -4.53535276e-03 3.99144732e+01] [ 7.67530685e-03 -2.38218634e-04 9.99970516e-01 1.57812221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:39.94, Z:1.58 [[ 7.87119516e-01 -6.16769389e-01 -6.19576958e-03 2.27954140e+02] [ 6.16752757e-01 7.87143861e-01 -4.53646567e-03 3.99360524e+01] [ 7.67491515e-03 -2.50517306e-04 9.99970516e-01 1.57860914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.97, Y:39.96, Z:1.58 [[ 7.85232167e-01 -6.19170466e-01 -6.19494358e-03 2.27968418e+02] [ 6.19153899e-01 7.85256556e-01 -4.53759337e-03 3.99621527e+01] [ 7.67416386e-03 -2.72559191e-04 9.99970516e-01 1.57946375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.99, Y:39.98, Z:1.58 [[ 7.83981503e-01 -6.20753277e-01 -6.19449992e-03 2.27987113e+02] [ 6.20736755e-01 7.84005922e-01 -4.53819895e-03 3.99836944e+01] [ 7.67362649e-03 -2.87289743e-04 9.99970516e-01 1.57857526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:40.00, Z:1.58 [[ 7.82665585e-01 -6.22411617e-01 -6.19365897e-03 2.28005258e+02] [ 6.22395137e-01 7.82690033e-01 -4.53934637e-03 4.00041747e+01] [ 7.67305706e-03 -3.02113043e-04 9.99970516e-01 1.57748157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.02, Y:40.03, Z:1.58 [[ 7.80988922e-01 -6.24514169e-01 -6.19319505e-03 2.28024680e+02] [ 6.24497750e-01 7.81013411e-01 -4.53997922e-03 4.00252330e+01] [ 7.67224975e-03 -3.21962895e-04 9.99970516e-01 1.57599139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.04, Y:40.05, Z:1.58 [[ 7.77232058e-01 -6.29183585e-01 -6.19236526e-03 2.28040483e+02] [ 6.29167303e-01 7.77256639e-01 -4.54111076e-03 4.00497657e+01] [ 7.67024935e-03 -3.66536893e-04 9.99970516e-01 1.57526587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.06, Y:40.07, Z:1.58 [[ 7.75661318e-01 -6.31118990e-01 -6.19191303e-03 2.28058358e+02] [ 6.31102765e-01 7.75685937e-01 -4.54172730e-03 4.00687518e+01] [ 7.66935020e-03 -3.84891246e-04 9.99970516e-01 1.57536039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.08, Y:40.09, Z:1.58 [[ 7.73627985e-01 -6.33609935e-01 -6.17990069e-03 2.28079055e+02] [ 6.33593660e-01 7.73652570e-01 -4.55810272e-03 4.00902661e+01] [ 7.66915522e-03 -3.89270073e-04 9.99970516e-01 1.57576152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:40.11, Z:1.58 [[ 7.72263123e-01 -6.35272644e-01 -6.19161116e-03 2.28099253e+02] [ 6.35256549e-01 7.72287826e-01 -4.54213962e-03 4.01106269e+01] [ 7.66720297e-03 -4.25534610e-04 9.99970516e-01 1.57604223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.12, Y:40.13, Z:1.58 [[ 7.71094269e-01 -6.36690901e-01 -6.19075080e-03 2.28118492e+02] [ 6.36674841e-01 7.71118995e-01 -4.54331196e-03 4.01293829e+01] [ 7.66649092e-03 -4.38173471e-04 9.99970516e-01 1.57549234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.14, Y:40.15, Z:1.58 [[ 7.69987064e-01 -6.38029466e-01 -6.19037696e-03 2.28138989e+02] [ 6.38013446e-01 7.70011816e-01 -4.54382127e-03 4.01484652e+01] [ 7.66575526e-03 -4.50860134e-04 9.99970516e-01 1.57503474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.16, Y:40.17, Z:1.57 [[ 7.68307944e-01 -6.40050461e-01 -6.18954282e-03 2.28157357e+02] [ 6.40034496e-01 7.68332732e-01 -4.54495724e-03 4.01690762e+01] [ 7.66463032e-03 -4.69594165e-04 9.99970516e-01 1.57457869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.585898227 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:228.18, Y:40.19, Z:1.57 [[ 7.67435623e-01 -6.41096139e-01 -6.18908531e-03 2.28178033e+02] [ 6.41080203e-01 7.67460430e-01 -4.54558017e-03 4.01883806e+01] [ 7.66403196e-03 -4.79259919e-04 9.99970516e-01 1.57425186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.20, Y:40.21, Z:1.58 [[ 7.66910493e-01 -6.41724241e-01 -6.18825823e-03 2.28199438e+02] [ 6.41708316e-01 7.66935307e-01 -4.54670585e-03 4.02059442e+01] [ 7.66372509e-03 -4.84140338e-04 9.99970516e-01 1.57636965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.22, Y:40.22, Z:1.58 [[ 7.66044467e-01 -6.42757800e-01 -6.18742150e-03 2.28219850e+02] [ 6.42741900e-01 7.66069296e-01 -4.54784425e-03 4.02234616e+01] [ 7.66315600e-03 -4.93064127e-04 9.99970516e-01 1.57797487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.24, Y:40.24, Z:1.58 [[ 7.64909114e-01 -6.44108507e-01 -6.18696593e-03 2.28241228e+02] [ 6.44092645e-01 7.64933968e-01 -4.54846392e-03 4.02413598e+01] [ 7.66232470e-03 -5.05817750e-04 9.99970516e-01 1.57855204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.26, Y:40.26, Z:1.58 [[ 7.63639074e-01 -6.45613735e-01 -6.18617974e-03 2.28261958e+02] [ 6.45597914e-01 7.63663954e-01 -4.54953293e-03 4.02585441e+01] [ 7.66140343e-03 -5.19583627e-04 9.99970516e-01 1.57779109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.735898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:228.28, Y:40.28, Z:1.57 [[ 7.61663283e-01 -6.47943502e-01 -6.18564199e-03 2.28281778e+02] [ 6.47927751e-01 7.61688207e-01 -4.55026395e-03 4.02785014e+01] [ 7.65984452e-03 -5.42080125e-04 9.99970516e-01 1.57459086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.30, Y:40.30, Z:1.58 [[ 7.61490950e-01 -6.48146033e-01 -6.18486861e-03 2.28302994e+02] [ 6.48130280e-01 7.61515873e-01 -4.55131492e-03 4.02967387e+01] [ 7.65979233e-03 -5.42815502e-04 9.99970516e-01 1.57510654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.32, Y:40.32, Z:1.57 [[ 7.61736851e-01 -6.47857027e-01 -6.18404961e-03 2.28322774e+02] [ 6.47841256e-01 7.61761762e-01 -4.55242746e-03 4.03153720e+01] [ 7.66009464e-03 -5.38530712e-04 9.99970516e-01 1.57447301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.34, Y:40.34, Z:1.57 [[ 7.62150780e-01 -6.47370026e-01 -6.18360697e-03 2.28343563e+02] [ 6.47354235e-01 7.62175679e-01 -4.55302862e-03 4.03350803e+01] [ 7.66048909e-03 -5.32889841e-04 9.99970516e-01 1.57498764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.36, Y:40.35, Z:1.58 [[ 7.62557928e-01 -6.46890391e-01 -6.18283985e-03 2.28363931e+02] [ 6.46874575e-01 7.62582811e-01 -4.55407010e-03 4.03543491e+01] [ 7.66091158e-03 -5.26779642e-04 9.99970516e-01 1.57650788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.38, Y:40.37, Z:1.58 [[ 7.63023433e-01 -6.46341259e-01 -6.18200283e-03 2.28384801e+02] [ 6.46325416e-01 7.63048299e-01 -4.55520604e-03 4.03728301e+01] [ 7.66138435e-03 -5.19856597e-04 9.99970516e-01 1.57719256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.40, Y:40.39, Z:1.58 [[ 7.64025081e-01 -6.45156933e-01 -6.18116906e-03 2.28404057e+02] [ 6.45141043e-01 7.64049917e-01 -4.55633714e-03 4.03919598e+01] [ 7.66227420e-03 -5.06569996e-04 9.99970516e-01 1.58009442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.43, Y:40.41, Z:1.58 [[ 7.64455045e-01 -6.44647411e-01 -6.18060081e-03 2.28425010e+02] [ 6.44631498e-01 7.64479866e-01 -4.55710783e-03 4.04097439e+01] [ 7.66267264e-03 -5.00505891e-04 9.99970516e-01 1.58232830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.45, Y:40.43, Z:1.58 [[ 7.64992690e-01 -6.44009309e-01 -6.18017125e-03 2.28446778e+02] [ 6.43993370e-01 7.65017494e-01 -4.55769031e-03 4.04281596e+01] [ 7.66313411e-03 -4.93389543e-04 9.99970516e-01 1.58298407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.47, Y:40.45, Z:1.58 [[ 7.65615221e-01 -6.43269111e-01 -6.17935588e-03 2.28468879e+02] [ 6.43253140e-01 7.65640004e-01 -4.55879553e-03 4.04472383e+01] [ 7.66369441e-03 -4.84606823e-04 9.99970516e-01 1.58292470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.49, Y:40.46, Z:1.58 [[ 7.66084500e-01 -6.42710131e-01 -6.18272679e-03 2.28489236e+02] [ 6.42694178e-01 7.66109295e-01 -4.55422735e-03 4.04648077e+01] [ 7.66369252e-03 -4.84679526e-04 9.99970516e-01 1.58393708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.51, Y:40.48, Z:1.58 [[ 7.66522040e-01 -6.42188283e-01 -6.17830919e-03 2.28511122e+02] [ 6.42172265e-01 7.66546794e-01 -4.56021244e-03 4.04830683e+01] [ 7.66447810e-03 -4.72035466e-04 9.99970516e-01 1.58402060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.53, Y:40.50, Z:1.59 [[ 7.66433995e-01 -6.42293368e-01 -6.17750028e-03 2.28532261e+02] [ 6.42277344e-01 7.66458745e-01 -4.56130797e-03 4.05022731e+01] [ 7.66449697e-03 -4.71726983e-04 9.99970516e-01 1.58500547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.55, Y:40.52, Z:1.58 [[ 7.66000811e-01 -6.42809930e-01 -6.17669390e-03 2.28553768e+02] [ 6.42793915e-01 7.66025566e-01 -4.56239967e-03 4.05200131e+01] [ 7.66426125e-03 -4.75539411e-04 9.99970516e-01 1.58419181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.58, Y:40.54, Z:1.58 [[ 7.65263732e-01 -6.43687253e-01 -6.17588528e-03 2.28575385e+02] [ 6.43671257e-01 7.65288499e-01 -4.56349399e-03 4.05382599e+01] [ 7.66379689e-03 -4.82963406e-04 9.99970516e-01 1.58363226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.60, Y:40.56, Z:1.58 [[ 7.64573114e-01 -6.44507426e-01 -6.17503788e-03 2.28595945e+02] [ 6.44491448e-01 7.64597893e-01 -4.56464036e-03 4.05559295e+01] [ 7.66336556e-03 -4.89757811e-04 9.99970516e-01 1.58301652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.62, Y:40.57, Z:1.58 [[ 7.63802271e-01 -6.45420765e-01 -6.17466901e-03 2.28617061e+02] [ 6.45404812e-01 7.63827067e-01 -4.56513928e-03 4.05736846e+01] [ 7.66281500e-03 -4.98297346e-04 9.99970516e-01 1.58334342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.64, Y:40.59, Z:1.58 [[ 7.63267045e-01 -6.46053587e-01 -6.17913737e-03 2.28636694e+02] [ 6.46037703e-01 7.63291885e-01 -4.55909546e-03 4.05923229e+01] [ 7.66190539e-03 -5.12148393e-04 9.99970516e-01 1.58110114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.275898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:228.66, Y:40.61, Z:1.58 [[ 7.62610772e-01 -6.46828178e-01 -6.17406522e-03 2.28657759e+02] [ 6.46812265e-01 7.62635592e-01 -4.56595401e-03 4.06109458e+01] [ 7.66194960e-03 -5.11415400e-04 9.99970516e-01 1.58002038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.68, Y:40.63, Z:1.58 [[ 7.62271844e-01 -6.47227570e-01 -6.17322110e-03 2.28679549e+02] [ 6.47211660e-01 7.62296667e-01 -4.56709498e-03 4.06280716e+01] [ 7.66177566e-03 -5.14012761e-04 9.99970516e-01 1.58008027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.70, Y:40.65, Z:1.58 [[ 7.61360485e-01 -6.48299402e-01 -6.17237947e-03 2.28700404e+02] [ 6.48283518e-01 7.61385324e-01 -4.56823216e-03 4.06450675e+01] [ 7.66114132e-03 -5.23380429e-04 9.99970516e-01 1.58005993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.72, Y:40.66, Z:1.58 [[ 7.59961821e-01 -6.49938410e-01 -6.17201356e-03 2.28721204e+02] [ 6.49922575e-01 7.59986693e-01 -4.56872647e-03 4.06619502e+01] [ 7.66003899e-03 -5.39273262e-04 9.99970516e-01 1.57955573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.74, Y:40.68, Z:1.58 [[ 7.58162407e-01 -6.52036560e-01 -6.17165077e-03 2.28743474e+02] [ 6.52020790e-01 7.58187319e-01 -4.56921650e-03 4.06794426e+01] [ 7.65856356e-03 -5.59836431e-04 9.99970516e-01 1.57935123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.77, Y:40.70, Z:1.58 [[ 7.54390381e-01 -6.56397040e-01 -6.17082383e-03 2.28765608e+02] [ 6.56381405e-01 7.54415378e-01 -4.57033302e-03 4.06966701e+01] [ 7.65531746e-03 -6.02598747e-04 9.99970516e-01 1.58019177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.79, Y:40.71, Z:1.58 [[ 7.52878338e-01 -6.58130792e-01 -6.16999831e-03 2.28787212e+02] [ 6.58115206e-01 7.52903366e-01 -4.57144721e-03 4.07135524e+01] [ 7.65402267e-03 -6.18826125e-04 9.99970516e-01 1.58031717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.81, Y:40.73, Z:1.58 [[ 7.51729812e-01 -6.59442360e-01 -6.16963955e-03 2.28809547e+02] [ 6.59426813e-01 7.51754864e-01 -4.57193134e-03 4.07313163e+01] [ 7.65298173e-03 -6.31568664e-04 9.99970516e-01 1.58105655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.83, Y:40.75, Z:1.58 [[ 7.50901553e-01 -6.60385331e-01 -6.17033523e-03 2.28831479e+02] [ 6.60369823e-01 7.50926629e-01 -4.57099269e-03 4.07490110e+01] [ 7.65208555e-03 -6.42337680e-04 9.99970516e-01 1.57864268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.85, Y:40.77, Z:1.58 [[ 7.50455834e-01 -6.60891814e-01 -6.16859169e-03 2.28852673e+02] [ 6.60876305e-01 7.50480909e-01 -4.57334440e-03 4.07662302e+01] [ 7.65189617e-03 -6.44583095e-04 9.99970516e-01 1.57672209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.87, Y:40.78, Z:1.58 [[ 7.50067016e-01 -6.61333066e-01 -6.16822949e-03 2.28874264e+02] [ 6.61317567e-01 7.50092098e-01 -4.57383286e-03 4.07838488e+01] [ 7.65156710e-03 -6.48477351e-04 9.99970516e-01 1.57597907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.90, Y:40.80, Z:1.58 [[ 7.49373093e-01 -6.62119272e-01 -6.16745682e-03 2.28895314e+02] [ 6.62103791e-01 7.49398185e-01 -4.57487450e-03 4.08026721e+01] [ 7.65099352e-03 -6.55208694e-04 9.99970516e-01 1.57725305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.92, Y:40.82, Z:1.58 [[ 7.49251689e-01 -6.62256656e-01 -6.16661254e-03 2.28918077e+02] [ 6.62241171e-01 7.49276779e-01 -4.57601224e-03 4.08197420e+01] [ 7.65099415e-03 -6.55199806e-04 9.99970516e-01 1.57747178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.94, Y:40.84, Z:1.58 [[ 7.49002121e-01 -6.62538908e-01 -6.16577337e-03 2.28939021e+02] [ 6.62523423e-01 7.49027211e-01 -4.57714268e-03 4.08371716e+01] [ 7.65086715e-03 -6.56679702e-04 9.99970516e-01 1.57905497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.96, Y:40.85, Z:1.58 [[ 7.48991889e-01 -6.62550479e-01 -6.16541903e-03 2.28959745e+02] [ 6.62534991e-01 7.49016977e-01 -4.57761993e-03 4.08548527e+01] [ 7.65090780e-03 -6.56205643e-04 9.99970516e-01 1.58040505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.98, Y:40.87, Z:1.58 [[ 7.49329083e-01 -6.62169100e-01 -6.16506092e-03 2.28981125e+02] [ 6.62153595e-01 7.49354161e-01 -4.57810217e-03 4.08728660e+01] [ 7.65129184e-03 -6.51712148e-04 9.99970516e-01 1.58213828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.00, Y:40.89, Z:1.58 [[ 7.50097569e-01 -6.61298449e-01 -6.16423068e-03 2.29002663e+02] [ 6.61282906e-01 7.50122623e-01 -4.57921978e-03 4.08910908e+01] [ 7.65215983e-03 -6.41438744e-04 9.99970516e-01 1.58310005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.02, Y:40.91, Z:1.58 [[ 7.52781611e-01 -6.58241490e-01 -6.16340141e-03 2.29020783e+02] [ 6.58225835e-01 7.52806596e-01 -4.58033567e-03 4.09126750e+01] [ 7.65481621e-03 -6.08917572e-04 9.99970516e-01 1.58389034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.04, Y:40.93, Z:1.58 [[ 7.54254495e-01 -6.56553252e-01 -6.16304040e-03 2.29040977e+02] [ 6.56537538e-01 7.54279443e-01 -4.58082136e-03 4.09329848e+01] [ 7.65620784e-03 -5.91162269e-04 9.99970516e-01 1.58379026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.06, Y:40.95, Z:1.58 [[ 7.55428379e-01 -6.55202253e-01 -6.16222229e-03 2.29060517e+02] [ 6.55186485e-01 7.55453292e-01 -4.58192164e-03 4.09532439e+01] [ 7.65735650e-03 -5.76091125e-04 9.99970516e-01 1.58361715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.08, Y:40.97, Z:1.58 [[ 7.56154423e-01 -6.54364215e-01 -6.16138820e-03 2.29080363e+02] [ 6.54348411e-01 7.56179313e-01 -4.58304298e-03 4.09740409e+01] [ 7.65809362e-03 -5.66206360e-04 9.99970516e-01 1.58405913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.10, Y:40.99, Z:1.59 [[ 7.56685263e-01 -6.53750305e-01 -6.16055140e-03 2.29099000e+02] [ 6.53734471e-01 7.56710134e-01 -4.58416753e-03 4.09934603e+01] [ 7.65865260e-03 -5.58592796e-04 9.99970516e-01 1.58502087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.12, Y:41.01, Z:1.59 [[ 7.56776925e-01 -6.53644199e-01 -6.16018832e-03 2.29118081e+02] [ 6.53628357e-01 7.56801791e-01 -4.58465539e-03 4.10140265e+01] [ 7.65877496e-03 -5.56912370e-04 9.99970516e-01 1.58634429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.13, Y:41.04, Z:1.59 [[ 7.56307824e-01 -6.54186929e-01 -6.15938067e-03 2.29134206e+02] [ 6.54171097e-01 7.56332696e-01 -4.58574019e-03 4.10385679e+01] [ 7.65847228e-03 -5.61057623e-04 9.99970516e-01 1.58778084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.15, Y:41.06, Z:1.59 [[ 7.55761618e-01 -6.54817874e-01 -6.15855393e-03 2.29153197e+02] [ 6.54802054e-01 7.55786498e-01 -4.58685023e-03 4.10598763e+01] [ 7.65810342e-03 -5.66068408e-04 9.99970516e-01 1.58799467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.17, Y:41.08, Z:1.59 [[ 7.55202792e-01 -6.55462300e-01 -6.15770431e-03 2.29171391e+02] [ 6.55446491e-01 7.55227679e-01 -4.58799053e-03 4.10809932e+01] [ 7.65772356e-03 -5.71182427e-04 9.99970516e-01 1.58906737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.19, Y:41.10, Z:1.59 [[ 7.54811169e-01 -6.55913246e-01 -6.15733488e-03 2.29189759e+02] [ 6.55897448e-01 7.54836064e-01 -4.58848627e-03 4.11022723e+01] [ 7.65742735e-03 -5.75139552e-04 9.99970516e-01 1.59043158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.21, Y:41.12, Z:1.59 [[ 7.54571642e-01 -6.56188795e-01 -6.15654058e-03 2.29207826e+02] [ 6.56172998e-01 7.54596537e-01 -4.58955176e-03 4.11240331e+01] [ 7.65731664e-03 -5.76610088e-04 9.99970516e-01 1.59104429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.23, Y:41.15, Z:1.59 [[ 7.54955495e-01 -6.55747137e-01 -6.15574831e-03 2.29225074e+02] [ 6.55731316e-01 7.54980375e-01 -4.59061415e-03 4.11452495e+01] [ 7.65775125e-03 -5.70807564e-04 9.99970516e-01 1.59110290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.24, Y:41.17, Z:1.59 [[ 7.56212591e-01 -6.54297048e-01 -6.15540378e-03 2.29238143e+02] [ 6.54281177e-01 7.56237439e-01 -4.59107607e-03 4.11736495e+01] [ 7.65887431e-03 -5.55535295e-04 9.99970516e-01 1.59016746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.26, Y:41.20, Z:1.59 [[ 7.56830769e-01 -6.53581907e-01 -6.15461284e-03 2.29255737e+02] [ 6.53566003e-01 7.56855595e-01 -4.59213613e-03 4.11964972e+01] [ 7.65949025e-03 -5.46975794e-04 9.99970516e-01 1.59069654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.27, Y:41.22, Z:1.59 [[ 7.57189750e-01 -6.53165992e-01 -6.15381947e-03 2.29273198e+02] [ 6.53150066e-01 7.57214562e-01 -4.59319907e-03 4.12192473e+01] [ 7.65988314e-03 -5.41444338e-04 9.99970516e-01 1.59198678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.235898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:229.29, Y:41.24, Z:1.59 [[ 7.56993093e-01 -6.53393907e-01 -6.15299137e-03 2.29291040e+02] [ 6.53377980e-01 7.57017905e-01 -4.59430810e-03 4.12424112e+01] [ 7.65981756e-03 -5.42369575e-04 9.99970516e-01 1.59296335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.31, Y:41.26, Z:1.59 [[ 7.56489102e-01 -6.53977362e-01 -6.15216237e-03 2.29309343e+02] [ 6.53961445e-01 7.56513920e-01 -4.59541794e-03 4.12643680e+01] [ 7.65949577e-03 -5.46893405e-04 9.99970516e-01 1.59464987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.33, Y:41.29, Z:1.59 [[ 7.55366970e-01 -6.55273151e-01 -6.15133801e-03 2.29327249e+02] [ 6.55257267e-01 7.55391810e-01 -4.59652115e-03 4.12862388e+01] [ 7.65864724e-03 -5.58648681e-04 9.99970516e-01 1.59478610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:41.31, Z:1.59 [[ 7.52763849e-01 -6.58261923e-01 -6.15051358e-03 2.29342265e+02] [ 6.58246129e-01 7.52788746e-01 -4.59762404e-03 4.13124315e+01] [ 7.65647824e-03 -5.87626587e-04 9.99970516e-01 1.59284991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.36, Y:41.33, Z:1.59 [[ 7.51191698e-01 -6.60055457e-01 -6.15025747e-03 2.29360848e+02] [ 6.60039720e-01 7.51216631e-01 -4.59796661e-03 4.13330377e+01] [ 7.65508865e-03 -6.05459875e-04 9.99970516e-01 1.59138192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.385898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:229.38, Y:41.35, Z:1.59 [[ 7.49664502e-01 -6.61789478e-01 -6.14992129e-03 2.29379967e+02] [ 6.61773795e-01 7.49689468e-01 -4.59841622e-03 4.13542933e+01] [ 7.65371469e-03 -6.22587344e-04 9.99970516e-01 1.58909381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:41.38, Z:1.59 [[ 7.47532660e-01 -6.64196591e-01 -6.14910156e-03 2.29397249e+02] [ 6.64180979e-01 7.47557671e-01 -4.59951212e-03 4.13775979e+01] [ 7.65178831e-03 -6.45830764e-04 9.99970516e-01 1.58906258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:41.40, Z:1.59 [[ 7.46801665e-01 -6.65018399e-01 -6.14828511e-03 2.29417440e+02] [ 6.65002806e-01 7.46826688e-01 -4.60060323e-03 4.13978665e+01] [ 7.65118920e-03 -6.52888704e-04 9.99970516e-01 1.59006877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.44, Y:41.42, Z:1.59 [[ 7.46183274e-01 -6.65712198e-01 -6.14745666e-03 2.29437056e+02] [ 6.65696619e-01 7.46208306e-01 -4.60170996e-03 4.14173310e+01] [ 7.65069767e-03 -6.58622109e-04 9.99970516e-01 1.59079752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.46, Y:41.44, Z:1.59 [[ 7.45818112e-01 -6.66121264e-01 -6.14868273e-03 2.29457616e+02] [ 6.66105712e-01 7.45843161e-01 -4.60007227e-03 4.14369853e+01] [ 7.65015891e-03 -6.64855468e-04 9.99970516e-01 1.59053670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:41.46, Z:1.59 [[ 7.45426397e-01 -6.66559605e-01 -6.14648279e-03 2.29477136e+02] [ 6.66544044e-01 7.45451440e-01 -4.60300989e-03 4.14562225e+01] [ 7.65008490e-03 -6.65696414e-04 9.99970516e-01 1.59097372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.50, Y:41.48, Z:1.59 [[ 7.44970069e-01 -6.67069577e-01 -6.14613507e-03 2.29497286e+02] [ 6.67054030e-01 7.44995121e-01 -4.60347413e-03 4.14765372e+01] [ 7.64967818e-03 -6.70353720e-04 9.99970516e-01 1.59091734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.595898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:229.51, Y:41.50, Z:1.59 [[ 7.44282836e-01 -6.67836278e-01 -6.14533154e-03 2.29513312e+02] [ 6.67820748e-01 7.44307898e-01 -4.60454654e-03 4.14997738e+01] [ 7.64910203e-03 -6.76894942e-04 9.99970516e-01 1.59110372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.54, Y:41.52, Z:1.59 [[ 7.44568440e-01 -6.67517989e-01 -6.12964092e-03 2.29535331e+02] [ 6.67502277e-01 7.44593389e-01 -4.62547628e-03 4.15180275e+01] [ 7.65167873e-03 -6.47565606e-04 9.99970516e-01 1.59007669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.56, Y:41.54, Z:1.59 [[ 7.44614150e-01 -6.67466865e-01 -6.14426131e-03 2.29555651e+02] [ 6.67451310e-01 7.44639197e-01 -4.60597302e-03 4.15376133e+01] [ 7.64959218e-03 -6.71322579e-04 9.99970516e-01 1.58990850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.58, Y:41.56, Z:1.59 [[ 7.45035994e-01 -6.66995971e-01 -6.14343827e-03 2.29575448e+02] [ 6.66980392e-01 7.45061026e-01 -4.60707053e-03 4.15567144e+01] [ 7.65013390e-03 -6.65119486e-04 9.99970516e-01 1.58963841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.60, Y:41.58, Z:1.59 [[ 7.45701185e-01 -6.66252210e-01 -6.14287522e-03 2.29595998e+02] [ 6.66236599e-01 7.45726198e-01 -4.60782115e-03 4.15763783e+01] [ 7.65087401e-03 -6.56550607e-04 9.99970516e-01 1.58971932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:41.60, Z:1.59 [[ 7.46313685e-01 -6.65566044e-01 -6.14205286e-03 2.29616450e+02] [ 6.65550401e-01 7.46338677e-01 -4.60891706e-03 4.15951697e+01] [ 7.65159031e-03 -6.48147872e-04 9.99970516e-01 1.58976685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:41.61, Z:1.59 [[ 7.48312914e-01 -6.63317471e-01 -6.14122890e-03 2.29635994e+02] [ 6.63301745e-01 7.48337854e-01 -4.61001470e-03 4.16143191e+01] [ 7.65361735e-03 -6.23754312e-04 9.99970516e-01 1.59082090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.66, Y:41.63, Z:1.59 [[ 7.49214475e-01 -6.62298998e-01 -6.14066680e-03 2.29657070e+02] [ 6.62283231e-01 7.49239389e-01 -4.61076331e-03 4.16327988e+01] [ 7.65453337e-03 -6.12410037e-04 9.99970516e-01 1.59226992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:41.65, Z:1.59 [[ 7.50207664e-01 -6.61173776e-01 -6.13985753e-03 2.29678523e+02] [ 6.61157964e-01 7.50232549e-01 -4.61184072e-03 4.16506938e+01] [ 7.65554911e-03 -5.99577442e-04 9.99970516e-01 1.59330574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.70, Y:41.67, Z:1.59 [[ 7.51082095e-01 -6.60180278e-01 -6.13902964e-03 2.29699249e+02] [ 6.60164424e-01 7.51106953e-01 -4.61294250e-03 4.16686211e+01] [ 7.65644151e-03 -5.88070451e-04 9.99970516e-01 1.59397281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.72, Y:41.69, Z:1.59 [[ 7.51920841e-01 -6.59224821e-01 -6.13866938e-03 2.29719717e+02] [ 6.59208931e-01 7.51945677e-01 -4.61342186e-03 4.16858648e+01] [ 7.65722811e-03 -5.77737637e-04 9.99970516e-01 1.59326768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.74, Y:41.71, Z:1.59 [[ 7.52730789e-01 -6.58299840e-01 -6.13832059e-03 2.29740550e+02] [ 6.58283916e-01 7.52755603e-01 -4.61388589e-03 4.17053840e+01] [ 7.65797556e-03 -5.67743745e-04 9.99970516e-01 1.59239756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:41.72, Z:1.59 [[ 7.52599229e-01 -6.58450249e-01 -6.13750505e-03 2.29761129e+02] [ 6.58434321e-01 7.52624041e-01 -4.61497049e-03 4.17237466e+01] [ 7.65796232e-03 -5.67920734e-04 9.99970516e-01 1.59310039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.985898227 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:229.78, Y:41.74, Z:1.60 [[ 7.52964313e-01 -6.58032738e-01 -6.13666839e-03 2.29782132e+02] [ 6.58016787e-01 7.52989110e-01 -4.61608276e-03 4.17421895e+01] [ 7.65837804e-03 -5.62285238e-04 9.99970516e-01 1.59626746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.015898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.80, Y:41.76, Z:1.60 [[ 7.53675952e-01 -6.57217548e-01 -6.13627567e-03 2.29803131e+02] [ 6.57201566e-01 7.53700729e-01 -4.61660475e-03 4.17613220e+01] [ 7.65902910e-03 -5.53346000e-04 9.99970516e-01 1.59930010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.82, Y:41.78, Z:1.60 [[ 7.54743922e-01 -6.55990828e-01 -6.13555226e-03 2.29824766e+02] [ 6.55974798e-01 7.54768668e-01 -4.61756597e-03 4.17807484e+01] [ 7.66000353e-03 -5.39687800e-04 9.99970516e-01 1.60117208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.85, Y:41.80, Z:1.60 [[ 7.55902615e-01 -6.54655330e-01 -6.13482725e-03 2.29845427e+02] [ 6.54639249e-01 7.55927327e-01 -4.61852901e-03 4.18003712e+01] [ 7.66102820e-03 -5.24940550e-04 9.99970516e-01 1.60084165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.105898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.87, Y:41.82, Z:1.59 [[ 7.56989219e-01 -6.53398569e-01 -6.13456777e-03 2.29865755e+02] [ 6.53382444e-01 7.57013902e-01 -4.61887363e-03 4.18202362e+01] [ 7.66191851e-03 -5.11781339e-04 9.99970516e-01 1.59475931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.135898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:229.88, Y:41.84, Z:1.60 [[ 7.57863366e-01 -6.52384465e-01 -6.13417627e-03 2.29884008e+02] [ 6.52368303e-01 7.57888025e-01 -4.61939355e-03 4.18429552e+01] [ 7.66263934e-03 -5.00873014e-04 9.99970516e-01 1.59699505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:229.90, Y:41.86, Z:1.60 [[ 7.57662642e-01 -6.52617570e-01 -6.13416135e-03 2.29904804e+02] [ 6.52601416e-01 7.57687306e-01 -4.61941338e-03 4.18621011e+01] [ 7.66248652e-03 -5.03205436e-04 9.99970516e-01 1.59689546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.93, Y:41.88, Z:1.60 [[ 7.57165517e-01 -6.53194275e-01 -6.13334950e-03 2.29925277e+02] [ 6.53178131e-01 7.57190188e-01 -4.62049104e-03 4.18806272e+01] [ 7.66219036e-03 -5.07693269e-04 9.99970516e-01 1.59752740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.94, Y:41.90, Z:1.60 [[ 7.56483853e-01 -6.53983618e-01 -6.13253373e-03 2.29943928e+02] [ 6.53967490e-01 7.56508535e-01 -4.62157351e-03 4.19004598e+01] [ 7.66174747e-03 -5.14331949e-04 9.99970516e-01 1.59902734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.97, Y:41.92, Z:1.60 [[ 7.56379176e-01 -6.54104684e-01 -6.13217905e-03 2.29965169e+02] [ 6.54088557e-01 7.56403858e-01 -4.62204407e-03 4.19194439e+01] [ 7.66170457e-03 -5.14970257e-04 9.99970516e-01 1.59908279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.99, Y:41.94, Z:1.60 [[ 7.56289958e-01 -6.54207846e-01 -6.13138081e-03 2.29987098e+02] [ 6.54191713e-01 7.56314637e-01 -4.62310274e-03 4.19389159e+01] [ 7.66172314e-03 -5.14692334e-04 9.99970516e-01 1.59847892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.01, Y:41.96, Z:1.60 [[ 7.56247018e-01 -6.54257491e-01 -6.13046541e-03 2.30008027e+02] [ 6.54241350e-01 7.56271691e-01 -4.62431644e-03 4.19571967e+01] [ 7.66179112e-03 -5.13678450e-04 9.99970516e-01 1.59842134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.345898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.03, Y:41.98, Z:1.60 [[ 7.56217057e-01 -6.54292122e-01 -6.13047301e-03 2.30029201e+02] [ 6.54275982e-01 7.56241731e-01 -4.62430637e-03 4.19755827e+01] [ 7.66176675e-03 -5.14041895e-04 9.99970516e-01 1.59808414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.375898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.05, Y:41.99, Z:1.60 [[ 7.56288027e-01 -6.54210094e-01 -6.12963657e-03 2.30049727e+02] [ 6.54193943e-01 7.56312694e-01 -4.62541483e-03 4.19940826e+01] [ 7.66191502e-03 -5.11825252e-04 9.99970516e-01 1.59958245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.07, Y:42.02, Z:1.60 [[ 7.56422138e-01 -6.54055028e-01 -6.12937612e-03 2.30069660e+02] [ 6.54038868e-01 7.56446800e-01 -4.62575994e-03 4.20158260e+01] [ 7.66204850e-03 -5.09822990e-04 9.99970516e-01 1.59783118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.435898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:230.09, Y:42.04, Z:1.60 [[ 7.55853294e-01 -6.54712348e-01 -6.12691349e-03 2.30089738e+02] [ 6.54696184e-01 7.55877952e-01 -4.62902233e-03 4.20353654e+01] [ 7.66187690e-03 -5.12405103e-04 9.99970516e-01 1.60174569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:42.05, Z:1.60 [[ 7.55292954e-01 -6.55358677e-01 -6.12842948e-03 2.30110868e+02] [ 6.55342550e-01 7.55317637e-01 -4.62701441e-03 4.20540537e+01] [ 7.66126492e-03 -5.21469218e-04 9.99970516e-01 1.60094086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.13, Y:42.07, Z:1.60 [[ 7.55174674e-01 -6.55494977e-01 -6.12759517e-03 2.30133452e+02] [ 6.55478846e-01 7.55199354e-01 -4.62811904e-03 4.20712794e+01] [ 7.66126469e-03 -5.21470717e-04 9.99970516e-01 1.60115957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.15, Y:42.09, Z:1.60 [[ 7.54488396e-01 -6.56284789e-01 -6.12675974e-03 2.30152712e+02] [ 6.56268674e-01 7.54513086e-01 -4.62922473e-03 4.20900167e+01] [ 7.66081017e-03 -5.28104156e-04 9.99970516e-01 1.60175389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.17, Y:42.11, Z:1.60 [[ 7.53536991e-01 -6.57376964e-01 -6.12619048e-03 2.30172795e+02] [ 6.57360879e-01 7.53561701e-01 -4.62997795e-03 4.21099726e+01] [ 7.66010337e-03 -5.38258304e-04 9.99970516e-01 1.60145643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.585898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:230.19, Y:42.13, Z:1.60 [[ 7.52092769e-01 -6.59028791e-01 -6.12538942e-03 2.30192664e+02] [ 6.59012752e-01 7.52117508e-01 -4.63103749e-03 4.21300521e+01] [ 7.65899967e-03 -5.53739928e-04 9.99970516e-01 1.59963828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.21, Y:42.15, Z:1.60 [[ 7.48048786e-01 -6.63615480e-01 -6.12452516e-03 2.30211254e+02] [ 6.63599583e-01 7.48073617e-01 -4.63218019e-03 4.21517031e+01] [ 7.65558217e-03 -5.99135578e-04 9.99970516e-01 1.59792711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.23, Y:42.17, Z:1.60 [[ 7.45226893e-01 -6.66782853e-01 -6.12412149e-03 2.30231389e+02] [ 6.66767058e-01 7.45251789e-01 -4.63271382e-03 4.21693331e+01] [ 7.65302663e-03 -6.30939538e-04 9.99970516e-01 1.59790606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.25, Y:42.19, Z:1.60 [[ 7.42153837e-01 -6.70201597e-01 -6.12375424e-03 2.30251819e+02] [ 6.70185913e-01 7.42178803e-01 -4.63319921e-03 4.21867837e+01] [ 7.65009811e-03 -6.65507254e-04 9.99970516e-01 1.59779445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.27, Y:42.20, Z:1.60 [[ 7.36380450e-01 -6.76539974e-01 -6.12340347e-03 2.30273924e+02] [ 6.76524500e-01 7.36405547e-01 -4.63366276e-03 4.22044496e+01] [ 7.64416636e-03 -7.30493800e-04 9.99970516e-01 1.59600926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.30, Y:42.22, Z:1.60 [[ 7.34016440e-01 -6.79104101e-01 -6.12257322e-03 2.30295929e+02] [ 6.79088706e-01 7.34041585e-01 -4.63475953e-03 4.22203860e+01] [ 7.64170755e-03 -7.55780632e-04 9.99970516e-01 1.59666724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.32, Y:42.24, Z:1.60 [[ 7.32482488e-01 -6.80758345e-01 -6.12221300e-03 2.30318607e+02] [ 6.80743002e-01 7.32507665e-01 -4.63523530e-03 4.22361627e+01] [ 7.64004306e-03 -7.72424978e-04 9.99970516e-01 1.59680518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.34, Y:42.25, Z:1.60 [[ 7.31910001e-01 -6.81373817e-01 -6.12141548e-03 2.30341936e+02] [ 6.81358487e-01 7.31935186e-01 -4.63628830e-03 4.22517865e+01] [ 7.63952483e-03 -7.77532615e-04 9.99970516e-01 1.59742526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.37, Y:42.27, Z:1.60 [[ 7.32072876e-01 -6.81198827e-01 -6.12059459e-03 2.30365417e+02] [ 6.81183483e-01 7.32098052e-01 -4.63737174e-03 4.22671425e+01] [ 7.63984757e-03 -7.74353874e-04 9.99970516e-01 1.59782689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.39, Y:42.28, Z:1.60 [[ 7.32775996e-01 -6.80442421e-01 -6.11976747e-03 2.30387849e+02] [ 6.80427042e-01 7.32801150e-01 -4.63846299e-03 4.22814207e+01] [ 7.64077963e-03 -7.65100940e-04 9.99970516e-01 1.59790789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.41, Y:42.29, Z:1.59 [[ 7.34519117e-01 -6.78560404e-01 -6.11920407e-03 2.30413926e+02] [ 6.78544954e-01 7.34544228e-01 -4.63920613e-03 4.22939215e+01] [ 7.64280762e-03 -7.44569458e-04 9.99970516e-01 1.59476327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.44, Y:42.31, Z:1.59 [[ 7.35139993e-01 -6.77887712e-01 -6.11895741e-03 2.30437933e+02] [ 6.77872236e-01 7.35165088e-01 -4.63953145e-03 4.23079555e+01] [ 7.64352522e-03 -7.37166222e-04 9.99970516e-01 1.59308152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.945898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:230.46, Y:42.32, Z:1.59 [[ 7.35445030e-01 -6.77556769e-01 -6.11814531e-03 2.30460920e+02] [ 6.77541273e-01 7.35470114e-01 -4.64060212e-03 4.23222399e+01] [ 7.64398440e-03 -7.32388196e-04 9.99970516e-01 1.59230191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.49, Y:42.34, Z:1.59 [[ 7.36221836e-01 -6.76712628e-01 -6.11779084e-03 2.30485296e+02] [ 6.76697099e-01 7.36246899e-01 -4.64106937e-03 4.23353696e+01] [ 7.64487479e-03 -7.23034701e-04 9.99970516e-01 1.59418118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.51, Y:42.35, Z:1.60 [[ 7.37041176e-01 -6.75820155e-01 -6.11743909e-03 2.30509379e+02] [ 6.75804593e-01 7.37066217e-01 -4.64153298e-03 4.23492398e+01] [ 7.64579923e-03 -7.13192509e-04 9.99970516e-01 1.59606401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.53, Y:42.36, Z:1.60 [[ 7.38253866e-01 -6.74495230e-01 -6.11664392e-03 2.30533544e+02] [ 6.74479614e-01 7.38278875e-01 -4.64258062e-03 4.23631109e+01] [ 7.64718747e-03 -6.98148534e-04 9.99970516e-01 1.59814875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.56, Y:42.38, Z:1.60 [[ 7.39865160e-01 -6.72727391e-01 -6.11582837e-03 2.30557623e+02] [ 6.72711706e-01 7.39890125e-01 -4.64365471e-03 4.23772461e+01] [ 7.64895474e-03 -6.78511000e-04 9.99970516e-01 1.60006032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.58, Y:42.39, Z:1.60 [[ 7.43231779e-01 -6.69006070e-01 -6.11557439e-03 2.30583465e+02] [ 6.68990257e-01 7.43256664e-01 -4.64398918e-03 4.23895004e+01] [ 7.65229837e-03 -6.39699350e-04 9.99970516e-01 1.60136786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.61, Y:42.40, Z:1.60 [[ 7.44504213e-01 -6.67589759e-01 -6.11477339e-03 2.30607126e+02] [ 6.67573890e-01 7.44529063e-01 -4.64504363e-03 4.24039736e+01] [ 7.65361005e-03 -6.23808503e-04 9.99970516e-01 1.60016657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:42.42, Z:1.60 [[ 7.45399328e-01 -6.66590175e-01 -6.11394816e-03 2.30630996e+02] [ 6.66574264e-01 7.45424150e-01 -4.64612956e-03 4.24192295e+01] [ 7.65454893e-03 -6.12178641e-04 9.99970516e-01 1.60025997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.185898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:230.65, Y:42.43, Z:1.60 [[ 7.46020775e-01 -6.65894611e-01 -6.11311768e-03 2.30654638e+02] [ 6.65878668e-01 7.46045577e-01 -4.64722201e-03 4.24330586e+01] [ 7.65522450e-03 -6.03670491e-04 9.99970516e-01 1.59943752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.68, Y:42.45, Z:1.60 [[ 7.45969802e-01 -6.65951718e-01 -6.11254929e-03 2.30677953e+02] [ 6.65935771e-01 7.45994601e-01 -4.64796949e-03 4.24469132e+01] [ 7.65525204e-03 -6.03320340e-04 9.99970516e-01 1.59929721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.70, Y:42.46, Z:1.60 [[ 7.45521067e-01 -6.66454034e-01 -6.11218833e-03 2.30701436e+02] [ 6.66438100e-01 7.45545874e-01 -4.64844411e-03 4.24618425e+01] [ 7.65489113e-03 -6.07882166e-04 9.99970516e-01 1.59793197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.73, Y:42.48, Z:1.60 [[ 7.44721626e-01 -6.67347245e-01 -6.11193331e-03 2.30725293e+02] [ 6.67331337e-01 7.44746450e-01 -4.64877941e-03 4.24776549e+01] [ 7.65419076e-03 -6.16638070e-04 9.99970516e-01 1.59584594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.75, Y:42.49, Z:1.59 [[ 7.43951486e-01 -6.68205686e-01 -6.11122080e-03 2.30749506e+02] [ 6.68189800e-01 7.43976325e-01 -4.64971588e-03 4.24937225e+01] [ 7.65357017e-03 -6.24292363e-04 9.99970516e-01 1.59355193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.77, Y:42.51, Z:1.59 [[ 7.42777806e-01 -6.69510114e-01 -6.11048464e-03 2.30774041e+02] [ 6.69494264e-01 7.42802667e-01 -4.65068310e-03 4.25071996e+01] [ 7.65256366e-03 -6.36510227e-04 9.99970516e-01 1.59271941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.80, Y:42.52, Z:1.59 [[ 7.42684190e-01 -6.69613963e-01 -6.11022358e-03 2.30797703e+02] [ 6.69598113e-01 7.42709051e-01 -4.65102606e-03 4.25223403e+01] [ 7.65251035e-03 -6.37150661e-04 9.99970516e-01 1.59178154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.82, Y:42.54, Z:1.59 [[ 7.43166167e-01 -6.69079011e-01 -6.10939685e-03 2.30820620e+02] [ 6.69063135e-01 7.43191012e-01 -4.65211177e-03 4.25368507e+01] [ 7.65307917e-03 -6.30280132e-04 9.99970516e-01 1.59230786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.84, Y:42.55, Z:1.59 [[ 7.43857552e-01 -6.68310274e-01 -6.10903772e-03 2.30844380e+02] [ 6.68294368e-01 7.43882377e-01 -4.65258332e-03 4.25514987e+01] [ 7.65377474e-03 -6.21776269e-04 9.99970516e-01 1.59176587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.87, Y:42.57, Z:1.59 [[ 7.44574914e-01 -6.67510964e-01 -6.10821905e-03 2.30867658e+02] [ 6.67495023e-01 7.44599717e-01 -4.65365788e-03 4.25661500e+01] [ 7.65454583e-03 -6.12208900e-04 9.99970516e-01 1.59160843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.89, Y:42.58, Z:1.59 [[ 7.45405770e-01 -6.66583029e-01 -6.10765854e-03 2.30891404e+02] [ 6.66567051e-01 7.45430549e-01 -4.65439341e-03 4.25812252e+01] [ 7.65537491e-03 -6.01752232e-04 9.99970516e-01 1.59176546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.92, Y:42.60, Z:1.59 [[ 7.47174488e-01 -6.64599873e-01 -6.10681153e-03 2.30915805e+02] [ 6.64583820e-01 7.47199218e-01 -4.65550446e-03 4.25950968e+01] [ 7.65705248e-03 -5.80013979e-04 9.99970516e-01 1.59412867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.94, Y:42.61, Z:1.60 [[ 7.47891944e-01 -6.63792399e-01 -6.10654855e-03 2.30939141e+02] [ 6.63776317e-01 7.47916656e-01 -4.65584938e-03 4.26111857e+01] [ 7.65770680e-03 -5.71310062e-04 9.99970516e-01 1.59502580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.96, Y:42.63, Z:1.60 [[ 7.48599820e-01 -6.62993989e-01 -6.10569953e-03 2.30961693e+02] [ 6.62977872e-01 7.48624508e-01 -4.65696252e-03 4.26263728e+01] [ 7.65841447e-03 -5.61742381e-04 9.99970516e-01 1.59561094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.98, Y:42.64, Z:1.60 [[ 7.49115483e-01 -6.62411293e-01 -6.10512283e-03 2.30984122e+02] [ 6.62395150e-01 7.49140155e-01 -4.65771843e-03 4.26408586e+01] [ 7.65891795e-03 -5.54834761e-04 9.99970516e-01 1.59517780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.01, Y:42.66, Z:1.59 [[ 7.49221931e-01 -6.62290896e-01 -6.10477009e-03 2.31007012e+02] [ 6.62274745e-01 7.49246597e-01 -4.65818072e-03 4.26561673e+01] [ 7.65904890e-03 -5.53023900e-04 9.99970516e-01 1.59434905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.03, Y:42.67, Z:1.60 [[ 7.49280139e-01 -6.62225049e-01 -6.10393558e-03 2.31030381e+02] [ 6.62208888e-01 7.49304798e-01 -4.65927398e-03 4.26723507e+01] [ 7.65919616e-03 -5.50978936e-04 9.99970516e-01 1.59559886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.05, Y:42.69, Z:1.60 [[ 7.49847080e-01 -6.61583032e-01 -6.10310488e-03 2.31053552e+02] [ 6.61566840e-01 7.49871720e-01 -4.66036185e-03 4.26870227e+01] [ 7.65976207e-03 -5.43053085e-04 9.99970516e-01 1.59755401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.08, Y:42.70, Z:1.60 [[ 7.50315391e-01 -6.61051866e-01 -6.10284573e-03 2.31075338e+02] [ 6.61035654e-01 7.50340017e-01 -4.66070117e-03 4.27030969e+01] [ 7.66017458e-03 -5.37202800e-04 9.99970516e-01 1.59769034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.10, Y:42.72, Z:1.60 [[ 7.50802628e-01 -6.60498428e-01 -6.10249121e-03 2.31096419e+02] [ 6.60482194e-01 7.50827241e-01 -4.66116533e-03 4.27193848e+01] [ 7.66060900e-03 -5.30971601e-04 9.99970516e-01 1.59728801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.12, Y:42.74, Z:1.60 [[ 7.51142288e-01 -6.60112133e-01 -6.10194067e-03 2.31118355e+02] [ 6.60095881e-01 7.51166889e-01 -4.66188592e-03 4.27371395e+01] [ 7.66094325e-03 -5.26126245e-04 9.99970516e-01 1.59585260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.14, Y:42.75, Z:1.60 [[ 7.51663627e-01 -6.59518436e-01 -6.10109915e-03 2.31139348e+02] [ 6.59502156e-01 7.51688209e-01 -4.66298697e-03 4.27542012e+01] [ 7.66145017e-03 -5.18690341e-04 9.99970516e-01 1.59671114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.16, Y:42.77, Z:1.60 [[ 7.52117661e-01 -6.59000610e-01 -6.10073353e-03 2.31161181e+02] [ 6.58984309e-01 7.52142229e-01 -4.66346529e-03 4.27717436e+01] [ 7.66184578e-03 -5.12813062e-04 9.99970516e-01 1.59760524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:42.79, Z:1.60 [[ 7.52420544e-01 -6.58654777e-01 -6.09995817e-03 2.31182652e+02] [ 6.58638456e-01 7.52445099e-01 -4.66447926e-03 4.27900800e+01] [ 7.66216517e-03 -5.08017006e-04 9.99970516e-01 1.59926707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:42.81, Z:1.60 [[ 7.51926148e-01 -6.59219130e-01 -6.09969996e-03 2.31204336e+02] [ 6.59202825e-01 7.51950713e-01 -4.66481689e-03 4.28076490e+01] [ 7.66181027e-03 -5.13341652e-04 9.99970516e-01 1.59843080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.23, Y:42.82, Z:1.60 [[ 7.50822957e-01 -6.60475353e-01 -6.09884898e-03 2.31225416e+02] [ 6.60459080e-01 7.50847543e-01 -4.66592921e-03 4.28247864e+01] [ 7.66103701e-03 -5.24753416e-04 9.99970516e-01 1.59881936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.25, Y:42.84, Z:1.60 [[ 7.47493809e-01 -6.64240780e-01 -6.09847846e-03 2.31248878e+02] [ 6.64224627e-01 7.47518474e-01 -4.66641344e-03 4.28421992e+01] [ 7.65834742e-03 -5.62644429e-04 9.99970516e-01 1.59655410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.27, Y:42.86, Z:1.60 [[ 7.45746623e-01 -6.66201765e-01 -6.09773301e-03 2.31271052e+02] [ 6.66185669e-01 7.45771326e-01 -4.66738733e-03 4.28582854e+01] [ 7.65693611e-03 -5.81534003e-04 9.99970516e-01 1.59578270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.29, Y:42.87, Z:1.60 [[ 7.44241902e-01 -6.67882334e-01 -6.09746982e-03 2.31293917e+02] [ 6.67866290e-01 7.44266639e-01 -4.66773115e-03 4.28749098e+01] [ 7.65563854e-03 -5.98373439e-04 9.99970516e-01 1.59527289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.32, Y:42.89, Z:1.60 [[ 7.42977190e-01 -6.69288970e-01 -6.09664101e-03 2.31315906e+02] [ 6.69272965e-01 7.43001952e-01 -4.66881343e-03 4.28917433e+01] [ 7.65460150e-03 -6.11495122e-04 9.99970516e-01 1.59564319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.34, Y:42.91, Z:1.60 [[ 7.42208170e-01 -6.70141681e-01 -6.09580718e-03 2.31337025e+02] [ 6.70125696e-01 7.42232945e-01 -4.66990185e-03 4.29080368e+01] [ 7.65400479e-03 -6.18917725e-04 9.99970516e-01 1.59678234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.36, Y:42.93, Z:1.60 [[ 7.41740100e-01 -6.70659727e-01 -6.09544391e-03 2.31358604e+02] [ 6.70643755e-01 7.41764883e-01 -4.67037597e-03 4.29250693e+01] [ 7.65361931e-03 -6.23666256e-04 9.99970516e-01 1.59708916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.38, Y:42.94, Z:1.60 [[ 7.42046307e-01 -6.70320918e-01 -6.09461743e-03 2.31380239e+02] [ 6.70304926e-01 7.42071077e-01 -4.67145423e-03 4.29417008e+01] [ 7.65401281e-03 -6.18816724e-04 9.99970516e-01 1.59673998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.40, Y:42.96, Z:1.60 [[ 7.42613677e-01 -6.69692309e-01 -6.09405262e-03 2.31402031e+02] [ 6.69676290e-01 7.42638430e-01 -4.67219092e-03 4.29585524e+01] [ 7.65460800e-03 -6.11409671e-04 9.99970516e-01 1.59548533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.42, Y:42.98, Z:1.59 [[ 7.43185422e-01 -6.69057771e-01 -6.09321762e-03 2.31424057e+02] [ 6.69041722e-01 7.43210155e-01 -4.67327964e-03 4.29750474e+01] [ 7.65523527e-03 -6.03503502e-04 9.99970516e-01 1.59497578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.45, Y:42.99, Z:1.60 [[ 7.43460441e-01 -6.68752163e-01 -6.09237753e-03 2.31445985e+02] [ 6.68736095e-01 7.43485162e-01 -4.67437457e-03 4.29912664e+01] [ 7.65559040e-03 -5.98980175e-04 9.99970516e-01 1.59623307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.47, Y:43.01, Z:1.60 [[ 7.42556521e-01 -6.69755703e-01 -6.09201257e-03 2.31470103e+02] [ 6.69739664e-01 7.42581260e-01 -4.67485017e-03 4.30062467e+01] [ 7.65482193e-03 -6.08721978e-04 9.99970516e-01 1.59584225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.49, Y:43.02, Z:1.60 [[ 7.41921494e-01 -6.70459093e-01 -6.09116963e-03 2.31492802e+02] [ 6.70443068e-01 7.41946243e-01 -4.67594823e-03 4.30209644e+01] [ 7.65435243e-03 -6.14595965e-04 9.99970516e-01 1.59602664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.52, Y:43.04, Z:1.60 [[ 7.41408592e-01 -6.71026231e-01 -6.09080268e-03 2.31516022e+02] [ 6.71010222e-01 7.41433351e-01 -4.67642617e-03 4.30361657e+01] [ 7.65392886e-03 -6.19848313e-04 9.99970516e-01 1.59554971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.54, Y:43.05, Z:1.60 [[ 7.41390041e-01 -6.71046734e-01 -6.08998081e-03 2.31538891e+02] [ 6.71030717e-01 7.41414795e-01 -4.67749622e-03 4.30509711e+01] [ 7.65402043e-03 -6.18715076e-04 9.99970516e-01 1.59531920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.56, Y:43.07, Z:1.59 [[ 7.41549972e-01 -6.70869999e-01 -6.08962244e-03 2.31562448e+02] [ 6.70853972e-01 7.41574719e-01 -4.67796273e-03 4.30661823e+01] [ 7.65421491e-03 -6.16304277e-04 9.99970516e-01 1.59454991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.58, Y:43.08, Z:1.59 [[ 7.41429147e-01 -6.71003537e-01 -6.08878020e-03 2.31584901e+02] [ 6.70987505e-01 7.41453892e-01 -4.67905872e-03 4.30836037e+01] [ 7.65421473e-03 -6.16304920e-04 9.99970516e-01 1.59476863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.445898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:231.61, Y:43.10, Z:1.59 [[ 7.41758551e-01 -6.70639388e-01 -6.08793736e-03 2.31607928e+02] [ 6.70623336e-01 7.41783282e-01 -4.68015509e-03 4.30986383e+01] [ 7.65462650e-03 -6.11167808e-04 9.99970516e-01 1.59363177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.63, Y:43.11, Z:1.59 [[ 7.43010196e-01 -6.69252410e-01 -6.08767563e-03 2.31632831e+02] [ 6.69236309e-01 7.43034896e-01 -4.68049551e-03 4.31122636e+01] [ 7.65578833e-03 -5.96437684e-04 9.99970516e-01 1.59162418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.66, Y:43.13, Z:1.59 [[ 7.43597653e-01 -6.68599642e-01 -6.08683888e-03 2.31656022e+02] [ 6.68583510e-01 7.43622332e-01 -4.68158342e-03 4.31280961e+01] [ 7.65641432e-03 -5.88345663e-04 9.99970516e-01 1.59064382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.68, Y:43.14, Z:1.59 [[ 7.43848981e-01 -6.68320018e-01 -6.08657876e-03 2.31679302e+02] [ 6.68303875e-01 7.43873652e-01 -4.68192158e-03 4.31437948e+01] [ 7.65666749e-03 -5.85041574e-04 9.99970516e-01 1.58859040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.70, Y:43.16, Z:1.59 [[ 7.43882625e-01 -6.68282578e-01 -6.08576616e-03 2.31702086e+02] [ 6.68266424e-01 7.43907290e-01 -4.68297760e-03 4.31592097e+01] [ 7.65679815e-03 -5.83327525e-04 9.99970516e-01 1.58753055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.73, Y:43.17, Z:1.59 [[ 7.43660269e-01 -6.68530013e-01 -6.08491691e-03 2.31726075e+02] [ 6.68513858e-01 7.43684934e-01 -4.68408083e-03 4.31746160e+01] [ 7.65670965e-03 -5.84486469e-04 9.99970516e-01 1.58883526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.75, Y:43.19, Z:1.59 [[ 7.43317722e-01 -6.68910867e-01 -6.08406686e-03 2.31747429e+02] [ 6.68894716e-01 7.43342389e-01 -4.68518469e-03 4.31905382e+01] [ 7.65651575e-03 -5.87019361e-04 9.99970516e-01 1.59008315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.77, Y:43.21, Z:1.59 [[ 7.42780405e-01 -6.69507475e-01 -6.08369801e-03 2.31769740e+02] [ 6.69491340e-01 7.42805082e-01 -4.68566359e-03 4.32072265e+01] [ 7.65608860e-03 -5.92564032e-04 9.99970516e-01 1.59070745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.79, Y:43.22, Z:1.59 [[ 7.42406296e-01 -6.69922302e-01 -6.08286073e-03 2.31791225e+02] [ 6.69906173e-01 7.42430976e-01 -4.68675028e-03 4.32236906e+01] [ 7.65586277e-03 -5.95473030e-04 9.99970516e-01 1.59090490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.81, Y:43.24, Z:1.59 [[ 7.42301248e-01 -6.70038702e-01 -6.08228971e-03 2.31812057e+02] [ 6.70022570e-01 7.42325928e-01 -4.68749121e-03 4.32402307e+01] [ 7.65584188e-03 -5.95740807e-04 9.99970516e-01 1.59074456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.83, Y:43.26, Z:1.59 [[ 7.42786094e-01 -6.69501181e-01 -6.08173400e-03 2.31833267e+02] [ 6.69485026e-01 7.42810757e-01 -4.68821211e-03 4.32581670e+01] [ 7.65634098e-03 -5.89291085e-04 9.99970516e-01 1.59007681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.86, Y:43.28, Z:1.59 [[ 7.42878682e-01 -6.69398451e-01 -6.08091282e-03 2.31855203e+02] [ 6.69382283e-01 7.42903338e-01 -4.68927699e-03 4.32758001e+01] [ 7.65652518e-03 -5.86891397e-04 9.99970516e-01 1.59053026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.88, Y:43.29, Z:1.59 [[ 7.42682223e-01 -6.69616419e-01 -6.08009363e-03 2.31877341e+02] [ 6.69600250e-01 7.42706878e-01 -4.69033890e-03 4.32933536e+01] [ 7.65645529e-03 -5.87800897e-04 9.99970516e-01 1.59109108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.90, Y:43.31, Z:1.59 [[ 7.40566410e-01 -6.71955679e-01 -6.07926151e-03 2.31898735e+02] [ 6.71939579e-01 7.40591110e-01 -4.69141718e-03 4.33100764e+01] [ 7.65467145e-03 -6.10590445e-04 9.99970516e-01 1.59149210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.92, Y:43.33, Z:1.59 [[ 7.38810611e-01 -6.73885696e-01 -6.07869645e-03 2.31921390e+02] [ 6.73869655e-01 7.38835349e-01 -4.69214922e-03 4.33270239e+01] [ 7.65312805e-03 -6.29639447e-04 9.99970516e-01 1.59184029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.94, Y:43.34, Z:1.59 [[ 7.37196754e-01 -6.75650801e-01 -6.07788568e-03 2.31944417e+02] [ 6.75634810e-01 7.37221525e-01 -4.69319920e-03 4.33433246e+01] [ 7.65171195e-03 -6.46619921e-04 9.99970516e-01 1.59185639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.97, Y:43.36, Z:1.59 [[ 7.35985366e-01 -6.76970170e-01 -6.07707527e-03 2.31966861e+02] [ 6.76954215e-01 7.36010160e-01 -4.69424833e-03 4.33584062e+01] [ 7.65065523e-03 -6.59003644e-04 9.99970516e-01 1.59252504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.99, Y:43.37, Z:1.59 [[ 7.35184434e-01 -6.77839894e-01 -6.07672270e-03 2.31990154e+02] [ 6.77823965e-01 7.35209244e-01 -4.69470470e-03 4.33736315e+01] [ 7.64992084e-03 -6.67474459e-04 9.99970516e-01 1.59207183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.01, Y:43.39, Z:1.59 [[ 7.34985224e-01 -6.78055900e-01 -6.07589288e-03 2.32013311e+02] [ 6.78039970e-01 7.35010033e-01 -4.69577841e-03 4.33887999e+01] [ 7.64984248e-03 -6.68370475e-04 9.99970516e-01 1.59156796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.04, Y:43.40, Z:1.59 [[ 7.36469462e-01 -6.76443512e-01 -6.07505437e-03 2.32037566e+02] [ 6.76427518e-01 7.36494231e-01 -4.69686296e-03 4.34019797e+01] [ 7.65140497e-03 -6.50237819e-04 9.99970516e-01 1.59279009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.06, Y:43.42, Z:1.59 [[ 7.37378898e-01 -6.75452041e-01 -6.07469087e-03 2.32060635e+02] [ 6.75436010e-01 7.37403642e-01 -4.69733304e-03 4.34175392e+01] [ 7.65232236e-03 -6.39350706e-04 9.99970516e-01 1.59343322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.08, Y:43.43, Z:1.59 [[ 7.38065335e-01 -6.74701912e-01 -6.07383035e-03 2.32083622e+02] [ 6.74685847e-01 7.38090057e-01 -4.69844546e-03 4.34326956e+01] [ 7.65308393e-03 -6.30167648e-04 9.99970516e-01 1.59383098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.11, Y:43.45, Z:1.59 [[ 7.38283320e-01 -6.74463382e-01 -6.07345520e-03 2.32106182e+02] [ 6.74447304e-01 7.38308034e-01 -4.69893035e-03 4.34472914e+01] [ 7.65333723e-03 -6.27083592e-04 9.99970516e-01 1.59335570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.13, Y:43.46, Z:1.59 [[ 7.37938555e-01 -6.74840580e-01 -6.07290635e-03 2.32130074e+02] [ 6.74824510e-01 7.37963274e-01 -4.69963959e-03 4.34626362e+01] [ 7.65308936e-03 -6.30100805e-04 9.99970516e-01 1.59192076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.15, Y:43.48, Z:1.59 [[ 7.37068231e-01 -6.75791058e-01 -6.07205009e-03 2.32154035e+02] [ 6.75775010e-01 7.37092965e-01 -4.70074563e-03 4.34756787e+01] [ 7.65238726e-03 -6.38569454e-04 9.99970516e-01 1.58825931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.18, Y:43.49, Z:1.59 [[ 7.36946924e-01 -6.75923346e-01 -6.07146751e-03 2.32177228e+02] [ 6.75907296e-01 7.36971657e-01 -4.70149796e-03 4.34918206e+01] [ 7.65235170e-03 -6.38994732e-04 9.99970516e-01 1.58794211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.20, Y:43.51, Z:1.59 [[ 7.36983783e-01 -6.75883164e-01 -6.07061904e-03 2.32198673e+02] [ 6.75867105e-01 7.37008509e-01 -4.70259326e-03 4.35076997e+01] [ 7.65250150e-03 -6.37196743e-04 9.99970516e-01 1.58717011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.22, Y:43.52, Z:1.59 [[ 7.37166166e-01 -6.75684243e-01 -6.07025009e-03 2.32220410e+02] [ 6.75668173e-01 7.37190885e-01 -4.70306947e-03 4.35244414e+01] [ 7.65272297e-03 -6.34531099e-04 9.99970516e-01 1.58780902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.24, Y:43.54, Z:1.59 [[ 7.37518586e-01 -6.75299561e-01 -6.06940983e-03 2.32242347e+02] [ 6.75283469e-01 7.37543292e-01 -4.70415359e-03 4.35417068e+01] [ 7.65316536e-03 -6.29171421e-04 9.99970516e-01 1.58816930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.26, Y:43.56, Z:1.59 [[ 7.38138678e-01 -6.74621720e-01 -6.06856840e-03 2.32264983e+02] [ 6.74605597e-01 7.38163362e-01 -4.70523883e-03 4.35587721e+01] [ 7.65385116e-03 -6.20771440e-04 9.99970516e-01 1.58703261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:43.57, Z:1.59 [[ 7.37805835e-01 -6.74985728e-01 -6.06771154e-03 2.32287078e+02] [ 6.74969608e-01 7.37830522e-01 -4.70634355e-03 4.35745781e+01] [ 7.65365749e-03 -6.23153146e-04 9.99970516e-01 1.58512867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.31, Y:43.59, Z:1.59 [[ 7.36771118e-01 -6.76115010e-01 -6.06733803e-03 2.32310278e+02] [ 6.76098924e-01 7.36795827e-01 -4.70682501e-03 4.35909164e+01] [ 7.65274438e-03 -6.34267990e-04 9.99970516e-01 1.58506876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.33, Y:43.61, Z:1.59 [[ 7.34174535e-01 -6.78933685e-01 -6.06652704e-03 2.32333993e+02] [ 6.78917685e-01 7.34199300e-01 -4.70787005e-03 4.36055431e+01] [ 7.65037147e-03 -6.62274185e-04 9.99970516e-01 1.58644597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.36, Y:43.62, Z:1.59 [[ 7.33034790e-01 -6.80164101e-01 -6.06571385e-03 2.32356498e+02] [ 6.80148134e-01 7.33059576e-01 -4.70891754e-03 4.36220288e+01] [ 7.64936629e-03 -6.73783579e-04 9.99970516e-01 1.58658038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.465898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:232.38, Y:43.64, Z:1.58 [[ 7.32211046e-01 -6.81050807e-01 -6.06487242e-03 2.32378986e+02] [ 6.81034861e-01 7.32235846e-01 -4.71000103e-03 4.36387635e+01] [ 7.64866698e-03 -6.81674766e-04 9.99970516e-01 1.58379637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.40, Y:43.65, Z:1.58 [[ 7.31984610e-01 -6.81294173e-01 -6.06461074e-03 2.32402151e+02] [ 6.81278233e-01 7.32009414e-01 -4.71033794e-03 4.36542864e+01] [ 7.64847794e-03 -6.83792406e-04 9.99970516e-01 1.58301232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.525898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:232.43, Y:43.67, Z:1.58 [[ 7.32183507e-01 -6.81080423e-01 -6.06379074e-03 2.32426403e+02] [ 6.81064467e-01 7.32208300e-01 -4.71139332e-03 4.36682515e+01] [ 7.64879566e-03 -6.80227922e-04 9.99970516e-01 1.58490112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.45, Y:43.68, Z:1.59 [[ 7.32374934e-01 -6.80874582e-01 -6.06294886e-03 2.32449532e+02] [ 6.80858610e-01 7.32399717e-01 -4.71247646e-03 4.36841136e+01] [ 7.64910747e-03 -6.76711300e-04 9.99970516e-01 1.58586184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.47, Y:43.70, Z:1.59 [[ 7.32634262e-01 -6.80595535e-01 -6.06268749e-03 2.32471559e+02] [ 6.80579551e-01 7.32659037e-01 -4.71281270e-03 4.36989602e+01] [ 7.64940205e-03 -6.73373071e-04 9.99970516e-01 1.58581149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.49, Y:43.71, Z:1.59 [[ 7.32910689e-01 -6.80297854e-01 -6.06232478e-03 2.32494590e+02] [ 6.80281856e-01 7.32935455e-01 -4.71327922e-03 4.37145468e+01] [ 7.64972651e-03 -6.69676841e-04 9.99970516e-01 1.58600974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.52, Y:43.73, Z:1.59 [[ 7.33334175e-01 -6.79841339e-01 -6.06148673e-03 2.32516812e+02] [ 6.79825317e-01 7.33358925e-01 -4.71435675e-03 4.37295580e+01] [ 7.65025999e-03 -6.63553222e-04 9.99970516e-01 1.58555403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.54, Y:43.74, Z:1.59 [[ 7.34617707e-01 -6.78454190e-01 -6.06112329e-03 2.32540734e+02] [ 6.78438117e-01 7.34642425e-01 -4.71482396e-03 4.37437732e+01] [ 7.65155038e-03 -6.48503908e-04 9.99970516e-01 1.58554593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.705898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:232.56, Y:43.76, Z:1.59 [[ 7.35600314e-01 -6.77388700e-01 -6.06031407e-03 2.32563591e+02] [ 6.77372583e-01 7.35625003e-01 -4.71586388e-03 4.37601844e+01] [ 7.65259146e-03 -6.36099643e-04 9.99970516e-01 1.58555235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.59, Y:43.78, Z:1.59 [[ 7.36831868e-01 -6.76048875e-01 -6.05949012e-03 2.32586562e+02] [ 6.76032705e-01 7.36856521e-01 -4.71692236e-03 4.37759031e+01] [ 7.65384486e-03 -6.20834782e-04 9.99970516e-01 1.58581480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.61, Y:43.79, Z:1.59 [[ 7.37800553e-01 -6.74991583e-01 -6.05863793e-03 2.32608563e+02] [ 6.74975368e-01 7.37825178e-01 -4.71801669e-03 4.37914175e+01] [ 7.65483716e-03 -6.08476048e-04 9.99970516e-01 1.58555551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.63, Y:43.81, Z:1.58 [[ 7.38333452e-01 -6.74408638e-01 -6.05826694e-03 2.32630662e+02] [ 6.74392400e-01 7.38358062e-01 -4.71849302e-03 4.38061770e+01] [ 7.65536268e-03 -6.01827939e-04 9.99970516e-01 1.58420560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.66, Y:43.82, Z:1.59 [[ 7.37418659e-01 -6.75408782e-01 -6.05790146e-03 2.32656349e+02] [ 6.75392574e-01 7.37443288e-01 -4.71896220e-03 4.38196683e+01] [ 7.65458728e-03 -6.11610883e-04 9.99970516e-01 1.58677076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.68, Y:43.83, Z:1.59 [[ 7.36091686e-01 -6.76854741e-01 -6.05715413e-03 2.32679954e+02] [ 6.76838573e-01 7.36116342e-01 -4.71992126e-03 4.38346559e+01] [ 7.65347122e-03 -6.25420763e-04 9.99970516e-01 1.58742850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.70, Y:43.85, Z:1.59 [[ 7.34545752e-01 -6.78532130e-01 -6.05688859e-03 2.32703719e+02] [ 6.78516016e-01 7.34570443e-01 -4.72026199e-03 4.38501025e+01] [ 7.65206076e-03 -6.42447520e-04 9.99970516e-01 1.58799245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.73, Y:43.86, Z:1.59 [[ 7.31972427e-01 -6.81307339e-01 -6.05604558e-03 2.32728399e+02] [ 6.81291309e-01 7.31997173e-01 -4.72134331e-03 4.38645329e+01] [ 7.64969409e-03 -6.70038100e-04 9.99970516e-01 1.58817857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.75, Y:43.88, Z:1.59 [[ 7.31296227e-01 -6.82033110e-01 -6.05519917e-03 2.32751061e+02] [ 6.82017096e-01 7.31320982e-01 -4.72242860e-03 4.38806438e+01] [ 7.64914687e-03 -6.76255140e-04 9.99970516e-01 1.58690372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.77, Y:43.90, Z:1.59 [[ 7.31222934e-01 -6.82111690e-01 -6.05493537e-03 2.32773484e+02] [ 6.82095676e-01 7.31247690e-01 -4.72276681e-03 4.38975446e+01] [ 7.64911196e-03 -6.76649833e-04 9.99970516e-01 1.58699045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.80, Y:43.91, Z:1.59 [[ 7.32247057e-01 -6.81012185e-01 -6.05409576e-03 2.32795140e+02] [ 6.80996125e-01 7.32271783e-01 -4.72384286e-03 4.39142618e+01] [ 7.65023804e-03 -6.63795722e-04 9.99970516e-01 1.58828404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.82, Y:43.93, Z:1.59 [[ 7.32685417e-01 -6.80540546e-01 -6.05352331e-03 2.32817673e+02] [ 6.80524464e-01 7.32710128e-01 -4.72457633e-03 4.39322597e+01] [ 7.65074360e-03 -6.57942530e-04 9.99970516e-01 1.59013017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.84, Y:43.95, Z:1.59 [[ 7.32971545e-01 -6.80232371e-01 -6.05279339e-03 2.32839553e+02] [ 6.80216271e-01 7.32996245e-01 -4.72551127e-03 4.39488994e+01] [ 7.65112056e-03 -6.53543251e-04 9.99970516e-01 1.59160758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.86, Y:43.96, Z:1.59 [[ 7.32840130e-01 -6.80373955e-01 -6.05194814e-03 2.32860754e+02] [ 6.80357851e-01 7.32864827e-01 -4.72659354e-03 4.39648724e+01] [ 7.65111106e-03 -6.53653009e-04 9.99970516e-01 1.59102244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.88, Y:43.98, Z:1.59 [[ 7.31983908e-01 -6.81295046e-01 -6.05137094e-03 2.32882592e+02] [ 6.81278967e-01 7.32008621e-01 -4.72733240e-03 4.39815829e+01] [ 7.65036384e-03 -6.62340495e-04 9.99970516e-01 1.58977240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.90, Y:44.00, Z:1.59 [[ 7.30642231e-01 -6.82733712e-01 -6.05052378e-03 2.32904291e+02] [ 6.82717673e-01 7.30666970e-01 -4.72841643e-03 4.39976931e+01] [ 7.64916718e-03 -6.76018782e-04 9.99970516e-01 1.58726612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.93, Y:44.01, Z:1.58 [[ 7.26287600e-01 -6.87364327e-01 -6.05020401e-03 2.32929447e+02] [ 6.87348442e-01 7.26312438e-01 -4.72882555e-03 4.40126268e+01] [ 7.64476442e-03 -7.24110941e-04 9.99970516e-01 1.58496881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.95, Y:44.03, Z:1.58 [[ 7.23994048e-01 -6.89779691e-01 -6.04946175e-03 2.32953050e+02] [ 6.89763881e-01 7.24018934e-01 -4.72977491e-03 4.40272578e+01] [ 7.64242753e-03 -7.48371331e-04 9.99970516e-01 1.58290932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.98, Y:44.04, Z:1.59 [[ 7.22209501e-01 -6.91647920e-01 -6.04911255e-03 2.32977308e+02] [ 6.91632170e-01 7.22234426e-01 -4.73022148e-03 4.40420357e+01] [ 7.64052518e-03 -7.67549948e-04 9.99970516e-01 1.58544169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.00, Y:44.06, Z:1.59 [[ 7.21242512e-01 -6.92656233e-01 -6.04826163e-03 2.33001068e+02] [ 6.92640510e-01 7.21267453e-01 -4.73130925e-03 4.40568089e+01] [ 7.63958511e-03 -7.76849657e-04 9.99970516e-01 1.58590674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.02, Y:44.07, Z:1.59 [[ 7.21124308e-01 -6.92779297e-01 -6.04799741e-03 2.33023374e+02] [ 6.92763575e-01 7.21149250e-01 -4.73164698e-03 4.40744518e+01] [ 7.63949586e-03 -7.77726653e-04 9.99970516e-01 1.58612524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.05, Y:44.09, Z:1.59 [[ 7.22585521e-01 -6.91255088e-01 -6.04718981e-03 2.33049731e+02] [ 6.91239305e-01 7.22610424e-01 -4.73267889e-03 4.40876769e+01] [ 7.64125076e-03 -7.60290041e-04 9.99970516e-01 1.59093073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.36589822699995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:233.07, Y:44.10, Z:1.59 [[ 7.24536290e-01 -6.89210131e-01 -6.04646354e-03 2.33072630e+02] [ 6.89194269e-01 7.24561144e-01 -4.73360659e-03 4.41029663e+01] [ 7.64348216e-03 -7.37518256e-04 9.99970516e-01 1.59264050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.10, Y:44.12, Z:1.59 [[ 7.27323500e-01 -6.86268153e-01 -6.04557777e-03 2.33095586e+02] [ 6.86252182e-01 7.27348283e-01 -4.73473758e-03 4.41172159e+01] [ 7.64654023e-03 -7.05105030e-04 9.99970516e-01 1.59210800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.12, Y:44.13, Z:1.59 [[ 7.29670503e-01 -6.83772195e-01 -6.04497300e-03 2.33118873e+02] [ 6.83756133e-01 7.29695228e-01 -4.73550959e-03 4.41331554e+01] [ 7.64899774e-03 -6.77925693e-04 9.99970516e-01 1.59258564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.14, Y:44.15, Z:1.59 [[ 7.33909276e-01 -6.79220615e-01 -6.04412292e-03 2.33143332e+02] [ 6.79204390e-01 7.33933894e-01 -4.73659433e-03 4.41474035e+01] [ 7.65317919e-03 -6.28964308e-04 9.99970516e-01 1.59260833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.17, Y:44.16, Z:1.59 [[ 7.35482866e-01 -6.77516371e-01 -6.04326825e-03 2.33166052e+02] [ 6.77500080e-01 7.35507441e-01 -4.73768453e-03 4.41621287e+01] [ 7.65472759e-03 -6.09828933e-04 9.99970516e-01 1.59152964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.19, Y:44.18, Z:1.59 [[ 7.36351574e-01 -6.76572127e-01 -6.04289559e-03 2.33189647e+02] [ 6.76555801e-01 7.36376125e-01 -4.73815981e-03 4.41767098e+01] [ 7.65555090e-03 -5.99404637e-04 9.99970516e-01 1.59302758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.21, Y:44.19, Z:1.59 [[ 7.36615062e-01 -6.76285253e-01 -6.04203274e-03 2.33212556e+02] [ 6.76268909e-01 7.36639601e-01 -4.73925985e-03 4.41910896e+01] [ 7.65589213e-03 -5.95028697e-04 9.99970516e-01 1.59278228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.24, Y:44.20, Z:1.59 [[ 7.35794771e-01 -6.77177638e-01 -6.04166551e-03 2.33237164e+02] [ 6.77161320e-01 7.35819327e-01 -4.73972795e-03 4.42029126e+01] [ 7.65521203e-03 -6.03715152e-04 9.99970516e-01 1.59267414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.26, Y:44.22, Z:1.59 [[ 7.34884666e-01 -6.78165194e-01 -6.04119895e-03 2.33261150e+02] [ 6.78148904e-01 7.34909241e-01 -4.74032255e-03 4.42171273e+01] [ 7.65445470e-03 -6.13242088e-04 9.99970516e-01 1.59321706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.29, Y:44.23, Z:1.59 [[ 7.33964064e-01 -6.79161444e-01 -6.04034681e-03 2.33285283e+02] [ 6.79145179e-01 7.33988655e-01 -4.74140813e-03 4.42312061e+01] [ 7.65372763e-03 -6.22249234e-04 9.99970516e-01 1.59293023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.31, Y:44.25, Z:1.59 [[ 7.32906511e-01 -6.80302558e-01 -6.03949700e-03 2.33309852e+02] [ 6.80286322e-01 7.32931122e-01 -4.74249036e-03 4.42455507e+01] [ 7.65286363e-03 -6.32785134e-04 9.99970516e-01 1.59260326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.34, Y:44.26, Z:1.59 [[ 7.31194334e-01 -6.82142493e-01 -6.03864812e-03 2.33335415e+02] [ 6.82126310e-01 7.31218980e-01 -4.74357100e-03 4.42569935e+01] [ 7.65136546e-03 -6.50648517e-04 9.99970516e-01 1.59193816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.36, Y:44.27, Z:1.59 [[ 7.30706962e-01 -6.82664544e-01 -6.03780351e-03 2.33359366e+02] [ 6.82648370e-01 7.30731614e-01 -4.74464581e-03 4.42721121e+01] [ 7.65101537e-03 -6.54750992e-04 9.99970516e-01 1.59343376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.38, Y:44.29, Z:1.59 [[ 7.30681300e-01 -6.82692019e-01 -6.03695179e-03 2.33381824e+02] [ 6.82675837e-01 7.30705946e-01 -4.74572927e-03 4.42866631e+01] [ 7.65110806e-03 -6.53665482e-04 9.99970516e-01 1.59391983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.41, Y:44.30, Z:1.60 [[ 7.31340456e-01 -6.81985848e-01 -6.03658355e-03 2.33405314e+02] [ 6.81969638e-01 7.31365084e-01 -4.74619762e-03 4.43018624e+01] [ 7.65178604e-03 -6.45680374e-04 9.99970516e-01 1.59549559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.43, Y:44.32, Z:1.60 [[ 7.33257103e-01 -6.79924690e-01 -6.03621871e-03 2.33429172e+02] [ 6.79908408e-01 7.33281683e-01 -4.74666157e-03 4.43175117e+01] [ 7.65362102e-03 -6.23552541e-04 9.99970516e-01 1.59646938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.45, Y:44.33, Z:1.60 [[ 7.33866733e-01 -6.79266658e-01 -6.03539145e-03 2.33450831e+02] [ 6.79250344e-01 7.33891292e-01 -4.74771320e-03 4.43342278e+01] [ 7.65428451e-03 -6.15352944e-04 9.99970516e-01 1.59522774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.47, Y:44.35, Z:1.59 [[ 7.34108024e-01 -6.79005882e-01 -6.03499360e-03 2.33472793e+02] [ 6.78989556e-01 7.34132575e-01 -4.74821888e-03 4.43511058e+01] [ 7.65455394e-03 -6.11992045e-04 9.99970516e-01 1.59488502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.49, Y:44.37, Z:1.60 [[ 7.34006488e-01 -6.79115649e-01 -6.03415995e-03 2.33494729e+02] [ 6.79099318e-01 7.34031036e-01 -4.74927807e-03 4.43680717e+01] [ 7.65456973e-03 -6.11792988e-04 9.99970516e-01 1.59543243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.935898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:233.52, Y:44.39, Z:1.60 [[ 7.33695792e-01 -6.79451311e-01 -6.03330958e-03 2.33515995e+02] [ 6.79434982e-01 7.33720341e-01 -4.75035809e-03 4.43861406e+01] [ 7.65439900e-03 -6.13923847e-04 9.99970516e-01 1.59644617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:233.54, Y:44.40, Z:1.60 [[ 7.33680610e-01 -6.79467713e-01 -6.03242642e-03 2.33537435e+02] [ 6.79451375e-01 7.33705153e-01 -4.75147934e-03 4.44035881e+01] [ 7.65449915e-03 -6.12672169e-04 9.99970516e-01 1.59715305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.56, Y:44.42, Z:1.60 [[ 7.32810136e-01 -6.80406436e-01 -6.03215218e-03 2.33559603e+02] [ 6.80390127e-01 7.32834698e-01 -4.75182748e-03 4.44223341e+01] [ 7.65374442e-03 -6.22029446e-04 9.99970516e-01 1.60035166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.58, Y:44.44, Z:1.60 [[ 7.32035028e-01 -6.81240296e-01 -6.03140396e-03 2.33581282e+02] [ 6.81224007e-01 7.32059604e-01 -4.75277699e-03 4.44402187e+01] [ 7.65313039e-03 -6.29537935e-04 9.99970516e-01 1.60034817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.60, Y:44.46, Z:1.60 [[ 7.31500972e-01 -6.81813728e-01 -6.03053286e-03 2.33602088e+02] [ 6.81797450e-01 7.31525555e-01 -4.75388202e-03 4.44573039e+01] [ 7.65275092e-03 -6.34132607e-04 9.99970516e-01 1.59793639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.085898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:233.62, Y:44.48, Z:1.60 [[ 7.31172022e-01 -6.82166484e-01 -6.03015807e-03 2.33623862e+02] [ 6.82150214e-01 7.31196610e-01 -4.75435738e-03 4.44758826e+01] [ 7.65249440e-03 -6.37220514e-04 9.99970516e-01 1.59515456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.64, Y:44.49, Z:1.60 [[ 7.31523105e-01 -6.81789992e-01 -6.02941977e-03 2.33644862e+02] [ 6.81773701e-01 7.31547680e-01 -4.75529351e-03 4.44919855e+01] [ 7.65291956e-03 -6.32092757e-04 9.99970516e-01 1.59533993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.67, Y:44.51, Z:1.60 [[ 7.31620069e-01 -6.81685946e-01 -6.02876111e-03 2.33666210e+02] [ 6.81669645e-01 7.31644637e-01 -4.75612841e-03 4.45092647e+01] [ 7.65309662e-03 -6.29944454e-04 9.99970516e-01 1.59603843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.69, Y:44.53, Z:1.60 [[ 7.31858528e-01 -6.81429937e-01 -6.02791157e-03 2.33687900e+02] [ 6.81413619e-01 7.31883084e-01 -4.75720487e-03 4.45266209e+01] [ 7.65342833e-03 -6.25900078e-04 9.99970516e-01 1.59704714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.71, Y:44.54, Z:1.60 [[ 7.32237082e-01 -6.81023150e-01 -6.02704160e-03 2.33709466e+02] [ 6.81006809e-01 7.32261623e-01 -4.75830680e-03 4.45432530e+01] [ 7.65388835e-03 -6.20247679e-04 9.99970516e-01 1.59619993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:233.73, Y:44.56, Z:1.59 [[ 7.32638447e-01 -6.80591350e-01 -6.02666375e-03 2.33731700e+02] [ 6.80574991e-01 7.32662976e-01 -4.75878532e-03 4.45597897e+01] [ 7.65430152e-03 -6.15127540e-04 9.99970516e-01 1.59291183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.76, Y:44.57, Z:1.59 [[ 7.32641830e-01 -6.80587711e-01 -6.02640194e-03 2.33757481e+02] [ 6.80571349e-01 7.32666357e-01 -4.75911685e-03 4.45738274e+01] [ 7.65433839e-03 -6.14668424e-04 9.99970516e-01 1.59088193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.78, Y:44.59, Z:1.59 [[ 7.32243109e-01 -6.81016682e-01 -6.02564532e-03 2.33780308e+02] [ 6.81000327e-01 7.32267640e-01 -4.76007464e-03 4.45888073e+01] [ 7.65407531e-03 -6.17934576e-04 9.99970516e-01 1.58909564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.80, Y:44.60, Z:1.59 [[ 7.31769510e-01 -6.81525558e-01 -6.02478479e-03 2.33803175e+02] [ 6.81509210e-01 7.31794047e-01 -4.76116355e-03 4.46046491e+01] [ 7.65375629e-03 -6.21872011e-04 9.99970516e-01 1.59014434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35589822699995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:233.83, Y:44.62, Z:1.59 [[ 7.31338532e-01 -6.81988023e-01 -6.02395488e-03 2.33825809e+02] [ 6.81971683e-01 7.31363073e-01 -4.76221335e-03 4.46203923e+01] [ 7.65347062e-03 -6.25376528e-04 9.99970516e-01 1.59033715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.85, Y:44.63, Z:1.60 [[ 7.32039613e-01 -6.81235442e-01 -6.02312971e-03 2.33851265e+02] [ 6.81219068e-01 7.32064132e-01 -4.76325677e-03 4.46341298e+01] [ 7.65421655e-03 -6.16178170e-04 9.99970516e-01 1.59537964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.87, Y:44.65, Z:1.60 [[ 7.32875910e-01 -6.80335676e-01 -6.02236424e-03 2.33873907e+02] [ 6.80319264e-01 7.32900404e-01 -4.76422439e-03 4.46508534e+01] [ 7.65506500e-03 -6.05545121e-04 9.99970516e-01 1.59614165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.90, Y:44.67, Z:1.60 [[ 7.33995486e-01 -6.79127647e-01 -6.02209192e-03 2.33895960e+02] [ 6.79111192e-01 7.34019951e-01 -4.76456858e-03 4.46687514e+01] [ 7.65608586e-03 -5.92498189e-04 9.99970516e-01 1.59829634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.92, Y:44.69, Z:1.60 [[ 7.35085747e-01 -6.77947409e-01 -6.02122260e-03 2.33917603e+02] [ 6.77930906e-01 7.35110179e-01 -4.76566692e-03 4.46867324e+01] [ 7.65713357e-03 -5.78799062e-04 9.99970516e-01 1.59862593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.94, Y:44.70, Z:1.60 [[ 7.36028015e-01 -6.76924307e-01 -6.02035686e-03 2.33938616e+02] [ 6.76907761e-01 7.36052418e-01 -4.76676035e-03 4.47046448e+01] [ 7.65803417e-03 -5.66757128e-04 9.99970516e-01 1.59769903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.96, Y:44.72, Z:1.60 [[ 7.36905966e-01 -6.75968459e-01 -6.02000559e-03 2.33960065e+02] [ 6.75951877e-01 7.36930345e-01 -4.76720393e-03 4.47217945e+01] [ 7.65880429e-03 -5.56253061e-04 9.99970516e-01 1.60026626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.98, Y:44.74, Z:1.60 [[ 7.36603397e-01 -6.76298163e-01 -6.01913413e-03 2.33980841e+02] [ 6.76281584e-01 7.36627778e-01 -4.76830399e-03 4.47390268e+01] [ 7.65865663e-03 -5.58280649e-04 9.99970516e-01 1.59966661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.00, Y:44.76, Z:1.60 [[ 7.35699503e-01 -6.77281341e-01 -6.01878036e-03 2.34002352e+02] [ 6.77264791e-01 7.35723904e-01 -4.76875050e-03 4.47559295e+01] [ 7.65794631e-03 -5.67940647e-04 9.99970516e-01 1.59948218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.02, Y:44.77, Z:1.60 [[ 7.34321658e-01 -6.78774986e-01 -6.01833147e-03 2.34024166e+02] [ 6.78758481e-01 7.34346089e-01 -4.76931695e-03 4.47733604e+01] [ 7.65683122e-03 -5.82780790e-04 9.99970516e-01 1.60091755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.05, Y:44.79, Z:1.60 [[ 7.33020558e-01 -6.80179867e-01 -6.01744693e-03 2.34045884e+02] [ 6.80163399e-01 7.33045014e-01 -4.77043271e-03 4.47895806e+01] [ 7.65581176e-03 -5.96021913e-04 9.99970516e-01 1.60036111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.685898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:234.07, Y:44.81, Z:1.60 [[ 7.30274637e-01 -6.83127184e-01 -6.01706313e-03 2.34068406e+02] [ 6.83110811e-01 7.30299157e-01 -4.77091676e-03 4.48059958e+01] [ 7.65339906e-03 -6.26241364e-04 9.99970516e-01 1.59908743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.09, Y:44.82, Z:1.60 [[ 7.29602611e-01 -6.83844891e-01 -6.01620856e-03 2.34091222e+02] [ 6.83828533e-01 7.29627141e-01 -4.77199414e-03 4.48225207e+01] [ 7.65289286e-03 -6.32395696e-04 9.99970516e-01 1.59906293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.11, Y:44.84, Z:1.60 [[ 7.29544993e-01 -6.83906367e-01 -6.01534439e-03 2.34112465e+02] [ 6.83890002e-01 7.29569519e-01 -4.77308322e-03 4.48392151e+01] [ 7.65295391e-03 -6.31654929e-04 9.99970516e-01 1.59721943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.13, Y:44.86, Z:1.60 [[ 7.30121980e-01 -6.83290358e-01 -6.01500353e-03 2.34132926e+02] [ 6.83273970e-01 7.30146489e-01 -4.77351273e-03 4.48560651e+01] [ 7.65352894e-03 -6.24648775e-04 9.99970516e-01 1.59570237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.16, Y:44.87, Z:1.60 [[ 7.31350103e-01 -6.81975698e-01 -6.01455176e-03 2.34155290e+02] [ 6.81959260e-01 7.31374580e-01 -4.77408189e-03 4.48746963e+01] [ 7.65469809e-03 -6.10153989e-04 9.99970516e-01 1.60061530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.18, Y:44.89, Z:1.60 [[ 7.34137137e-01 -6.78974593e-01 -6.01377765e-03 2.34175280e+02] [ 6.78958048e-01 7.34161541e-01 -4.77505682e-03 4.48947771e+01] [ 7.65722652e-03 -5.77556189e-04 9.99970516e-01 1.60417519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.20, Y:44.91, Z:1.61 [[ 7.35699605e-01 -6.77281277e-01 -6.01350228e-03 2.34195833e+02] [ 6.77264673e-01 7.35723969e-01 -4.77540357e-03 4.49134219e+01] [ 7.65856920e-03 -5.59470134e-04 9.99970516e-01 1.60500264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.22, Y:44.93, Z:1.60 [[ 7.37458947e-01 -6.75365197e-01 -6.01264357e-03 2.34216216e+02] [ 6.75348520e-01 7.37483262e-01 -4.77648452e-03 4.49323595e+01] [ 7.66009540e-03 -5.38168697e-04 9.99970516e-01 1.60395171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.24, Y:44.95, Z:1.60 [[ 7.39058286e-01 -6.73614659e-01 -6.01177388e-03 2.34236853e+02] [ 6.73597916e-01 7.39082555e-01 -4.77757888e-03 4.49516295e+01] [ 7.66144436e-03 -5.18609098e-04 9.99970516e-01 1.60072612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.26, Y:44.97, Z:1.60 [[ 7.40009958e-01 -6.72569047e-01 -6.01150384e-03 2.34256886e+02] [ 6.72552267e-01 7.40034201e-01 -4.77791863e-03 4.49708564e+01] [ 7.66219863e-03 -5.07343171e-04 9.99970516e-01 1.59866832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.28, Y:44.99, Z:1.60 [[ 7.40360351e-01 -6.72183325e-01 -6.01066737e-03 2.34276235e+02] [ 6.72166524e-01 7.40384580e-01 -4.77897070e-03 4.49930043e+01] [ 7.66254985e-03 -5.02008966e-04 9.99970516e-01 1.60160650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.30, Y:45.01, Z:1.61 [[ 7.40076539e-01 -6.72495798e-01 -6.00993132e-03 2.34296827e+02] [ 6.72478999e-01 7.40100769e-01 -4.77989616e-03 4.50130449e+01] [ 7.66241487e-03 -5.04063594e-04 9.99970516e-01 1.60551304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.32, Y:45.03, Z:1.61 [[ 7.39992883e-01 -6.72587855e-01 -6.00917172e-03 2.34317810e+02] [ 6.72571052e-01 7.40017111e-01 -4.78085092e-03 4.50326783e+01] [ 7.66243216e-03 -5.03799287e-04 9.99970516e-01 1.60858350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.34, Y:45.05, Z:1.61 [[ 7.39986203e-01 -6.72595215e-01 -6.00789968e-03 2.34339351e+02] [ 6.72578400e-01 7.40010422e-01 -4.78244930e-03 4.50523111e+01] [ 7.66256089e-03 -5.01837049e-04 9.99970516e-01 1.60746616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.36, Y:45.07, Z:1.61 [[ 7.40105969e-01 -6.72463424e-01 -6.00819836e-03 2.34359401e+02] [ 6.72446607e-01 7.40130186e-01 -4.78207404e-03 4.50703355e+01] [ 7.66261885e-03 -5.00951060e-04 9.99970516e-01 1.60633825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.38, Y:45.09, Z:1.60 [[ 7.40260799e-01 -6.72292983e-01 -6.00781442e-03 2.34378841e+02] [ 6.72276157e-01 7.40285010e-01 -4.78255633e-03 4.50913259e+01] [ 7.66277402e-03 -4.98571416e-04 9.99970516e-01 1.60475589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.40, Y:45.11, Z:1.60 [[ 7.40438714e-01 -6.72097037e-01 -6.00694335e-03 2.34398213e+02] [ 6.72080196e-01 7.40462914e-01 -4.78365016e-03 4.51102281e+01] [ 7.66299588e-03 -4.95147885e-04 9.99970516e-01 1.60493091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.195898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:234.42, Y:45.13, Z:1.61 [[ 7.40642143e-01 -6.71872859e-01 -6.00635096e-03 2.34418693e+02] [ 6.71856004e-01 7.40666334e-01 -4.78439385e-03 4.51301510e+01] [ 7.66320632e-03 -4.91879239e-04 9.99970516e-01 1.60597559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22589822699996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:234.44, Y:45.15, Z:1.61 [[ 7.40521797e-01 -6.72005507e-01 -6.00549418e-03 2.34440841e+02] [ 6.71988648e-01 7.40545985e-01 -4.78546906e-03 4.51480015e+01] [ 7.66320617e-03 -4.91879759e-04 9.99970516e-01 1.60619431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.46, Y:45.17, Z:1.61 [[ 7.40783492e-01 -6.71717026e-01 -6.00463687e-03 2.34461824e+02] [ 6.71700148e-01 7.40807667e-01 -4.78654454e-03 4.51659899e+01] [ 7.66348449e-03 -4.87522303e-04 9.99970516e-01 1.60719884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.48, Y:45.18, Z:1.61 [[ 7.39472209e-01 -6.73160313e-01 -6.00376507e-03 2.34482520e+02] [ 6.73143474e-01 7.39496411e-01 -4.78763779e-03 4.51832293e+01] [ 7.66261047e-03 -5.01070185e-04 9.99970516e-01 1.60500090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.50, Y:45.20, Z:1.61 [[ 7.38165098e-01 -6.74593396e-01 -6.00317033e-03 2.34504652e+02] [ 6.74576598e-01 7.38189329e-01 -4.78838341e-03 4.51999479e+01] [ 7.66168810e-03 -5.14980706e-04 9.99970516e-01 1.60504557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.53, Y:45.22, Z:1.60 [[ 7.36579517e-01 -6.76324322e-01 -6.00229729e-03 2.34527012e+02] [ 6.76307572e-01 7.36603781e-01 -4.78947752e-03 4.52169544e+01] [ 7.66055501e-03 -5.31568066e-04 9.99970516e-01 1.60430577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.55, Y:45.23, Z:1.60 [[ 7.35566440e-01 -6.77426007e-01 -6.00142873e-03 2.34549197e+02] [ 6.77409285e-01 7.35590723e-01 -4.79056562e-03 4.52329464e+01] [ 7.65984904e-03 -5.41644243e-04 9.99970516e-01 1.60227242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40589822699997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:234.57, Y:45.25, Z:1.60 [[ 7.34638653e-01 -6.78432089e-01 -5.99585130e-03 2.34571092e+02] [ 6.78415344e-01 7.34662919e-01 -4.79755111e-03 4.52498072e+01] [ 7.65974224e-03 -5.43211040e-04 9.99970516e-01 1.60176525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.59, Y:45.27, Z:1.61 [[ 7.35394201e-01 -6.77612988e-01 -6.00067963e-03 2.34594867e+02] [ 6.77596264e-01 7.35418483e-01 -4.79150431e-03 4.52654444e+01] [ 7.65979626e-03 -5.42393618e-04 9.99970516e-01 1.60597066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.62, Y:45.28, Z:1.61 [[ 7.36622542e-01 -6.76277481e-01 -5.99991220e-03 2.34616964e+02] [ 6.76260705e-01 7.36646788e-01 -4.79246509e-03 4.52827027e+01] [ 7.66085227e-03 -5.27267036e-04 9.99970516e-01 1.60784700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.64, Y:45.30, Z:1.61 [[ 7.38223936e-01 -6.74529039e-01 -5.99963960e-03 2.34638477e+02] [ 6.74512203e-01 7.38248141e-01 -4.79280633e-03 4.53000397e+01] [ 7.66210983e-03 -5.08665770e-04 9.99970516e-01 1.60972281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.52589822699997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:234.66, Y:45.32, Z:1.61 [[ 7.39464078e-01 -6.73169285e-01 -5.99927036e-03 2.34659579e+02] [ 6.73152401e-01 7.39488249e-01 -4.79326847e-03 4.53182266e+01] [ 7.66307104e-03 -4.93973395e-04 9.99970516e-01 1.61238956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.68, Y:45.34, Z:1.61 [[ 7.41552415e-01 -6.70868121e-01 -5.99839031e-03 2.34681234e+02] [ 6.70851153e-01 7.41576526e-01 -4.79436954e-03 4.53353503e+01] [ 7.66465513e-03 -4.68750746e-04 9.99970516e-01 1.61480120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.70, Y:45.35, Z:1.62 [[ 7.41717839e-01 -6.70685224e-01 -5.99811641e-03 2.34702967e+02] [ 6.70668247e-01 7.41741945e-01 -4.79471218e-03 4.53519896e+01] [ 7.66479714e-03 -4.66422665e-04 9.99970516e-01 1.61676966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61589822699995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:234.73, Y:45.37, Z:1.62 [[ 7.41198840e-01 -6.71258749e-01 -5.99763469e-03 2.34725050e+02] [ 6.71241786e-01 7.41222955e-01 -4.79531468e-03 4.53689982e+01] [ 7.66448144e-03 -4.71581344e-04 9.99970516e-01 1.61758154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.75, Y:45.39, Z:1.62 [[ 7.40368230e-01 -6.72174771e-01 -5.99678350e-03 2.34747809e+02] [ 6.72157829e-01 7.40392361e-01 -4.79637890e-03 4.53857393e+01] [ 7.66397758e-03 -4.79698415e-04 9.99970516e-01 1.61865320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.77, Y:45.40, Z:1.62 [[ 7.39497034e-01 -6.73133112e-01 -5.99590852e-03 2.34769035e+02] [ 6.73116193e-01 7.39521180e-01 -4.79747245e-03 4.54020595e+01] [ 7.66343890e-03 -4.88226470e-04 9.99970516e-01 1.61686580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.79, Y:45.42, Z:1.61 [[ 7.37788081e-01 -6.75005779e-01 -5.99552769e-03 2.34790711e+02] [ 6.74988917e-01 7.37812267e-01 -4.79794834e-03 4.54197893e+01] [ 7.66221673e-03 -5.07045644e-04 9.99970516e-01 1.61367520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.81, Y:45.44, Z:1.61 [[ 7.37124647e-01 -6.75730206e-01 -5.99525838e-03 2.34811935e+02] [ 6.75713366e-01 7.37148848e-01 -4.79828483e-03 4.54376602e+01] [ 7.66174381e-03 -5.14142204e-04 9.99970516e-01 1.61495145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.83, Y:45.46, Z:1.62 [[ 7.36586115e-01 -6.76317205e-01 -5.99440882e-03 2.34833457e+02] [ 6.76300375e-01 7.36610323e-01 -4.79934594e-03 4.54558532e+01] [ 7.66142365e-03 -5.18889357e-04 9.99970516e-01 1.61650419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.85, Y:45.47, Z:1.62 [[ 7.36319018e-01 -6.76607997e-01 -5.99352575e-03 2.34853847e+02] [ 6.76591168e-01 7.36343227e-01 -4.80044847e-03 4.54737443e+01] [ 7.66131392e-03 -5.20505080e-04 9.99970516e-01 1.61783688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.87, Y:45.49, Z:1.62 [[ 7.35633533e-01 -6.77353222e-01 -5.99314447e-03 2.34873874e+02] [ 6.77336414e-01 7.35657756e-01 -4.80092445e-03 4.54933858e+01] [ 7.66082485e-03 -5.27653968e-04 9.99970516e-01 1.61905141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.89, Y:45.51, Z:1.62 [[ 7.35045809e-01 -6.77990967e-01 -5.99228633e-03 2.34894407e+02] [ 6.77974171e-01 7.35070040e-01 -4.80199530e-03 4.55113785e+01] [ 7.66045959e-03 -5.32928841e-04 9.99970516e-01 1.61804859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.92, Y:45.53, Z:1.62 [[ 7.34143885e-01 -6.78967491e-01 -5.99182408e-03 2.34915214e+02] [ 6.78950723e-01 7.34168136e-01 -4.80257200e-03 4.55296841e+01] [ 7.65979658e-03 -5.42374423e-04 9.99970516e-01 1.61712112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91589822699996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:234.94, Y:45.55, Z:1.61 [[ 7.32882304e-01 -6.80329065e-01 -5.99097676e-03 2.34936174e+02] [ 6.80312332e-01 7.32906580e-01 -4.80362876e-03 4.55485079e+01] [ 7.65887456e-03 -5.55240858e-04 9.99970516e-01 1.61461634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.96, Y:45.57, Z:1.61 [[ 7.31622196e-01 -6.81684004e-01 -5.99010953e-03 2.34957373e+02] [ 6.81667308e-01 7.31646497e-01 -4.80470996e-03 4.55661821e+01] [ 7.65793657e-03 -5.68029390e-04 9.99970516e-01 1.61338751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.98, Y:45.59, Z:1.61 [[ 7.29524077e-01 -6.83928902e-01 -5.98984076e-03 2.34978627e+02] [ 6.83912278e-01 7.29548427e-01 -4.80504499e-03 4.55861384e+01] [ 7.65618805e-03 -5.91129632e-04 9.99970516e-01 1.61259629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.00, Y:45.60, Z:1.61 [[ 7.29219253e-01 -6.84253909e-01 -5.98909114e-03 2.34998486e+02] [ 6.84237288e-01 7.29243606e-01 -4.80597915e-03 4.56038527e+01] [ 7.65601644e-03 -5.93346955e-04 9.99970516e-01 1.61218648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.02, Y:45.62, Z:1.61 [[ 7.29057682e-01 -6.84426060e-01 -5.98862009e-03 2.35019529e+02] [ 6.84409441e-01 7.29082036e-01 -4.80656605e-03 4.56228029e+01] [ 7.65593439e-03 -5.94404219e-04 9.99970516e-01 1.61358533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.04, Y:45.64, Z:1.61 [[ 7.29048300e-01 -6.84436062e-01 -5.98776300e-03 2.35040444e+02] [ 6.84419434e-01 7.29072647e-01 -4.80763353e-03 4.56414670e+01] [ 7.65603198e-03 -5.93144318e-04 9.99970516e-01 1.61450255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.06, Y:45.66, Z:1.62 [[ 7.29135025e-01 -6.84343680e-01 -5.98689850e-03 2.35061550e+02] [ 6.84327040e-01 7.29159364e-01 -4.80870984e-03 4.56602127e+01] [ 7.65621329e-03 -5.90797762e-04 9.99970516e-01 1.61728179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.08, Y:45.68, Z:1.62 [[ 7.28834253e-01 -6.84664025e-01 -5.98363021e-03 2.35083553e+02] [ 6.84647363e-01 7.28858577e-01 -4.81277799e-03 4.56796726e+01] [ 7.65635615e-03 -5.88959186e-04 9.99970516e-01 1.61564293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.11, Y:45.70, Z:1.61 [[ 7.28460072e-01 -6.85062108e-01 -5.98596466e-03 2.35105135e+02] [ 6.85045482e-01 7.28484421e-01 -4.80987273e-03 4.56973609e+01] [ 7.65574355e-03 -5.96857809e-04 9.99970516e-01 1.61382210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.185898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:235.13, Y:45.71, Z:1.61 [[ 7.28199207e-01 -6.85339401e-01 -5.98508722e-03 2.35127415e+02] [ 6.85322776e-01 7.28223556e-01 -4.81096431e-03 4.57148249e+01] [ 7.65562490e-03 -5.98376197e-04 9.99970516e-01 1.61233198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.15, Y:45.73, Z:1.61 [[ 7.27843280e-01 -6.85717397e-01 -5.98419596e-03 2.35149735e+02] [ 6.85700776e-01 7.27867632e-01 -4.81207266e-03 4.57309289e+01] [ 7.65542449e-03 -6.00933065e-04 9.99970516e-01 1.61149022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.17, Y:45.75, Z:1.61 [[ 7.27304901e-01 -6.86288406e-01 -5.98376159e-03 2.35171692e+02] [ 6.86271799e-01 7.27329263e-01 -4.81261273e-03 4.57470958e+01] [ 7.65500523e-03 -6.06250011e-04 9.99970516e-01 1.61007695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.20, Y:45.76, Z:1.61 [[ 7.25866775e-01 -6.87809294e-01 -5.98330398e-03 2.35195872e+02] [ 6.87792734e-01 7.25891168e-01 -4.81318159e-03 4.57637213e+01] [ 7.65377855e-03 -6.21544402e-04 9.99970516e-01 1.61029415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.22, Y:45.78, Z:1.61 [[ 7.25156482e-01 -6.88558121e-01 -5.98259205e-03 2.35218062e+02] [ 6.88541579e-01 7.25180887e-01 -4.81406633e-03 4.57800425e+01] [ 7.65322588e-03 -6.28311974e-04 9.99970516e-01 1.61048829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.24, Y:45.80, Z:1.61 [[ 7.24806994e-01 -6.88926001e-01 -5.98218105e-03 2.35240388e+02] [ 6.88909467e-01 7.24831405e-01 -4.81457701e-03 4.57964930e+01] [ 7.65295998e-03 -6.31542071e-04 9.99970516e-01 1.61232855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.26, Y:45.81, Z:1.62 [[ 7.24958335e-01 -6.88766746e-01 -5.98181854e-03 2.35264633e+02] [ 6.88750203e-01 7.24982740e-01 -4.81502737e-03 4.58125647e+01] [ 7.65314593e-03 -6.29284508e-04 9.99970516e-01 1.61616301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.29, Y:45.83, Z:1.62 [[ 7.25236355e-01 -6.88474005e-01 -5.98108302e-03 2.35287279e+02] [ 6.88457445e-01 7.25260749e-01 -4.81594084e-03 4.58296270e+01] [ 7.65349482e-03 -6.25025752e-04 9.99970516e-01 1.61749099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.31, Y:45.85, Z:1.62 [[ 7.25683928e-01 -6.88002234e-01 -5.98021478e-03 2.35308340e+02] [ 6.87985649e-01 7.25708304e-01 -4.81701873e-03 4.58462754e+01] [ 7.65401118e-03 -6.18668881e-04 9.99970516e-01 1.61713211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.33, Y:45.86, Z:1.62 [[ 7.26250276e-01 -6.87404377e-01 -5.97983720e-03 2.35330148e+02] [ 6.87387768e-01 7.26274637e-01 -4.81748741e-03 4.58642375e+01] [ 7.65456602e-03 -6.11765389e-04 9.99970516e-01 1.61743515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.35, Y:45.88, Z:1.62 [[ 7.26717356e-01 -6.86910573e-01 -5.97899869e-03 2.35351341e+02] [ 6.86893939e-01 7.26741700e-01 -4.81852787e-03 4.58820586e+01] [ 7.65508541e-03 -6.05230125e-04 9.99970516e-01 1.61848871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.37, Y:45.90, Z:1.62 [[ 7.26974008e-01 -6.86638955e-01 -5.97812230e-03 2.35372706e+02] [ 6.86622303e-01 7.26998339e-01 -4.81961491e-03 4.59004237e+01] [ 7.65542033e-03 -6.00977339e-04 9.99970516e-01 1.61879254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.39, Y:45.92, Z:1.62 [[ 7.26821728e-01 -6.86800152e-01 -5.97723819e-03 2.35392794e+02] [ 6.86783496e-01 7.26846057e-01 -4.82071113e-03 4.59185325e+01] [ 7.65539714e-03 -6.01270947e-04 9.99970516e-01 1.61971510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.41, Y:45.94, Z:1.62 [[ 7.26281306e-01 -6.87371618e-01 -5.97687284e-03 2.35414371e+02] [ 6.87354978e-01 7.26305646e-01 -4.82116406e-03 4.59368976e+01] [ 7.65496783e-03 -6.06711960e-04 9.99970516e-01 1.62108332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.44, Y:45.96, Z:1.62 [[ 7.25267013e-01 -6.88441753e-01 -5.97598455e-03 2.35435473e+02] [ 6.88425140e-01 7.25291370e-01 -4.82226488e-03 4.59554595e+01] [ 7.65417851e-03 -6.16588358e-04 9.99970516e-01 1.62225751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.46, Y:45.97, Z:1.62 [[ 7.23763990e-01 -6.90021728e-01 -5.97509790e-03 2.35456220e+02] [ 6.90005159e-01 7.23788378e-01 -4.82336324e-03 4.59734146e+01] [ 7.65293185e-03 -6.31871749e-04 9.99970516e-01 1.62181560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:235.48, Y:45.99, Z:1.62 [[ 7.21916992e-01 -6.91953872e-01 -5.97449303e-03 2.35477082e+02] [ 6.91937363e-01 7.21941420e-01 -4.82411235e-03 4.59918709e+01] [ 7.65129720e-03 -6.51366271e-04 9.99970516e-01 1.62087743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.50, Y:46.01, Z:1.62 [[ 7.19064377e-01 -6.94917792e-01 -5.97364151e-03 2.35499001e+02] [ 6.94901374e-01 7.19088867e-01 -4.82516654e-03 4.60099283e+01] [ 7.64867318e-03 -6.81486321e-04 9.99970516e-01 1.61785659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72589822699996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:235.52, Y:46.03, Z:1.62 [[ 7.18390074e-01 -6.95614855e-01 -5.97288077e-03 2.35518941e+02] [ 6.95598453e-01 7.18414575e-01 -4.82610805e-03 4.60279190e+01] [ 7.64811705e-03 -6.87698503e-04 9.99970516e-01 1.61690308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.54, Y:46.05, Z:1.62 [[ 7.18649117e-01 -6.95347235e-01 -5.97228914e-03 2.35540159e+02] [ 6.95330819e-01 7.18673608e-01 -4.82684008e-03 4.60457623e+01] [ 7.64845649e-03 -6.83912331e-04 9.99970516e-01 1.61825653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.56, Y:46.06, Z:1.62 [[ 7.19468654e-01 -6.94499242e-01 -5.97142382e-03 2.35559744e+02] [ 6.94482788e-01 7.19493119e-01 -4.82791035e-03 4.60642718e+01] [ 7.64937843e-03 -6.73520897e-04 9.99970516e-01 1.61967636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.58, Y:46.08, Z:1.62 [[ 7.20858768e-01 -6.93056264e-01 -5.97083561e-03 2.35579690e+02] [ 6.93039755e-01 7.20883196e-01 -4.82863770e-03 4.60839694e+01] [ 7.65079267e-03 -6.57260625e-04 9.99970516e-01 1.62144299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.60, Y:46.11, Z:1.62 [[ 7.24919744e-01 -6.88807465e-01 -5.96995524e-03 2.35596698e+02] [ 6.88790803e-01 7.24944069e-01 -4.82972592e-03 4.61061502e+01] [ 7.65463491e-03 -6.10886588e-04 9.99970516e-01 1.62050369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.62, Y:46.13, Z:1.62 [[ 7.26408685e-01 -6.87237068e-01 -5.96957350e-03 2.35615493e+02] [ 6.87220349e-01 7.26432970e-01 -4.83019770e-03 4.61258609e+01] [ 7.65598592e-03 -5.93714826e-04 9.99970516e-01 1.61833142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.64, Y:46.15, Z:1.62 [[ 7.27556454e-01 -6.86021852e-01 -5.96871380e-03 2.35635348e+02] [ 6.86005084e-01 7.27580706e-01 -4.83125981e-03 4.61463416e+01] [ 7.65707080e-03 -5.79553759e-04 9.99970516e-01 1.61804465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.65, Y:46.17, Z:1.62 [[ 7.28777201e-01 -6.84724890e-01 -5.96787123e-03 2.35653278e+02] [ 6.84708071e-01 7.28801417e-01 -4.83230038e-03 4.61687342e+01] [ 7.65818936e-03 -5.64579248e-04 9.99970516e-01 1.61891560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.67, Y:46.19, Z:1.62 [[ 7.28443454e-01 -6.85079944e-01 -5.96701215e-03 2.35672454e+02] [ 6.85063128e-01 7.28467672e-01 -4.83336095e-03 4.61876216e+01] [ 7.65801410e-03 -5.66949862e-04 9.99970516e-01 1.61982873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.69, Y:46.21, Z:1.62 [[ 7.27546008e-01 -6.86032950e-01 -5.96642955e-03 2.35692573e+02] [ 6.86016160e-01 7.27570244e-01 -4.83408002e-03 4.62072375e+01] [ 7.65733478e-03 -5.76051465e-04 9.99970516e-01 1.62007547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.71, Y:46.23, Z:1.62 [[ 7.26393427e-01 -6.87253229e-01 -5.96555593e-03 2.35711847e+02] [ 6.87236471e-01 7.26417685e-01 -4.83515788e-03 4.62256210e+01] [ 7.65646320e-03 -5.87520701e-04 9.99970516e-01 1.61886743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.73, Y:46.24, Z:1.62 [[ 7.24949146e-01 -6.88776562e-01 -5.96517822e-03 2.35732332e+02] [ 6.88759851e-01 7.24973437e-01 -4.83562382e-03 4.62448789e+01] [ 7.65526011e-03 -6.02993898e-04 9.99970516e-01 1.61857240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.75, Y:46.26, Z:1.62 [[ 7.22358130e-01 -6.91493427e-01 -5.96431636e-03 2.35752300e+02] [ 6.91476799e-01 7.22382477e-01 -4.83668662e-03 4.62636870e+01] [ 7.65305463e-03 -6.30366480e-04 9.99970516e-01 1.61852292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.77, Y:46.28, Z:1.62 [[ 7.22238069e-01 -6.91618827e-01 -5.96394119e-03 2.35774290e+02] [ 6.91602200e-01 7.22262417e-01 -4.83714919e-03 4.62817231e+01] [ 7.65299403e-03 -6.31101554e-04 9.99970516e-01 1.61874146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.80, Y:46.30, Z:1.62 [[ 7.21083271e-01 -6.92822746e-01 -5.96310121e-03 2.35795329e+02] [ 6.92806151e-01 7.21107641e-01 -4.83818446e-03 4.63004841e+01] [ 7.65204209e-03 -6.42539321e-04 9.99970516e-01 1.62096343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.82, Y:46.32, Z:1.62 [[ 7.20071488e-01 -6.93874271e-01 -5.96223903e-03 2.35815814e+02] [ 6.93857703e-01 7.20095876e-01 -4.83924672e-03 4.63190187e+01] [ 7.65121253e-03 -6.52341890e-04 9.99970516e-01 1.62183379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.84, Y:46.34, Z:1.62 [[ 7.19020754e-01 -6.94963033e-01 -5.96136400e-03 2.35836201e+02] [ 6.94946493e-01 7.19045161e-01 -4.84032441e-03 4.63372766e+01] [ 7.65033647e-03 -6.62535293e-04 9.99970516e-01 1.62073001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.86, Y:46.35, Z:1.62 [[ 7.17045783e-01 -6.97000584e-01 -5.96076693e-03 2.35857956e+02] [ 6.96984107e-01 7.17070233e-01 -4.84105958e-03 4.63541677e+01] [ 7.64850989e-03 -6.83298449e-04 9.99970516e-01 1.61750679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.88, Y:46.37, Z:1.62 [[ 7.15666778e-01 -6.98416448e-01 -5.96050332e-03 2.35880413e+02] [ 6.98400017e-01 7.15691259e-01 -4.84138413e-03 4.63711154e+01] [ 7.64718243e-03 -6.97997840e-04 9.99970516e-01 1.61805063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.90, Y:46.39, Z:1.62 [[ 7.14266069e-01 -6.99848887e-01 -5.95966204e-03 2.35903002e+02] [ 6.99832496e-01 7.14290577e-01 -4.84241950e-03 4.63882408e+01] [ 7.64589234e-03 -7.11989219e-04 9.99970516e-01 1.62057091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.92, Y:46.40, Z:1.62 [[ 7.13092689e-01 -7.01044441e-01 -5.95890261e-03 2.35924875e+02] [ 7.01028083e-01 7.13117219e-01 -4.84335386e-03 4.64045745e+01] [ 7.64480235e-03 -7.23597848e-04 9.99970516e-01 1.62226993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.95, Y:46.42, Z:1.62 [[ 7.12163526e-01 -7.01988325e-01 -5.95842248e-03 2.35947327e+02] [ 7.01971996e-01 7.12188075e-01 -4.84394445e-03 4.64211469e+01] [ 7.64390989e-03 -7.32965159e-04 9.99970516e-01 1.62355975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.97, Y:46.44, Z:1.62 [[ 7.11774638e-01 -7.02382639e-01 -5.95755531e-03 2.35968959e+02] [ 7.02366314e-01 7.11799190e-01 -4.84501074e-03 4.64366779e+01] [ 7.64363448e-03 -7.35830393e-04 9.99970516e-01 1.62257024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.99, Y:46.45, Z:1.62 [[ 7.12316749e-01 -7.01832858e-01 -5.95717854e-03 2.35992951e+02] [ 7.01816510e-01 7.12341286e-01 -4.84547396e-03 4.64523524e+01] [ 7.64425706e-03 -7.29333992e-04 9.99970516e-01 1.62299729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.01, Y:46.47, Z:1.63 [[ 7.13388977e-01 -7.00742916e-01 -5.96099144e-03 2.36014713e+02] [ 7.00726569e-01 7.13413514e-01 -4.84078745e-03 4.64689460e+01] [ 7.64479937e-03 -7.23660675e-04 9.99970516e-01 1.62632451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.04, Y:46.49, Z:1.63 [[ 7.14595650e-01 -6.99512393e-01 -5.95559713e-03 2.36036502e+02] [ 6.99495950e-01 7.14620122e-01 -4.84741498e-03 4.64866970e+01] [ 7.64681640e-03 -7.01974413e-04 9.99970516e-01 1.62882300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.06, Y:46.50, Z:1.63 [[ 7.15897901e-01 -6.98179588e-01 -5.95472062e-03 2.36058067e+02] [ 6.98163090e-01 7.15922336e-01 -4.84849147e-03 4.65042540e+01] [ 7.64823528e-03 -6.86341283e-04 9.99970516e-01 1.62949093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.08, Y:46.52, Z:1.63 [[ 7.17995725e-01 -6.96022048e-01 -5.95384905e-03 2.36079523e+02] [ 6.96005468e-01 7.18020105e-01 -4.84956151e-03 4.65206024e+01] [ 7.65038505e-03 -6.61947064e-04 9.99970516e-01 1.62740976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.10, Y:46.54, Z:1.63 [[ 7.18429556e-01 -6.95574245e-01 -5.95346977e-03 2.36101542e+02] [ 6.95557645e-01 7.18453923e-01 -4.85002708e-03 4.65375162e+01] [ 7.65084763e-03 -6.56578615e-04 9.99970516e-01 1.62715993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.12, Y:46.55, Z:1.63 [[ 7.18732954e-01 -6.95260748e-01 -5.95259731e-03 2.36122879e+02] [ 6.95244129e-01 7.18757308e-01 -4.85109764e-03 4.65535502e+01] [ 7.65125059e-03 -6.51864594e-04 9.99970516e-01 1.62720756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.15, Y:46.57, Z:1.63 [[ 7.18910131e-01 -6.95077546e-01 -5.95221803e-03 2.36145856e+02] [ 6.95060917e-01 7.18934478e-01 -4.85156296e-03 4.65710389e+01] [ 7.65146724e-03 -6.49316360e-04 9.99970516e-01 1.62719102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.17, Y:46.59, Z:1.63 [[ 7.19643313e-01 -6.94318413e-01 -5.95350029e-03 2.36168465e+02] [ 6.94301772e-01 7.19667651e-01 -4.84999007e-03 4.65882911e+01] [ 7.65197898e-03 -6.43262884e-04 9.99970516e-01 1.62718653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.19, Y:46.60, Z:1.63 [[ 7.20545065e-01 -6.93382574e-01 -5.95113477e-03 2.36189401e+02] [ 6.93365877e-01 7.20569365e-01 -4.85289092e-03 4.66046482e+01] [ 7.65311540e-03 -6.29587178e-04 9.99970516e-01 1.62559364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.21, Y:46.62, Z:1.63 [[ 7.23306290e-01 -6.90501704e-01 -5.95053755e-03 2.36211064e+02] [ 6.90484904e-01 7.23330519e-01 -4.85362312e-03 4.66229375e+01] [ 7.65564044e-03 -5.98100223e-04 9.99970516e-01 1.62559929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.23, Y:46.64, Z:1.63 [[ 7.25070369e-01 -6.88649085e-01 -5.94968566e-03 2.36232248e+02] [ 6.88632215e-01 7.25094549e-01 -4.85466715e-03 4.66411382e+01] [ 7.65724674e-03 -5.77169914e-04 9.99970516e-01 1.62768532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:236.25, Y:46.66, Z:1.63 [[ 7.26739261e-01 -6.86887661e-01 -5.94881059e-03 2.36252449e+02] [ 6.86870723e-01 7.26763394e-01 -4.85573921e-03 4.66587955e+01] [ 7.65872513e-03 -5.57207512e-04 9.99970516e-01 1.62848488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.27, Y:46.68, Z:1.63 [[ 7.28148403e-01 -6.85393697e-01 -5.94842998e-03 2.36273937e+02] [ 6.85376707e-01 7.28172498e-01 -4.85620543e-03 4.66760653e+01] [ 7.65989571e-03 -5.40877123e-04 9.99970516e-01 1.62834667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.30, Y:46.69, Z:1.63 [[ 7.29435643e-01 -6.84023588e-01 -5.94757549e-03 2.36296245e+02] [ 6.84006544e-01 7.29459701e-01 -4.85725173e-03 4.66926427e+01] [ 7.66099139e-03 -5.25128023e-04 9.99970516e-01 1.62815181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.32, Y:46.71, Z:1.63 [[ 7.29563690e-01 -6.83887022e-01 -5.94669817e-03 2.36317719e+02] [ 6.83869965e-01 7.29587739e-01 -4.85832559e-03 4.67103510e+01] [ 7.66118389e-03 -5.22310316e-04 9.99970516e-01 1.62930611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.34, Y:46.73, Z:1.63 [[ 7.29712924e-01 -6.83727793e-01 -5.94581455e-03 2.36338449e+02] [ 6.83710722e-01 7.29736963e-01 -4.85940676e-03 4.67272345e+01] [ 7.66139211e-03 -5.19245241e-04 9.99970516e-01 1.63009876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.36, Y:46.74, Z:1.63 [[ 7.30358051e-01 -6.83038631e-01 -5.94521513e-03 2.36360503e+02] [ 6.83021531e-01 7.30382069e-01 -4.86014001e-03 4.67448976e+01] [ 7.66194190e-03 -5.11067557e-04 9.99970516e-01 1.63169709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.38, Y:46.76, Z:1.63 [[ 7.31488383e-01 -6.81827992e-01 -5.94432684e-03 2.36381480e+02] [ 6.81810843e-01 7.31512366e-01 -4.86122621e-03 4.67628073e+01] [ 7.66286870e-03 -4.96975991e-04 9.99970516e-01 1.63220401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.40, Y:46.78, Z:1.63 [[ 7.32902655e-01 -6.80307559e-01 -5.94343863e-03 2.36403566e+02] [ 6.80290352e-01 7.32926596e-01 -4.86231191e-03 4.67812737e+01] [ 7.66397179e-03 -4.79662647e-04 9.99970516e-01 1.63292435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.43, Y:46.80, Z:1.63 [[ 7.34392553e-01 -6.78698948e-01 -5.94262959e-03 2.36425114e+02] [ 6.78681681e-01 7.34416452e-01 -4.86330054e-03 4.67991030e+01] [ 7.66508190e-03 -4.61582142e-04 9.99970516e-01 1.63381572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.45, Y:46.82, Z:1.64 [[ 7.35607366e-01 -6.77382087e-01 -5.94242344e-03 2.36446922e+02] [ 6.77364774e-01 7.35631231e-01 -4.86355241e-03 4.68169998e+01] [ 7.66591556e-03 -4.47523337e-04 9.99970516e-01 1.63526383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.47, Y:46.83, Z:1.64 [[ 7.37758126e-01 -6.75038996e-01 -5.94152562e-03 2.36468562e+02] [ 6.75021599e-01 7.37781930e-01 -4.86464898e-03 4.68337273e+01] [ 7.66737801e-03 -4.21723805e-04 9.99970516e-01 1.63677853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.49, Y:46.85, Z:1.64 [[ 7.38659483e-01 -6.74052573e-01 -5.94113437e-03 2.36489784e+02] [ 6.74035141e-01 7.38683261e-01 -4.86512676e-03 4.68501593e+01] [ 7.66796773e-03 -4.10861321e-04 9.99970516e-01 1.63767716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.51, Y:46.87, Z:1.64 [[ 7.39624336e-01 -6.72993722e-01 -5.94074649e-03 2.36511830e+02] [ 6.72976251e-01 7.39648086e-01 -4.86560036e-03 4.68666971e+01] [ 7.66858026e-03 -3.99264869e-04 9.99970516e-01 1.63795821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.53, Y:46.88, Z:1.64 [[ 7.40890526e-01 -6.71599544e-01 -5.93986365e-03 2.36534506e+02] [ 6.71582020e-01 7.40914236e-01 -4.86667788e-03 4.68838722e+01] [ 7.66938818e-03 -3.83430092e-04 9.99970516e-01 1.63822199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.56, Y:46.90, Z:1.64 [[ 7.42832437e-01 -6.69451043e-01 -5.93897739e-03 2.36556076e+02] [ 6.69433442e-01 7.42856091e-01 -4.86775917e-03 4.69003780e+01] [ 7.67053198e-03 -3.59820676e-04 9.99970516e-01 1.63850974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.58, Y:46.92, Z:1.64 [[ 7.47954009e-01 -6.63723991e-01 -5.93837459e-03 2.36578669e+02] [ 6.63706203e-01 7.47977522e-01 -4.86849444e-03 4.69168129e+01] [ 7.67310727e-03 -2.99926124e-04 9.99970516e-01 1.63751505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.60, Y:46.93, Z:1.64 [[ 7.50686518e-01 -6.60631894e-01 -5.93748009e-03 2.36599859e+02] [ 6.60614000e-01 7.50709951e-01 -4.86958510e-03 4.69332361e+01] [ 7.67432861e-03 -2.66850592e-04 9.99970516e-01 1.63725443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.62, Y:46.95, Z:1.64 [[ 7.53268122e-01 -6.57686770e-01 -5.93708992e-03 2.36620821e+02] [ 6.57668781e-01 7.53291482e-01 -4.87006076e-03 4.69498209e+01] [ 7.67533380e-03 -2.36177171e-04 9.99970516e-01 1.63677304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.64, Y:46.97, Z:1.64 [[ 7.55588034e-01 -6.55020212e-01 -5.93670665e-03 2.36642569e+02] [ 6.55002137e-01 7.55611328e-01 -4.87052793e-03 4.69673336e+01] [ 7.67613703e-03 -2.08442913e-04 9.99970516e-01 1.63634642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.66, Y:46.98, Z:1.63 [[ 7.59223339e-01 -6.50803110e-01 -5.93582081e-03 2.36664678e+02] [ 6.50784897e-01 7.59246524e-01 -4.87160728e-03 4.69849958e+01] [ 7.67720849e-03 -1.64304592e-04 9.99970516e-01 1.63458470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.69, Y:47.00, Z:1.63 [[ 7.60358839e-01 -6.49476107e-01 -5.93492050e-03 2.36685749e+02] [ 6.49457845e-01 7.60381986e-01 -4.87270386e-03 4.70020517e+01] [ 7.67751136e-03 -1.49477228e-04 9.99970516e-01 1.63338463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.71, Y:47.02, Z:1.63 [[ 7.61115474e-01 -6.48589251e-01 -5.93452860e-03 2.36707864e+02] [ 6.48570959e-01 7.61138597e-01 -4.87318111e-03 4.70198977e+01] [ 7.67769166e-03 -1.39909357e-04 9.99970516e-01 1.63432383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.73, Y:47.04, Z:1.63 [[ 7.61202749e-01 -6.48486828e-01 -5.93366152e-03 2.36729525e+02] [ 6.48468525e-01 7.61225863e-01 -4.87423665e-03 4.70377352e+01] [ 7.67773488e-03 -1.37510399e-04 9.99970516e-01 1.63458226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.75, Y:47.05, Z:1.63 [[ 7.60199839e-01 -6.49662226e-01 -5.93275189e-03 2.36751468e+02] [ 6.49643949e-01 7.60222974e-01 -4.87534356e-03 4.70539473e+01] [ 7.67754084e-03 -1.47940982e-04 9.99970516e-01 1.63194625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.77, Y:47.07, Z:1.63 [[ 7.59275115e-01 -6.50742735e-01 -5.93237625e-03 2.36773977e+02] [ 6.50724487e-01 7.59298274e-01 -4.87580061e-03 4.70702949e+01] [ 7.67733487e-03 -1.58268419e-04 9.99970516e-01 1.63041311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:47.09, Z:1.63 [[ 7.58204819e-01 -6.51989471e-01 -5.93146956e-03 2.36796148e+02] [ 6.51971253e-01 7.58228000e-01 -4.87690336e-03 4.70862864e+01] [ 7.67709595e-03 -1.69456013e-04 9.99970516e-01 1.62880111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.82, Y:47.10, Z:1.63 [[ 7.57029945e-01 -6.53353262e-01 -5.93107824e-03 2.36818617e+02] [ 6.53335082e-01 7.57053157e-01 -4.87737921e-03 4.71032263e+01] [ 7.67679313e-03 -1.82659371e-04 9.99970516e-01 1.62949293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.84, Y:47.12, Z:1.63 [[ 7.55975710e-01 -6.54572806e-01 -5.93020672e-03 2.36841017e+02] [ 6.54554655e-01 7.55998945e-01 -4.87843864e-03 4.71206542e+01] [ 7.67652329e-03 -1.93663298e-04 9.99970516e-01 1.63089833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:47.14, Z:1.63 [[ 7.55346784e-01 -6.55298466e-01 -5.92931132e-03 2.36862656e+02] [ 6.55280329e-01 7.55370029e-01 -4.87952667e-03 4.71373292e+01] [ 7.67637041e-03 -1.99626291e-04 9.99970516e-01 1.63190960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.645898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:236.89, Y:47.16, Z:1.63 [[ 7.54579806e-01 -6.56181502e-01 -5.92892490e-03 2.36885253e+02] [ 6.56163389e-01 7.54603070e-01 -4.87999614e-03 4.71551562e+01] [ 7.67614813e-03 -2.07996910e-04 9.99970516e-01 1.63390516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.91, Y:47.17, Z:1.64 [[ 7.55075204e-01 -6.55611389e-01 -5.92813849e-03 2.36906559e+02] [ 6.55593251e-01 7.55098448e-01 -4.88095128e-03 4.71715997e+01] [ 7.67633542e-03 -2.00962304e-04 9.99970516e-01 1.63607711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:47.19, Z:1.64 [[ 7.55340146e-01 -6.55306131e-01 -5.92776007e-03 2.36927782e+02] [ 6.55287980e-01 7.55363380e-01 -4.88141081e-03 4.71895768e+01] [ 7.67643132e-03 -1.97264365e-04 9.99970516e-01 1.63836581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.95, Y:47.21, Z:1.64 [[ 7.55484821e-01 -6.55139342e-01 -5.92685300e-03 2.36948943e+02] [ 6.55121176e-01 7.55508045e-01 -4.88251190e-03 4.72078111e+01] [ 7.67651075e-03 -1.94143275e-04 9.99970516e-01 1.64033041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.97, Y:47.22, Z:1.64 [[ 7.54696220e-01 -6.56047635e-01 -5.92594608e-03 2.36969232e+02] [ 6.56029489e-01 7.54719458e-01 -4.88361239e-03 4.72248479e+01] [ 7.67630917e-03 -2.01951570e-04 9.99970516e-01 1.64130895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.99, Y:47.24, Z:1.64 [[ 7.53405168e-01 -6.57529878e-01 -5.92555307e-03 2.36989933e+02] [ 6.57511774e-01 7.53428439e-01 -4.88408921e-03 4.72426459e+01] [ 7.67591478e-03 -2.16422866e-04 9.99970516e-01 1.64101393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.01, Y:47.26, Z:1.64 [[ 7.51584858e-01 -6.59609804e-01 -5.92516422e-03 2.37010949e+02] [ 6.59591761e-01 7.51608176e-01 -4.88456089e-03 4.72614927e+01] [ 7.67530613e-03 -2.37027494e-04 9.99970516e-01 1.64131004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.03, Y:47.28, Z:1.64 [[ 7.49678975e-01 -6.61775141e-01 -5.92427040e-03 2.37031721e+02] [ 6.61757156e-01 7.49702339e-01 -4.88564473e-03 4.72807054e+01] [ 7.67463760e-03 -2.57763201e-04 9.99970516e-01 1.64242729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.05, Y:47.30, Z:1.64 [[ 7.47943462e-01 -6.63736011e-01 -5.92336575e-03 2.37051346e+02] [ 6.63718079e-01 7.47966865e-01 -4.88674128e-03 4.72991196e+01] [ 7.67398748e-03 -2.76438748e-04 9.99970516e-01 1.64474674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.07, Y:47.32, Z:1.65 [[ 7.46399021e-01 -6.65472329e-01 -5.92297297e-03 2.37071293e+02] [ 6.65454447e-01 7.46422463e-01 -4.88721731e-03 4.73172028e+01] [ 7.67334796e-03 -2.93654485e-04 9.99970516e-01 1.64626742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.09, Y:47.34, Z:1.65 [[ 7.43315033e-01 -6.68915304e-01 -5.92258722e-03 2.37091913e+02] [ 6.68897528e-01 7.43338555e-01 -4.88768473e-03 4.73361790e+01] [ 7.67193455e-03 -3.28514411e-04 9.99970516e-01 1.64531217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.11, Y:47.35, Z:1.64 [[ 7.41714027e-01 -6.70690119e-01 -5.92170696e-03 2.37112150e+02] [ 6.70672391e-01 7.41737585e-01 -4.88875099e-03 4.73533716e+01] [ 7.67118960e-03 -3.45470177e-04 9.99970516e-01 1.64421845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.005898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:237.13, Y:47.37, Z:1.64 [[ 7.39904187e-01 -6.72686208e-01 -5.92110950e-03 2.37132672e+02] [ 6.72668537e-01 7.39927789e-01 -4.88947451e-03 4.73706128e+01] [ 7.67027552e-03 -3.65201400e-04 9.99970516e-01 1.64180426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:237.15, Y:47.39, Z:1.64 [[ 7.39787083e-01 -6.72814995e-01 -5.92063197e-03 2.37154495e+02] [ 6.72797324e-01 7.39810684e-01 -4.89005267e-03 4.73888593e+01] [ 7.67024756e-03 -3.65787543e-04 9.99970516e-01 1.64202285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.18, Y:47.41, Z:1.64 [[ 7.38105963e-01 -6.74658835e-01 -5.91978057e-03 2.37177518e+02] [ 6.74641214e-01 7.38129602e-01 -4.89108315e-03 4.74056663e+01] [ 7.66937773e-03 -3.83590312e-04 9.99970516e-01 1.63933894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.20, Y:47.42, Z:1.64 [[ 7.36138117e-01 -6.76805466e-01 -5.91888349e-03 2.37199774e+02] [ 6.76787906e-01 7.36161801e-01 -4.89216849e-03 4.74223857e+01] [ 7.66830231e-03 -4.04517058e-04 9.99970516e-01 1.63782436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.22, Y:47.44, Z:1.64 [[ 7.33832901e-01 -6.79304241e-01 -5.91797037e-03 2.37221926e+02] [ 6.79286752e-01 7.33856638e-01 -4.89327283e-03 4.74374399e+01] [ 7.66696282e-03 -4.29154271e-04 9.99970516e-01 1.63761192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.24, Y:47.45, Z:1.64 [[ 7.33564394e-01 -6.79594190e-01 -5.91757357e-03 2.37244028e+02] [ 6.79576707e-01 7.33588135e-01 -4.89375264e-03 4.74546362e+01] [ 7.66682762e-03 -4.31562471e-04 9.99970516e-01 1.63859075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.27, Y:47.47, Z:1.64 [[ 7.33799236e-01 -6.79340617e-01 -5.91667821e-03 2.37266313e+02] [ 6.79323117e-01 7.33822965e-01 -4.89483491e-03 4.74719281e+01] [ 7.66705452e-03 -4.27510165e-04 9.99970516e-01 1.63824976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.29, Y:47.49, Z:1.64 [[ 7.34304192e-01 -6.78794782e-01 -5.91583203e-03 2.37287708e+02] [ 6.78777256e-01 7.34327901e-01 -4.89585738e-03 4.74889821e+01] [ 7.66744297e-03 -4.20483635e-04 9.99970516e-01 1.63674826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.31, Y:47.51, Z:1.64 [[ 7.34842018e-01 -6.78212516e-01 -5.91543747e-03 2.37309671e+02] [ 6.78194967e-01 7.34865711e-01 -4.89633406e-03 4.75068972e+01] [ 7.66780720e-03 -4.13787917e-04 9.99970516e-01 1.63614998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.33, Y:47.53, Z:1.64 [[ 7.35671414e-01 -6.77312771e-01 -5.91454786e-03 2.37331317e+02] [ 6.77295185e-01 7.35695078e-01 -4.89740844e-03 4.75252091e+01] [ 7.66838103e-03 -4.03011396e-04 9.99970516e-01 1.63500784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.35, Y:47.54, Z:1.63 [[ 7.35476874e-01 -6.77524019e-01 -5.91364869e-03 2.37351884e+02] [ 6.77506431e-01 7.35500538e-01 -4.89849395e-03 4.75425344e+01] [ 7.66833910e-03 -4.03805998e-04 9.99970516e-01 1.63415244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.37, Y:47.56, Z:1.63 [[ 7.34850741e-01 -6.78203083e-01 -5.91325747e-03 2.37372537e+02] [ 6.78185513e-01 7.34874418e-01 -4.89896617e-03 4.75598866e+01] [ 7.66799560e-03 -4.10276625e-04 9.99970516e-01 1.63311497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.39, Y:47.58, Z:1.63 [[ 7.33812934e-01 -6.79325855e-01 -5.91279178e-03 2.37393139e+02] [ 6.79308317e-01 7.33836634e-01 -4.89952817e-03 4.75773087e+01] [ 7.66739938e-03 -4.21271497e-04 9.99970516e-01 1.63182791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.41, Y:47.59, Z:1.63 [[ 7.32595889e-01 -6.80638163e-01 -5.91220345e-03 2.37414481e+02] [ 6.80620662e-01 7.32619617e-01 -4.90023800e-03 4.75948962e+01] [ 7.66668521e-03 -4.34073609e-04 9.99970516e-01 1.63133355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.44, Y:47.61, Z:1.63 [[ 7.29461521e-01 -6.83996305e-01 -5.91131954e-03 2.37435984e+02] [ 6.83978904e-01 7.29485322e-01 -4.90130405e-03 4.76126183e+01] [ 7.66469470e-03 -4.67905156e-04 9.99970516e-01 1.63159693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.46, Y:47.63, Z:1.63 [[ 7.28001802e-01 -6.85549738e-01 -5.91041599e-03 2.37457705e+02] [ 6.85532379e-01 7.28025634e-01 -4.90239339e-03 4.76304850e+01] [ 7.66376885e-03 -4.82830309e-04 9.99970516e-01 1.63266767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.48, Y:47.65, Z:1.63 [[ 7.26669287e-01 -6.86962026e-01 -5.90951734e-03 2.37479182e+02] [ 6.86944705e-01 7.26693146e-01 -4.90347642e-03 4.76478611e+01] [ 7.66290784e-03 -4.96305930e-04 9.99970516e-01 1.63344156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.50, Y:47.67, Z:1.63 [[ 7.25325881e-01 -6.88380308e-01 -5.90914920e-03 2.37500535e+02] [ 6.88363030e-01 7.25349771e-01 -4.90392003e-03 4.76653343e+01] [ 7.66196200e-03 -5.10699730e-04 9.99970516e-01 1.63460633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.52, Y:47.68, Z:1.64 [[ 7.24008866e-01 -6.89765361e-01 -5.90828214e-03 2.37522635e+02] [ 6.89748120e-01 7.24032784e-01 -4.90496444e-03 4.76827636e+01] [ 7.66106453e-03 -5.23988754e-04 9.99970516e-01 1.63569901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.54, Y:47.70, Z:1.64 [[ 7.22807870e-01 -6.91023795e-01 -5.90738984e-03 2.37544061e+02] [ 6.91006587e-01 7.22831811e-01 -4.90603887e-03 4.76993381e+01] [ 7.66023889e-03 -5.35921784e-04 9.99970516e-01 1.63663813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.57, Y:47.72, Z:1.64 [[ 7.20954780e-01 -6.92956935e-01 -5.90689173e-03 2.37567679e+02] [ 6.92939786e-01 7.20978764e-01 -4.90663852e-03 4.77165154e+01] [ 7.65883268e-03 -5.55655794e-04 9.99970516e-01 1.64289695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.59, Y:47.73, Z:1.65 [[ 7.20624686e-01 -6.93300209e-01 -5.90610494e-03 2.37588823e+02] [ 6.93283064e-01 7.20648672e-01 -4.90758539e-03 4.77331571e+01] [ 7.65865666e-03 -5.58075351e-04 9.99970516e-01 1.64577558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.61, Y:47.75, Z:1.65 [[ 7.20353434e-01 -6.93582046e-01 -5.90549194e-03 2.37610542e+02] [ 6.93564905e-01 7.20377423e-01 -4.90832293e-03 4.77500376e+01] [ 7.65850772e-03 -5.60114672e-04 9.99970516e-01 1.64536366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.63, Y:47.77, Z:1.64 [[ 7.20511851e-01 -6.93417485e-01 -5.90459704e-03 2.37632618e+02] [ 6.93400329e-01 7.20535830e-01 -4.90939923e-03 4.77664237e+01] [ 7.65873699e-03 -5.56969202e-04 9.99970516e-01 1.64303416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:237.66, Y:47.78, Z:1.64 [[ 7.20866449e-01 -6.93048848e-01 -5.90398909e-03 2.37655074e+02] [ 6.93031674e-01 7.20890414e-01 -4.91013024e-03 4.77813287e+01] [ 7.65908925e-03 -5.52103286e-04 9.99970516e-01 1.63794360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.68, Y:47.80, Z:1.64 [[ 7.21034003e-01 -6.92874531e-01 -5.90354437e-03 2.37677731e+02] [ 6.92857346e-01 7.21057961e-01 -4.91066488e-03 4.77981582e+01] [ 7.65927229e-03 -5.49557734e-04 9.99970516e-01 1.63900378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.70, Y:47.82, Z:1.64 [[ 7.21156915e-01 -6.92746608e-01 -5.90265089e-03 2.37699937e+02] [ 6.92729411e-01 7.21180864e-01 -4.91173861e-03 4.78158878e+01] [ 7.65946913e-03 -5.46805605e-04 9.99970516e-01 1.63999703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.72, Y:47.83, Z:1.64 [[ 7.21585780e-01 -6.92299885e-01 -5.90175848e-03 2.37720857e+02] [ 6.92282665e-01 7.21609712e-01 -4.91281066e-03 4.78326917e+01] [ 7.65990450e-03 -5.40670770e-04 9.99970516e-01 1.64096010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.74, Y:47.85, Z:1.64 [[ 7.22273317e-01 -6.91582555e-01 -5.90126903e-03 2.37741613e+02] [ 6.91565306e-01 7.22297228e-01 -4.91339852e-03 4.78497184e+01] [ 7.66049097e-03 -5.32296278e-04 9.99970516e-01 1.64129713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.76, Y:47.87, Z:1.64 [[ 7.23950946e-01 -6.89826217e-01 -5.90078451e-03 2.37762049e+02] [ 6.89808905e-01 7.23974812e-01 -4.91398034e-03 4.78683923e+01] [ 7.66181182e-03 -5.12932985e-04 9.99970516e-01 1.63963815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.78, Y:47.89, Z:1.64 [[ 7.24698652e-01 -6.89040675e-01 -5.90025050e-03 2.37782968e+02] [ 6.89023332e-01 7.24722495e-01 -4.91462144e-03 4.78866999e+01] [ 7.66241834e-03 -5.03790724e-04 9.99970516e-01 1.63928775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.80, Y:47.90, Z:1.64 [[ 7.24988102e-01 -6.88736125e-01 -5.89932826e-03 2.37803701e+02] [ 6.88718763e-01 7.25011932e-01 -4.91572822e-03 4.79041201e+01] [ 7.66272298e-03 -4.99133583e-04 9.99970516e-01 1.63828218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.83, Y:47.92, Z:1.64 [[ 7.24793181e-01 -6.88941251e-01 -5.89892880e-03 2.37825163e+02] [ 6.88923892e-01 7.24817012e-01 -4.91620753e-03 4.79224439e+01] [ 7.66262212e-03 -5.00679298e-04 9.99970516e-01 1.63974261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.85, Y:47.94, Z:1.64 [[ 7.24516221e-01 -6.89232515e-01 -5.89802409e-03 2.37845734e+02] [ 6.89215156e-01 7.24540053e-01 -4.91729267e-03 4.79406262e+01] [ 7.66251268e-03 -5.02349293e-04 9.99970516e-01 1.64092151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.87, Y:47.96, Z:1.64 [[ 7.23303905e-01 -6.90504655e-01 -5.89763055e-03 2.37865628e+02] [ 6.90487335e-01 7.23327765e-01 -4.91776463e-03 4.79596970e+01] [ 7.66165930e-03 -5.15200836e-04 9.99970516e-01 1.64001196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.89, Y:47.98, Z:1.64 [[ 7.22493550e-01 -6.91352514e-01 -5.89673627e-03 2.37886728e+02] [ 6.91335213e-01 7.22517424e-01 -4.91883670e-03 4.79779954e+01] [ 7.66114482e-03 -5.22793639e-04 9.99970516e-01 1.63892904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.91, Y:48.00, Z:1.64 [[ 7.21910986e-01 -6.91960814e-01 -5.89582467e-03 2.37908018e+02] [ 6.91943525e-01 7.21934868e-01 -4.91992912e-03 4.79959100e+01] [ 7.66079956e-03 -5.27826822e-04 9.99970516e-01 1.63684564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.93, Y:48.01, Z:1.64 [[ 7.21598339e-01 -6.92286848e-01 -5.89548351e-03 2.37929167e+02] [ 6.92269566e-01 7.21622227e-01 -4.92033789e-03 4.80137855e+01] [ 7.66059715e-03 -5.30756162e-04 9.99970516e-01 1.63578240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.95, Y:48.03, Z:1.64 [[ 7.21610830e-01 -6.92273836e-01 -5.89460040e-03 2.37950270e+02] [ 6.92256545e-01 7.21634711e-01 -4.92139563e-03 4.80319999e+01] [ 7.66070169e-03 -5.29243325e-04 9.99970516e-01 1.63608277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.97, Y:48.05, Z:1.64 [[ 7.23457560e-01 -6.90343700e-01 -5.89370899e-03 2.37969798e+02] [ 6.90326336e-01 7.23481388e-01 -4.92246294e-03 4.80503630e+01] [ 7.66218003e-03 -5.07389509e-04 9.99970516e-01 1.63826051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.99, Y:48.07, Z:1.64 [[ 7.24929925e-01 -6.88797412e-01 -5.89320318e-03 2.37990207e+02] [ 6.88779993e-01 7.24953712e-01 -4.92306841e-03 4.80682821e+01] [ 7.66329631e-03 -4.90240832e-04 9.99970516e-01 1.63871912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:48.09, Z:1.64 [[ 7.26663660e-01 -6.86968122e-01 -5.89272523e-03 2.38011234e+02] [ 6.86950638e-01 7.26687401e-01 -4.92364044e-03 4.80865467e+01] [ 7.66455321e-03 -4.70180775e-04 9.99970516e-01 1.63812209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.03, Y:48.10, Z:1.64 [[ 7.28393696e-01 -6.85133498e-01 -5.89185335e-03 2.38032258e+02] [ 6.85115946e-01 7.28417386e-01 -4.92468355e-03 4.81049005e+01] [ 7.66579408e-03 -4.49494225e-04 9.99970516e-01 1.63796780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:238.05, Y:48.12, Z:1.64 [[ 7.30194139e-01 -6.83214327e-01 -5.89094917e-03 2.38052703e+02] [ 6.83196704e-01 7.30217776e-01 -4.92576489e-03 4.81228926e+01] [ 7.66702895e-03 -4.27912402e-04 9.99970516e-01 1.63767576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.07, Y:48.14, Z:1.64 [[ 7.32126737e-01 -6.81142967e-01 -5.89055577e-03 2.38074420e+02] [ 6.81125274e-01 7.32150322e-01 -4.92623530e-03 4.81412082e+01] [ 7.66824284e-03 -4.05577834e-04 9.99970516e-01 1.63874955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.10, Y:48.16, Z:1.64 [[ 7.36086778e-01 -6.76861557e-01 -5.88965447e-03 2.38095124e+02] [ 6.76843718e-01 7.36110252e-01 -4.92731263e-03 4.81589807e+01] [ 7.67054354e-03 -3.59445948e-04 9.99970516e-01 1.63939395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.385898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:238.12, Y:48.18, Z:1.64 [[ 7.38127860e-01 -6.74635147e-01 -5.88904142e-03 2.38116891e+02] [ 6.74617231e-01 7.38151276e-01 -4.92804523e-03 4.81772235e+01] [ 7.67163596e-03 -3.35321339e-04 9.99970516e-01 1.63942787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41589822699996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:238.14, Y:48.19, Z:1.64 [[ 7.40632141e-01 -6.71884931e-01 -5.88814137e-03 2.38137984e+02] [ 6.71866920e-01 7.40655484e-01 -4.92912041e-03 4.81944875e+01] [ 7.67288592e-03 -3.05382402e-04 9.99970516e-01 1.64002397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.16, Y:48.21, Z:1.64 [[ 7.43196644e-01 -6.69047146e-01 -5.88763632e-03 2.38159783e+02] [ 6.69029041e-01 7.43219914e-01 -4.92972359e-03 4.82126277e+01] [ 7.67402606e-03 -2.75245654e-04 9.99970516e-01 1.64287714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.18, Y:48.23, Z:1.65 [[ 7.45750171e-01 -6.66199690e-01 -5.88686480e-03 2.38181474e+02] [ 6.66181489e-01 7.45773366e-01 -4.93064473e-03 4.82314264e+01] [ 7.67506097e-03 -2.44691206e-04 9.99970516e-01 1.64544852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.20, Y:48.25, Z:1.65 [[ 7.50354624e-01 -6.61009298e-01 -5.88609500e-03 2.38200923e+02] [ 6.60990928e-01 7.50377686e-01 -4.93156353e-03 4.82497151e+01] [ 7.67660370e-03 -1.90233899e-04 9.99970516e-01 1.64906572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.22, Y:48.27, Z:1.65 [[ 7.52150464e-01 -6.58965128e-01 -5.88559419e-03 2.38221151e+02] [ 6.58946691e-01 7.52173472e-01 -4.93216115e-03 4.82680066e+01] [ 7.67711002e-03 -1.68565519e-04 9.99970516e-01 1.65007198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:48.29, Z:1.65 [[ 7.53442771e-01 -6.57487152e-01 -5.88511714e-03 2.38241637e+02] [ 6.57468666e-01 7.53465740e-01 -4.93273031e-03 4.82863286e+01] [ 7.67744095e-03 -1.52750119e-04 9.99970516e-01 1.65071487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.26, Y:48.30, Z:1.65 [[ 7.54596123e-01 -6.56163140e-01 -5.88424439e-03 2.38262988e+02] [ 6.56144606e-01 7.54619052e-01 -4.93377120e-03 4.83043107e+01] [ 7.67772173e-03 -1.37910598e-04 9.99970516e-01 1.65012919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.625898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.28, Y:48.32, Z:1.65 [[ 7.54483949e-01 -6.56292128e-01 -5.88332921e-03 2.38283868e+02] [ 6.56273589e-01 7.54506875e-01 -4.93486227e-03 4.83217118e+01] [ 7.67772359e-03 -1.37799207e-04 9.99970516e-01 1.64896816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65589822699997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:238.30, Y:48.34, Z:1.65 [[ 7.54078094e-01 -6.56758417e-01 -5.88293068e-03 2.38304059e+02] [ 6.56739889e-01 7.54101028e-01 -4.93533732e-03 4.83395516e+01] [ 7.67764840e-03 -1.41925474e-04 9.99970516e-01 1.64848178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.32, Y:48.36, Z:1.65 [[ 7.53710085e-01 -6.57180725e-01 -5.88243934e-03 2.38324933e+02] [ 6.57162204e-01 7.53733026e-01 -4.93592288e-03 4.83574621e+01] [ 7.67758218e-03 -1.45461946e-04 9.99970516e-01 1.64900760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.35, Y:48.38, Z:1.65 [[ 7.53426523e-01 -6.57505804e-01 -5.88152714e-03 2.38345437e+02] [ 6.57487285e-01 7.53449465e-01 -4.93700959e-03 4.83751908e+01] [ 7.67754594e-03 -1.47355340e-04 9.99970516e-01 1.64948992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.37, Y:48.39, Z:1.65 [[ 7.53044582e-01 -6.57943212e-01 -5.88113098e-03 2.38365613e+02] [ 6.57924703e-01 7.53067531e-01 -4.93748146e-03 4.83925541e+01] [ 7.67747120e-03 -1.51197690e-04 9.99970516e-01 1.64987693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.39, Y:48.41, Z:1.65 [[ 7.53211043e-01 -6.57752647e-01 -5.88051570e-03 2.38386453e+02] [ 6.57734126e-01 7.53233983e-01 -4.93821415e-03 4.84099812e+01] [ 7.67752769e-03 -1.48298421e-04 9.99970516e-01 1.65185041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.80589822699994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:238.41, Y:48.43, Z:1.65 [[ 7.53343075e-01 -6.57601429e-01 -5.87975618e-03 2.38406964e+02] [ 6.57582897e-01 7.53366006e-01 -4.93911832e-03 4.84285112e+01] [ 7.67757970e-03 -1.45576518e-04 9.99970516e-01 1.65136770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.43, Y:48.45, Z:1.65 [[ 7.53373531e-01 -6.57566545e-01 -5.87891349e-03 2.38427843e+02] [ 6.57548003e-01 7.53396455e-01 -4.94012115e-03 4.84464430e+01] [ 7.67761098e-03 -1.43911316e-04 9.99970516e-01 1.65150491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:48.47, Z:1.65 [[ 7.53278940e-01 -6.57674911e-01 -5.87799795e-03 2.38448585e+02] [ 6.57656364e-01 7.53301859e-01 -4.94121026e-03 4.84654612e+01] [ 7.67761681e-03 -1.43593135e-04 9.99970516e-01 1.65158944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:48.48, Z:1.65 [[ 7.53357807e-01 -6.57584576e-01 -5.87708338e-03 2.38467771e+02] [ 6.57566018e-01 7.53380718e-01 -4.94229782e-03 4.84837855e+01] [ 7.67766011e-03 -1.41251673e-04 9.99970516e-01 1.65220443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:48.50, Z:1.65 [[ 7.53236725e-01 -6.57723270e-01 -5.87668424e-03 2.38489427e+02] [ 6.57704713e-01 7.53259636e-01 -4.94277237e-03 4.85022283e+01] [ 7.67764544e-03 -1.42045250e-04 9.99970516e-01 1.65242299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.51, Y:48.52, Z:1.65 [[ 7.54818467e-01 -6.55907430e-01 -5.87577400e-03 2.38508136e+02] [ 6.55888809e-01 7.54841326e-01 -4.94385420e-03 4.85213386e+01] [ 7.67798774e-03 -1.22141965e-04 9.99970516e-01 1.65087276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.53, Y:48.54, Z:1.65 [[ 7.55666785e-01 -6.54929914e-01 -5.87515353e-03 2.38529093e+02] [ 6.54911258e-01 7.55689616e-01 -4.94459144e-03 4.85396654e+01] [ 7.67815336e-03 -1.11240672e-04 9.99970516e-01 1.64933628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.55, Y:48.56, Z:1.65 [[ 7.56080686e-01 -6.54452053e-01 -5.87424916e-03 2.38549030e+02] [ 6.54433374e-01 7.56103498e-01 -4.94566561e-03 4.85572197e+01] [ 7.67824135e-03 -1.04982456e-04 9.99970516e-01 1.64769938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.57, Y:48.58, Z:1.65 [[ 7.55951370e-01 -6.54601426e-01 -5.87363189e-03 2.38569483e+02] [ 6.54582746e-01 7.55974181e-01 -4.94639859e-03 4.85750060e+01] [ 7.67823363e-03 -1.05541297e-04 9.99970516e-01 1.64756711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.59, Y:48.59, Z:1.65 [[ 7.55350159e-01 -6.55295081e-01 -5.87314010e-03 2.38590892e+02] [ 6.55276418e-01 7.55372983e-01 -4.94698245e-03 4.85929122e+01] [ 7.67814463e-03 -1.11826227e-04 9.99970516e-01 1.64799542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.61, Y:48.61, Z:1.65 [[ 7.54485539e-01 -6.56290399e-01 -5.87224714e-03 2.38612385e+02] [ 6.56271757e-01 7.54508382e-01 -4.94804220e-03 4.86107578e+01] [ 7.67801227e-03 -1.20563660e-04 9.99970516e-01 1.64891109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.63, Y:48.63, Z:1.65 [[ 7.53257991e-01 -6.57698964e-01 -5.87135906e-03 2.38633600e+02] [ 6.57680356e-01 7.53280861e-01 -4.94909577e-03 4.86275211e+01] [ 7.67779757e-03 -1.33531588e-04 9.99970516e-01 1.64974765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.66, Y:48.65, Z:1.65 [[ 7.53081724e-01 -6.57900790e-01 -5.87087374e-03 2.38655290e+02] [ 6.57882184e-01 7.53104596e-01 -4.94967142e-03 4.86458276e+01] [ 7.67777473e-03 -1.34836148e-04 9.99970516e-01 1.65042520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.68, Y:48.66, Z:1.65 [[ 7.53044856e-01 -6.57942998e-01 -5.87000034e-03 2.38676892e+02] [ 6.57924385e-01 7.53067722e-01 -4.95070700e-03 4.86636644e+01] [ 7.67779079e-03 -1.33911924e-04 9.99970516e-01 1.65032308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.70, Y:48.68, Z:1.65 [[ 7.53197254e-01 -6.57768538e-01 -5.86912969e-03 2.38697832e+02] [ 6.57749912e-01 7.53220109e-01 -4.95173895e-03 4.86806575e+01] [ 7.67784460e-03 -1.30783359e-04 9.99970516e-01 1.65024157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.72, Y:48.70, Z:1.65 [[ 7.52970036e-01 -6.58028635e-01 -5.86853554e-03 2.38718685e+02] [ 6.58010012e-01 7.52992893e-01 -4.95244301e-03 4.86979589e+01] [ 7.67781487e-03 -1.32513952e-04 9.99970516e-01 1.65046105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.74, Y:48.72, Z:1.65 [[ 7.52607155e-01 -6.58443647e-01 -5.86806331e-03 2.38740881e+02] [ 6.58425032e-01 7.52630019e-01 -4.95300248e-03 4.87154995e+01] [ 7.67775361e-03 -1.36014676e-04 9.99970516e-01 1.65123549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.76, Y:48.73, Z:1.65 [[ 7.52066199e-01 -6.59061460e-01 -5.86720710e-03 2.38762744e+02] [ 6.59042856e-01 7.52089072e-01 -4.95401652e-03 4.87328460e+01] [ 7.67766370e-03 -1.40992544e-04 9.99970516e-01 1.65142600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.79, Y:48.75, Z:1.65 [[ 7.51142080e-01 -6.60114506e-01 -5.86635588e-03 2.38785109e+02] [ 6.60095926e-01 7.51164973e-01 -4.95502429e-03 4.87502899e+01] [ 7.67748447e-03 -1.50430363e-04 9.99970516e-01 1.65167260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.375898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:238.81, Y:48.77, Z:1.65 [[ 7.48983107e-01 -6.62563130e-01 -5.86550614e-03 2.38806893e+02] [ 6.62544617e-01 7.49006053e-01 -4.95602996e-03 4.87674405e+01] [ 7.67698233e-03 -1.74176804e-04 9.99970516e-01 1.64940565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.83, Y:48.79, Z:1.65 [[ 7.47939039e-01 -6.63741516e-01 -5.86462419e-03 2.38827891e+02] [ 6.63723031e-01 7.47962008e-01 -4.95707339e-03 4.87858409e+01] [ 7.67673149e-03 -1.84897439e-04 9.99970516e-01 1.64948361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.85, Y:48.80, Z:1.65 [[ 7.47182876e-01 -6.64592632e-01 -5.86371531e-03 2.38848829e+02] [ 6.64574164e-01 7.47205860e-01 -4.95814827e-03 4.88042252e+01] [ 7.67655125e-03 -1.92230215e-04 9.99970516e-01 1.65022798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46589822699997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:238.87, Y:48.82, Z:1.65 [[ 7.46604849e-01 -6.65241932e-01 -5.86279286e-03 2.38868949e+02] [ 6.65223476e-01 7.46627841e-01 -4.95923878e-03 4.88219485e+01] [ 7.67641797e-03 -1.97475725e-04 9.99970516e-01 1.65005839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.89, Y:48.84, Z:1.65 [[ 7.45965597e-01 -6.65958677e-01 -5.86239352e-03 2.38889738e+02] [ 6.65940240e-01 7.45988605e-01 -4.95971080e-03 4.88394235e+01] [ 7.67624121e-03 -2.04230117e-04 9.99970516e-01 1.65173827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.91, Y:48.86, Z:1.65 [[ 7.45008294e-01 -6.67029445e-01 -5.86189274e-03 2.38910140e+02] [ 6.67011036e-01 7.45031324e-01 -4.96030260e-03 4.88572658e+01] [ 7.67596160e-03 -2.14480574e-04 9.99970516e-01 1.65328408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55589822699994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:238.93, Y:48.88, Z:1.66 [[ 7.42330895e-01 -6.70007827e-01 -5.86127704e-03 2.38929379e+02] [ 6.69989504e-01 7.42353994e-01 -4.96103003e-03 4.88770351e+01] [ 7.67507137e-03 -2.44268235e-04 9.99970516e-01 1.65509296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.95, Y:48.90, Z:1.66 [[ 7.40998217e-01 -6.71481421e-01 -5.86036042e-03 2.38948943e+02] [ 6.71463135e-01 7.41021346e-01 -4.96211258e-03 4.88951453e+01] [ 7.67461857e-03 -2.58099412e-04 9.99970516e-01 1.65505861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.97, Y:48.91, Z:1.65 [[ 7.39531093e-01 -6.73096892e-01 -5.85973766e-03 2.38968456e+02] [ 6.73078652e-01 7.39554257e-01 -4.96284788e-03 4.89132135e+01] [ 7.67407142e-03 -2.73884010e-04 9.99970516e-01 1.65447964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.99, Y:48.93, Z:1.65 [[ 7.38101271e-01 -6.74664496e-01 -5.85925024e-03 2.38988619e+02] [ 6.74646300e-01 7.38124470e-01 -4.96342328e-03 4.89325687e+01] [ 7.67350145e-03 -2.89412470e-04 9.99970516e-01 1.65353042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.01, Y:48.95, Z:1.65 [[ 7.37060606e-01 -6.75801259e-01 -5.85837823e-03 2.39008894e+02] [ 6.75783091e-01 7.37083827e-01 -4.96445231e-03 4.89532250e+01] [ 7.67309897e-03 -2.99890716e-04 9.99970516e-01 1.65343464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.03, Y:48.97, Z:1.66 [[ 7.36008975e-01 -6.76946442e-01 -5.85685159e-03 2.39027964e+02] [ 6.76928296e-01 7.36032213e-01 -4.96625335e-03 4.89740572e+01] [ 7.67271898e-03 -3.09461530e-04 9.99970516e-01 1.65579130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.04, Y:49.00, Z:1.66 [[ 7.34613672e-01 -6.78460348e-01 -5.85733754e-03 2.39044978e+02] [ 6.78442254e-01 7.34636951e-01 -4.96568014e-03 4.89972414e+01] [ 7.67203367e-03 -3.26008761e-04 9.99970516e-01 1.65636036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.07, Y:49.02, Z:1.66 [[ 7.33947596e-01 -6.79180851e-01 -5.85645415e-03 2.39065963e+02] [ 6.79162771e-01 7.33970886e-01 -4.96672178e-03 4.90179909e+01] [ 7.67176917e-03 -3.32172115e-04 9.99970516e-01 1.65546632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.09, Y:49.04, Z:1.65 [[ 7.33312780e-01 -6.79866169e-01 -5.86160126e-03 2.39086300e+02] [ 6.79848160e-01 7.33336124e-01 -4.96065352e-03 4.90381392e+01] [ 7.67110446e-03 -3.47288201e-04 9.99970516e-01 1.65367972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.11, Y:49.06, Z:1.65 [[ 7.32595270e-01 -6.80639293e-01 -5.85859586e-03 2.39106261e+02] [ 6.80621280e-01 7.32618612e-01 -4.96419556e-03 4.90580837e+01] [ 7.67094292e-03 -3.50738832e-04 9.99970516e-01 1.65297802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.13, Y:49.08, Z:1.65 [[ 7.31630805e-01 -6.81675941e-01 -5.85461447e-03 2.39125406e+02] [ 6.81657924e-01 7.31654143e-01 -4.96888665e-03 4.90775212e+01] [ 7.67072342e-03 -3.55453805e-04 9.99970516e-01 1.65262962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.14, Y:49.10, Z:1.65 [[ 7.30478315e-01 -6.82910799e-01 -5.85421484e-03 2.39144702e+02] [ 6.82892817e-01 7.30501681e-01 -4.96935744e-03 4.90964465e+01] [ 7.67014164e-03 -3.67793412e-04 9.99970516e-01 1.65214190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.16, Y:49.12, Z:1.65 [[ 7.27795123e-01 -6.85769635e-01 -5.85372466e-03 2.39163841e+02] [ 6.85751741e-01 7.27818555e-01 -4.96993479e-03 4.91175574e+01] [ 7.66867979e-03 -3.97107573e-04 9.99970516e-01 1.65069531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.18, Y:49.14, Z:1.65 [[ 7.26153639e-01 -6.87507554e-01 -5.85282211e-03 2.39184555e+02] [ 6.87489708e-01 7.26177107e-01 -4.97099745e-03 4.91369232e+01] [ 7.66778373e-03 -4.14047078e-04 9.99970516e-01 1.65062361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.20, Y:49.16, Z:1.65 [[ 7.24465123e-01 -6.89286617e-01 -5.85191500e-03 2.39204615e+02] [ 6.89268820e-01 7.24488629e-01 -4.97206507e-03 4.91550670e+01] [ 7.66682379e-03 -4.31454811e-04 9.99970516e-01 1.65110585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.23, Y:49.17, Z:1.65 [[ 7.21172138e-01 -6.92731195e-01 -5.85152031e-03 2.39225333e+02] [ 6.92713505e-01 7.21195725e-01 -4.97252953e-03 4.91732521e+01] [ 7.66471776e-03 -4.67377393e-04 9.99970516e-01 1.65152962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.25, Y:49.19, Z:1.65 [[ 7.19666941e-01 -6.94294796e-01 -5.85063931e-03 2.39245690e+02] [ 6.94277149e-01 7.19690561e-01 -4.97356590e-03 4.91903268e+01] [ 7.66377081e-03 -4.82654217e-04 9.99970516e-01 1.65169204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.27, Y:49.21, Z:1.65 [[ 7.18320478e-01 -6.95687766e-01 -5.85016015e-03 2.39267313e+02] [ 6.95670160e-01 7.18344128e-01 -4.97412944e-03 4.92081661e+01] [ 7.66286919e-03 -4.96762815e-04 9.99970516e-01 1.65120192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.29, Y:49.23, Z:1.65 [[ 7.17240089e-01 -6.96801579e-01 -5.84928786e-03 2.39289382e+02] [ 6.96784002e-01 7.17263761e-01 -4.97515500e-03 4.92258057e+01] [ 7.66217807e-03 -5.07309580e-04 9.99970516e-01 1.65091380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.31, Y:49.24, Z:1.65 [[ 7.16549061e-01 -6.97512179e-01 -5.84838642e-03 2.39311335e+02] [ 6.97494617e-01 7.16572743e-01 -4.97621444e-03 4.92430290e+01] [ 7.66176447e-03 -5.13516263e-04 9.99970516e-01 1.65123457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.33, Y:49.26, Z:1.66 [[ 7.16609001e-01 -6.97450606e-01 -5.84748072e-03 2.39332811e+02] [ 6.97433033e-01 7.16632675e-01 -4.97727847e-03 4.92593747e+01] [ 7.66190164e-03 -5.11463664e-04 9.99970516e-01 1.65557021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.35, Y:49.28, Z:1.66 [[ 7.16976334e-01 -6.97072986e-01 -5.84709272e-03 2.39354685e+02] [ 6.97055397e-01 7.16999997e-01 -4.97773424e-03 4.92774343e+01] [ 7.66220953e-03 -5.06829884e-04 9.99970516e-01 1.65695404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.38, Y:49.30, Z:1.66 [[ 7.17136186e-01 -6.96908540e-01 -5.84619533e-03 2.39376516e+02] [ 6.96890937e-01 7.17159838e-01 -4.97878798e-03 4.92953645e+01] [ 7.66241636e-03 -5.03691519e-04 9.99970516e-01 1.65725754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.40, Y:49.31, Z:1.66 [[ 7.17189516e-01 -6.96853665e-01 -5.84529039e-03 2.39398750e+02] [ 6.96836052e-01 7.17213160e-01 -4.97985019e-03 4.93125698e+01] [ 7.66254605e-03 -5.01712735e-04 9.99970516e-01 1.65597228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.42, Y:49.33, Z:1.65 [[ 7.17063133e-01 -6.96983720e-01 -5.84437798e-03 2.39420313e+02] [ 6.96966103e-01 7.17086774e-01 -4.98092076e-03 4.93282812e+01] [ 7.66254684e-03 -5.01698699e-04 9.99970516e-01 1.65468375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.44, Y:49.34, Z:1.65 [[ 7.16360450e-01 -6.97705922e-01 -5.84398087e-03 2.39442076e+02] [ 6.97688325e-01 7.16384106e-01 -4.98138664e-03 4.93436108e+01] [ 7.66207797e-03 -5.08808850e-04 9.99970516e-01 1.65372065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.47, Y:49.36, Z:1.65 [[ 7.13661440e-01 -7.00466417e-01 -5.84358883e-03 2.39466879e+02] [ 7.00448907e-01 7.13685162e-01 -4.98184649e-03 4.93579996e+01] [ 7.66009880e-03 -5.37783672e-04 9.99970516e-01 1.65477879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.49, Y:49.37, Z:1.65 [[ 7.12339493e-01 -7.01810736e-01 -5.84266459e-03 2.39488474e+02] [ 7.01793263e-01 7.12363241e-01 -4.98293019e-03 4.93735226e+01] [ 7.65917339e-03 -5.50804681e-04 9.99970516e-01 1.65462547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.51, Y:49.39, Z:1.65 [[ 7.11286759e-01 -7.02877667e-01 -5.84226454e-03 2.39510675e+02] [ 7.02860225e-01 7.11310530e-01 -4.98339920e-03 4.93893722e+01] [ 7.65838428e-03 -5.61669504e-04 9.99970516e-01 1.65379755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.53, Y:49.41, Z:1.65 [[ 7.10671688e-01 -7.03499556e-01 -5.84178085e-03 2.39533547e+02] [ 7.03482131e-01 7.10695471e-01 -4.98396614e-03 4.94058173e+01] [ 7.65794516e-03 -5.67624813e-04 9.99970516e-01 1.65321436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.56, Y:49.42, Z:1.65 [[ 7.10633192e-01 -7.03538449e-01 -5.84090522e-03 2.39556454e+02] [ 7.03521017e-01 7.10656970e-01 -4.98499210e-03 4.94221148e+01] [ 7.65801362e-03 -5.66698730e-04 9.99970516e-01 1.65295251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.58, Y:49.44, Z:1.65 [[ 7.11398776e-01 -7.02764310e-01 -5.84000758e-03 2.39578710e+02] [ 7.02746843e-01 7.11422528e-01 -4.98604348e-03 4.94381306e+01] [ 7.65872637e-03 -5.56981663e-04 9.99970516e-01 1.65320031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.60, Y:49.46, Z:1.65 [[ 7.13754938e-01 -7.00371180e-01 -5.83939540e-03 2.39600371e+02] [ 7.00353628e-01 7.13778627e-01 -4.98676033e-03 4.94553286e+01] [ 7.66061886e-03 -5.30316940e-04 9.99970516e-01 1.65456803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.62, Y:49.47, Z:1.66 [[ 7.14547910e-01 -6.99562146e-01 -5.83857832e-03 2.39620643e+02] [ 6.99544559e-01 7.14571573e-01 -4.98771681e-03 4.94736597e+01] [ 7.66129997e-03 -5.20383071e-04 9.99970516e-01 1.65592058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.575898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:239.64, Y:49.49, Z:1.66 [[ 7.14943121e-01 -6.99158244e-01 -5.83809496e-03 2.39641281e+02] [ 6.99140639e-01 7.14966772e-01 -4.98828252e-03 4.94919500e+01] [ 7.66164275e-03 -5.15311164e-04 9.99970516e-01 1.65655947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.66, Y:49.51, Z:1.66 [[ 7.15144564e-01 -6.98952201e-01 -5.83719609e-03 2.39662112e+02] [ 6.98934581e-01 7.15168203e-01 -4.98933413e-03 4.95090030e+01] [ 7.66188311e-03 -5.11723022e-04 9.99970516e-01 1.65701193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.68, Y:49.53, Z:1.66 [[ 7.15051223e-01 -6.99047696e-01 -5.83670359e-03 2.39683707e+02] [ 6.99030074e-01 7.15074861e-01 -4.98991021e-03 4.95274911e+01] [ 7.66186524e-03 -5.11989949e-04 9.99970516e-01 1.65679698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.70, Y:49.55, Z:1.66 [[ 7.15207126e-01 -6.98888196e-01 -5.83583349e-03 2.39704405e+02] [ 6.98870561e-01 7.15230753e-01 -4.99092760e-03 4.95463574e+01] [ 7.66206797e-03 -5.08945240e-04 9.99970516e-01 1.65661887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.72, Y:49.57, Z:1.66 [[ 7.16265022e-01 -6.97803964e-01 -5.83496656e-03 2.39722324e+02] [ 6.97786284e-01 7.16288617e-01 -4.99194094e-03 4.95667579e+01] [ 7.66291630e-03 -4.96006949e-04 9.99970516e-01 1.65609904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.74, Y:49.59, Z:1.66 [[ 7.16986679e-01 -6.97062451e-01 -5.83449658e-03 2.39741999e+02] [ 6.97044743e-01 7.17010252e-01 -4.99249019e-03 4.95865901e+01] [ 7.66347131e-03 -4.87356206e-04 9.99970516e-01 1.65639118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.755898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:239.76, Y:49.61, Z:1.66 [[ 7.17761812e-01 -6.96264282e-01 -5.83362616e-03 2.39761568e+02] [ 6.96246539e-01 7.17785359e-01 -4.99350705e-03 4.96072811e+01] [ 7.66409205e-03 -4.77493358e-04 9.99970516e-01 1.65714061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.78, Y:49.63, Z:1.66 [[ 7.18698421e-01 -6.95297461e-01 -5.83274785e-03 2.39780971e+02] [ 6.95279678e-01 7.18721938e-01 -4.99453276e-03 4.96277858e+01] [ 7.66480978e-03 -4.65828246e-04 9.99970516e-01 1.65759399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.80, Y:49.65, Z:1.66 [[ 7.19372547e-01 -6.94599977e-01 -5.83186756e-03 2.39799560e+02] [ 6.94582163e-01 7.19396041e-01 -4.99556042e-03 4.96488467e+01] [ 7.66533858e-03 -4.57042154e-04 9.99970516e-01 1.65712030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.82, Y:49.67, Z:1.66 [[ 7.19250242e-01 -6.94726629e-01 -5.83098815e-03 2.39821050e+02] [ 6.94708811e-01 7.19273733e-01 -4.99658669e-03 4.96674800e+01] [ 7.66533844e-03 -4.57042657e-04 9.99970516e-01 1.65733902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.84, Y:49.69, Z:1.65 [[ 7.19931534e-01 -6.94020602e-01 -5.83010823e-03 2.39836442e+02] [ 6.94002753e-01 7.19955001e-01 -4.99761318e-03 4.96910136e+01] [ 7.66586208e-03 -4.48171834e-04 9.99970516e-01 1.65392919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.85, Y:49.71, Z:1.65 [[ 7.19314528e-01 -6.94660080e-01 -5.82950858e-03 2.39854949e+02] [ 6.94642246e-01 7.19338006e-01 -4.99831256e-03 4.97121252e+01] [ 7.66551528e-03 -4.54064091e-04 9.99970516e-01 1.65341941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.87, Y:49.73, Z:1.66 [[ 7.18570338e-01 -6.95429864e-01 -5.82863569e-03 2.39873445e+02] [ 6.95412047e-01 7.18593829e-01 -4.99933024e-03 4.97325514e+01] [ 7.66510519e-03 -4.60933058e-04 9.99970516e-01 1.65512105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.89, Y:49.75, Z:1.66 [[ 7.17534766e-01 -6.96498308e-01 -5.82814724e-03 2.39892190e+02] [ 6.96480521e-01 7.17558280e-01 -4.99989960e-03 4.97532364e+01] [ 7.66445692e-03 -4.71589235e-04 9.99970516e-01 1.65687639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.91, Y:49.77, Z:1.66 [[ 7.16729672e-01 -6.97326767e-01 -5.82728019e-03 2.39911136e+02] [ 6.97308999e-01 7.16753201e-01 -5.00090993e-03 4.97735080e+01] [ 7.66399008e-03 -4.79114382e-04 9.99970516e-01 1.65786477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.02589822699997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:239.93, Y:49.79, Z:1.66 [[ 7.16001804e-01 -6.98074115e-01 -5.82639374e-03 2.39930227e+02] [ 6.98056363e-01 7.16025345e-01 -5.00194248e-03 4.97944598e+01] [ 7.66357216e-03 -4.85751382e-04 9.99970516e-01 1.65801763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05589822699994 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:239.95, Y:49.82, Z:1.66 [[ 7.15867730e-01 -6.98211613e-01 -5.82548667e-03 2.39947574e+02] [ 6.98193857e-01 7.15891268e-01 -5.00299868e-03 4.98171186e+01] [ 7.66356682e-03 -4.85833695e-04 9.99970516e-01 1.65817908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.97, Y:49.84, Z:1.66 [[ 7.16237347e-01 -6.97832457e-01 -5.82457847e-03 2.39967066e+02] [ 6.97814680e-01 7.16260868e-01 -5.00405580e-03 4.98361159e+01] [ 7.66391018e-03 -4.80384716e-04 9.99970516e-01 1.65864037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.99, Y:49.86, Z:1.66 [[ 7.16253838e-01 -6.97815534e-01 -5.82418363e-03 2.39987078e+02] [ 6.97797753e-01 7.16277356e-01 -5.00451530e-03 4.98562870e+01] [ 7.66395937e-03 -4.79598964e-04 9.99970516e-01 1.65886777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.01, Y:49.88, Z:1.66 [[ 7.16622576e-01 -6.97436860e-01 -5.82333613e-03 2.40006981e+02] [ 6.97419058e-01 7.16646079e-01 -5.00550127e-03 4.98759036e+01] [ 7.66429209e-03 -4.74250389e-04 9.99970516e-01 1.65903598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.03, Y:49.90, Z:1.66 [[ 7.17462060e-01 -6.96573249e-01 -5.82249064e-03 2.40026850e+02] [ 6.96555412e-01 7.17485536e-01 -5.00648457e-03 4.98957163e+01] [ 7.66493604e-03 -4.63724633e-04 9.99970516e-01 1.65895449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.05, Y:49.92, Z:1.65 [[ 7.20738226e-01 -6.93182889e-01 -5.82157351e-03 2.40045853e+02] [ 6.93164933e-01 7.20761611e-01 -5.00755080e-03 4.99170142e+01] [ 7.66711523e-03 -4.26177329e-04 9.99970516e-01 1.65332326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.07, Y:49.94, Z:1.65 [[ 7.22781579e-01 -6.91052026e-01 -5.82128942e-03 2.40065440e+02] [ 6.91033998e-01 7.22804908e-01 -5.00788103e-03 4.99368976e+01] [ 7.66836289e-03 -4.03104741e-04 9.99970516e-01 1.65316942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.265898227 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:240.08, Y:49.96, Z:1.65 [[ 7.25233782e-01 -6.88478094e-01 -5.82038955e-03 2.40083728e+02] [ 6.88459974e-01 7.25257040e-01 -5.00892668e-03 4.99563722e+01] [ 7.66981479e-03 -3.74462404e-04 9.99970516e-01 1.65350464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.10, Y:49.98, Z:1.66 [[ 7.29469029e-01 -6.83989081e-01 -5.81999647e-03 2.40101477e+02] [ 6.83970815e-01 7.29492173e-01 -5.00938337e-03 4.99799380e+01] [ 7.67200540e-03 -3.26517706e-04 9.99970516e-01 1.65655884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.12, Y:50.00, Z:1.66 [[ 7.30196046e-01 -6.83212903e-01 -5.81919937e-03 2.40119648e+02] [ 6.83194605e-01 7.30219165e-01 -5.01030915e-03 4.99995968e+01] [ 7.67239876e-03 -3.17137683e-04 9.99970516e-01 1.65658650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.14, Y:50.02, Z:1.66 [[ 7.29851933e-01 -6.83580498e-01 -5.81880291e-03 2.40138824e+02] [ 6.83562208e-01 7.29875058e-01 -5.01076954e-03 5.00193529e+01] [ 7.67226345e-03 -3.20393932e-04 9.99970516e-01 1.65521161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.16, Y:50.04, Z:1.65 [[ 7.28713981e-01 -6.84793480e-01 -5.81574504e-03 2.40159577e+02] [ 6.84775201e-01 7.28737114e-01 -5.01431972e-03 5.00389485e+01] [ 7.67192271e-03 -3.28473087e-04 9.99970516e-01 1.65479722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.18, Y:50.06, Z:1.66 [[ 7.27128620e-01 -6.86476597e-01 -5.81830359e-03 2.40179833e+02] [ 6.86458394e-01 7.27151813e-01 -5.01134986e-03 5.00571338e+01] [ 7.67096440e-03 -3.50127438e-04 9.99970516e-01 1.65688849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.20, Y:50.07, Z:1.66 [[ 7.25325510e-01 -6.88381485e-01 -5.81682582e-03 2.40201093e+02] [ 6.88363330e-01 7.25348740e-01 -5.01306457e-03 5.00747302e+01] [ 7.67012811e-03 -3.67985977e-04 9.99970516e-01 1.65877562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.22, Y:50.09, Z:1.66 [[ 7.20898142e-01 -6.93016626e-01 -5.81592685e-03 2.40223224e+02] [ 6.92998612e-01 7.20921482e-01 -5.01410730e-03 5.00914983e+01] [ 7.66768632e-03 -4.15768597e-04 9.99970516e-01 1.66206638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.25, Y:50.11, Z:1.66 [[ 7.18346984e-01 -6.95660706e-01 -5.81318150e-03 2.40245427e+02] [ 6.95642751e-01 7.18370370e-01 -5.01729071e-03 5.01089644e+01] [ 7.66634934e-03 -4.39741929e-04 9.99970516e-01 1.66295504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.27, Y:50.13, Z:1.66 [[ 7.16228181e-01 -6.97841946e-01 -5.81472212e-03 2.40266618e+02] [ 6.97824077e-01 7.16251633e-01 -5.01550459e-03 5.01254563e+01] [ 7.66483370e-03 -4.65407369e-04 9.99970516e-01 1.66264041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.29, Y:50.14, Z:1.66 [[ 7.14356226e-01 -6.99758084e-01 -5.81432909e-03 2.40288365e+02] [ 6.99740274e-01 7.14379723e-01 -5.01596018e-03 5.01427975e+01] [ 7.66359749e-03 -4.85337850e-04 9.99970516e-01 1.66158276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.31, Y:50.16, Z:1.66 [[ 7.13268541e-01 -7.00866744e-01 -5.81345696e-03 2.40310678e+02] [ 7.00848963e-01 7.13292059e-01 -5.01697077e-03 5.01596802e+01] [ 7.66292065e-03 -4.95907858e-04 9.99970516e-01 1.66053376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.33, Y:50.18, Z:1.66 [[ 7.12601389e-01 -7.01545062e-01 -5.81257439e-03 2.40331740e+02] [ 7.01527295e-01 7.12624918e-01 -5.01799309e-03 5.01758055e+01] [ 7.66253362e-03 -5.01850744e-04 9.99970516e-01 1.66009599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65589822699997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:240.35, Y:50.19, Z:1.66 [[ 7.12543183e-01 -7.01604184e-01 -5.81209664e-03 2.40354870e+02] [ 7.01586415e-01 7.12566711e-01 -5.01854639e-03 5.01912603e+01] [ 7.66253973e-03 -5.01757022e-04 9.99970516e-01 1.66222787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.38, Y:50.21, Z:1.66 [[ 7.12785092e-01 -7.01358426e-01 -5.81119359e-03 2.40377294e+02] [ 7.01340640e-01 7.12808607e-01 -5.01959185e-03 5.02081842e+01] [ 7.66280185e-03 -4.97735995e-04 9.99970516e-01 1.66274891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.40, Y:50.22, Z:1.66 [[ 7.12994006e-01 -7.01146053e-01 -5.81028188e-03 2.40398089e+02] [ 7.01128252e-01 7.13017509e-01 -5.02064695e-03 5.02247004e+01] [ 7.66303951e-03 -4.94061599e-04 9.99970516e-01 1.66323347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.42, Y:50.24, Z:1.66 [[ 7.12923377e-01 -7.01217872e-01 -5.80988563e-03 2.40420643e+02] [ 7.01200069e-01 7.12946879e-01 -5.02110545e-03 5.02411076e+01] [ 7.66302870e-03 -4.94228754e-04 9.99970516e-01 1.66317094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.44, Y:50.26, Z:1.66 [[ 7.12263288e-01 -7.01888356e-01 -5.80897759e-03 2.40441851e+02] [ 7.01870566e-01 7.12286800e-01 -5.02215576e-03 5.02574942e+01] [ 7.66265070e-03 -5.00053217e-04 9.99970516e-01 1.66334888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.46, Y:50.27, Z:1.66 [[ 7.11459061e-01 -7.02703540e-01 -5.80858224e-03 2.40463293e+02] [ 7.02685774e-01 7.11482590e-01 -5.02261297e-03 5.02738812e+01] [ 7.66211305e-03 -5.08224603e-04 9.99970516e-01 1.66332185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.49, Y:50.29, Z:1.66 [[ 7.10452858e-01 -7.03720827e-01 -5.80810280e-03 2.40485426e+02] [ 7.03703091e-01 7.10476409e-01 -5.02316732e-03 5.02908813e+01] [ 7.66142749e-03 -5.18456314e-04 9.99970516e-01 1.66302018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.51, Y:50.31, Z:1.66 [[ 7.09360811e-01 -7.04821621e-01 -5.80718647e-03 2.40508021e+02] [ 7.04803911e-01 7.09384383e-01 -5.02422645e-03 5.03067286e+01] [ 7.66071082e-03 -5.28938391e-04 9.99970516e-01 1.66063998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.53, Y:50.32, Z:1.66 [[ 7.09587127e-01 -7.04593781e-01 -5.80627879e-03 2.40529593e+02] [ 7.04576056e-01 7.09610687e-01 -5.02527520e-03 5.03238845e+01] [ 7.66097514e-03 -5.25094419e-04 9.99970516e-01 1.66106384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.55, Y:50.34, Z:1.66 [[ 7.10361750e-01 -7.03812817e-01 -5.80538238e-03 2.40552140e+02] [ 7.03795057e-01 7.10385285e-01 -5.02631056e-03 5.03426429e+01] [ 7.66164001e-03 -5.15300656e-04 9.99970516e-01 1.66320364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.57, Y:50.36, Z:1.66 [[ 7.11533339e-01 -7.02628347e-01 -5.80634956e-03 2.40572469e+02] [ 7.02610558e-01 7.11556851e-01 -5.02519358e-03 5.03598610e+01] [ 7.66239127e-03 -5.04009740e-04 9.99970516e-01 1.66202194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.59, Y:50.38, Z:1.66 [[ 7.14013140e-01 -7.00108239e-01 -5.80424447e-03 2.40593591e+02] [ 7.00090347e-01 7.14036574e-01 -5.02762385e-03 5.03786810e+01] [ 7.66432372e-03 -4.73706036e-04 9.99970516e-01 1.66184620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.61, Y:50.40, Z:1.66 [[ 7.15007703e-01 -6.99092487e-01 -5.80334457e-03 2.40613789e+02] [ 6.99074553e-01 7.15031106e-01 -5.02866238e-03 5.03959704e+01] [ 7.66507197e-03 -4.61438177e-04 9.99970516e-01 1.66152221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.63, Y:50.41, Z:1.66 [[ 7.15351937e-01 -6.98740247e-01 -5.80285891e-03 2.40634697e+02] [ 6.98722297e-01 7.15375327e-01 -5.02922276e-03 5.04141679e+01] [ 7.66534244e-03 -4.56922665e-04 9.99970516e-01 1.66119419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.65, Y:50.43, Z:1.66 [[ 7.15176167e-01 -6.98920158e-01 -5.80194342e-03 2.40654908e+02] [ 6.98902206e-01 7.15199555e-01 -5.03027868e-03 5.04315792e+01] [ 7.66531052e-03 -4.57455635e-04 9.99970516e-01 1.66150042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.68, Y:50.45, Z:1.66 [[ 7.14316686e-01 -6.99798552e-01 -5.80154652e-03 2.40675112e+02] [ 6.99780625e-01 7.14340093e-01 -5.03073639e-03 5.04488255e+01] [ 7.66477933e-03 -4.66270900e-04 9.99970516e-01 1.66281263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.70, Y:50.46, Z:1.66 [[ 7.10928028e-01 -7.03240846e-01 -5.80104226e-03 2.40698197e+02] [ 7.03223027e-01 7.10951518e-01 -5.03131780e-03 5.04646441e+01] [ 7.66248798e-03 -5.02521656e-04 9.99970516e-01 1.66481279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.72, Y:50.48, Z:1.66 [[ 7.08619460e-01 -7.05567020e-01 -5.80013015e-03 2.40721140e+02] [ 7.05549270e-01 7.08643001e-01 -5.03236906e-03 5.04809163e+01] [ 7.66089528e-03 -5.26242945e-04 9.99970516e-01 1.66490498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.74, Y:50.50, Z:1.66 [[ 7.06455875e-01 -7.07733329e-01 -5.79921504e-03 2.40743218e+02] [ 7.07715643e-01 7.06479465e-01 -5.03342340e-03 5.04964099e+01] [ 7.65934784e-03 -5.48303662e-04 9.99970516e-01 1.66384398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.77, Y:50.51, Z:1.66 [[ 7.04405905e-01 -7.09773695e-01 -5.79859221e-03 2.40766495e+02] [ 7.09756070e-01 7.04429541e-01 -5.03414081e-03 5.05116053e+01] [ 7.65780037e-03 -5.69507514e-04 9.99970516e-01 1.66208712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.255898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:240.79, Y:50.53, Z:1.66 [[ 7.04856544e-01 -7.09326187e-01 -5.79771995e-03 2.40788610e+02] [ 7.09308539e-01 7.04880163e-01 -5.03514518e-03 5.05291997e+01] [ 7.65825811e-03 -5.63317240e-04 9.99970516e-01 1.66288008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.81, Y:50.55, Z:1.66 [[ 7.06098564e-01 -7.08089835e-01 -5.79684560e-03 2.40809977e+02] [ 7.08072138e-01 7.06122146e-01 -5.03615159e-03 5.05466853e+01] [ 7.65932880e-03 -5.48565457e-04 9.99970516e-01 1.66447773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.83, Y:50.57, Z:1.67 [[ 7.07737763e-01 -7.06451461e-01 -5.79593627e-03 2.40831777e+02] [ 7.06433700e-01 7.07761297e-01 -5.03719790e-03 5.05655348e+01] [ 7.66067518e-03 -5.29429533e-04 9.99970516e-01 1.66673062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.85, Y:50.58, Z:1.67 [[ 7.11496379e-01 -7.02665828e-01 -5.79968048e-03 2.40850743e+02] [ 7.02647978e-01 7.11519845e-01 -5.03289066e-03 5.05841087e+01] [ 7.66302804e-03 -4.94250282e-04 9.99970516e-01 1.66809276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.87, Y:50.60, Z:1.67 [[ 7.12228784e-01 -7.01923486e-01 -5.79477659e-03 2.40871220e+02] [ 7.01905565e-01 7.12252196e-01 -5.03853059e-03 5.06030116e+01] [ 7.66400531e-03 -4.78799430e-04 9.99970516e-01 1.66820323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.89, Y:50.62, Z:1.67 [[ 7.12199119e-01 -7.01953593e-01 -5.79388073e-03 2.40892151e+02] [ 7.01935665e-01 7.12222525e-01 -5.03956054e-03 5.06214141e+01] [ 7.66406999e-03 -4.77760938e-04 9.99970516e-01 1.66808191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.91, Y:50.64, Z:1.67 [[ 7.10142229e-01 -7.04034414e-01 -5.79298378e-03 2.40914656e+02] [ 7.04016547e-01 7.10165681e-01 -5.04059138e-03 5.06373065e+01] [ 7.66272807e-03 -4.98819635e-04 9.99970516e-01 1.66631962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46589822699997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:240.94, Y:50.65, Z:1.67 [[ 7.08141283e-01 -7.06047003e-01 -5.79249705e-03 2.40936174e+02] [ 7.06029197e-01 7.08164783e-01 -5.04115065e-03 5.06543875e+01] [ 7.66133172e-03 -5.19825148e-04 9.99970516e-01 1.66581276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.96, Y:50.67, Z:1.67 [[ 7.06095580e-01 -7.08092850e-01 -5.79201234e-03 2.40958461e+02] [ 7.08075108e-01 7.06119128e-01 -5.04170749e-03 5.06720801e+01] [ 7.65984773e-03 -5.41252387e-04 9.99970516e-01 1.66535174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.98, Y:50.69, Z:1.67 [[ 7.04074652e-01 -7.10102349e-01 -5.79113041e-03 2.40980626e+02] [ 7.10084666e-01 7.04098244e-01 -5.04272031e-03 5.06899284e+01] [ 7.65837230e-03 -5.61741353e-04 9.99970516e-01 1.66561779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.00, Y:50.71, Z:1.67 [[ 7.01686551e-01 -7.12462249e-01 -5.79025230e-03 2.41002870e+02] [ 7.12444637e-01 7.01710197e-01 -5.04372839e-03 5.07067752e+01] [ 7.65654515e-03 -5.86117816e-04 9.99970516e-01 1.66652944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.585898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:241.02, Y:50.73, Z:1.67 [[ 7.01529288e-01 -7.12617107e-01 -5.78934487e-03 2.41024275e+02] [ 7.12599492e-01 7.01552931e-01 -5.04476976e-03 5.07253816e+01] [ 7.65652109e-03 -5.86430471e-04 9.99970516e-01 1.66742047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.05, Y:50.74, Z:1.67 [[ 7.02240628e-01 -7.11916143e-01 -5.78843774e-03 2.41045380e+02] [ 7.11898495e-01 7.02264247e-01 -5.04581039e-03 5.07434641e+01] [ 7.65720674e-03 -5.77407054e-04 9.99970516e-01 1.66907224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.07, Y:50.76, Z:1.67 [[ 7.04600751e-01 -7.09580359e-01 -5.78752558e-03 2.41065059e+02] [ 7.09562625e-01 7.04624304e-01 -5.04685642e-03 5.07623814e+01] [ 7.65918138e-03 -5.50593020e-04 9.99970516e-01 1.67081041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67589822699995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:241.09, Y:50.78, Z:1.67 [[ 7.05370472e-01 -7.08815214e-01 -5.78701921e-03 2.41085674e+02] [ 7.08797450e-01 7.05394003e-01 -5.04743699e-03 5.07818152e+01] [ 7.65982877e-03 -5.41511441e-04 9.99970516e-01 1.67004477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.705898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:241.11, Y:50.80, Z:1.67 [[ 7.05796441e-01 -7.08391068e-01 -5.78610244e-03 2.41105309e+02] [ 7.08373280e-01 7.05819955e-01 -5.04848770e-03 5.07999233e+01] [ 7.66025015e-03 -5.35515715e-04 9.99970516e-01 1.66835675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:241.13, Y:50.82, Z:1.67 [[ 7.05668641e-01 -7.08518381e-01 -5.78560474e-03 2.41126639e+02] [ 7.08500593e-01 7.05692154e-01 -5.04905801e-03 5.08187376e+01] [ 7.66020628e-03 -5.36142490e-04 9.99970516e-01 1.66857533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.15, Y:50.84, Z:1.67 [[ 7.05580335e-01 -7.08606329e-01 -5.78469371e-03 2.41146513e+02] [ 7.08588535e-01 7.05603844e-01 -5.05010155e-03 5.08370423e+01] [ 7.66023604e-03 -5.35715300e-04 9.99970516e-01 1.66577474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.17, Y:50.86, Z:1.66 [[ 7.03356009e-01 -7.10814229e-01 -5.78421343e-03 2.41167866e+02] [ 7.10796505e-01 7.03379570e-01 -5.05065159e-03 5.08567367e+01] [ 7.65857257e-03 -5.58992552e-04 9.99970516e-01 1.66238287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.19, Y:50.88, Z:1.66 [[ 7.01996252e-01 -7.12157155e-01 -5.78342288e-03 2.41189138e+02] [ 7.12139469e-01 7.02019842e-01 -5.05155667e-03 5.08754726e+01] [ 7.65757985e-03 -5.72429849e-04 9.99970516e-01 1.66282582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.21, Y:50.89, Z:1.66 [[ 7.00770906e-01 -7.13362951e-01 -5.78248970e-03 2.41209435e+02] [ 7.13345297e-01 7.00794520e-01 -5.05262466e-03 5.08928750e+01] [ 7.65669233e-03 -5.84179468e-04 9.99970516e-01 1.66377457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.23, Y:50.91, Z:1.67 [[ 6.99585929e-01 -7.14525083e-01 -5.78210589e-03 2.41230590e+02] [ 7.14507465e-01 6.99609569e-01 -5.05306384e-03 5.09109013e+01] [ 7.65575747e-03 -5.96305451e-04 9.99970516e-01 1.66632753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.25, Y:50.93, Z:1.67 [[ 6.98462181e-01 -7.15623616e-01 -5.78121034e-03 2.41250840e+02] [ 7.15606026e-01 6.98485842e-01 -5.05408823e-03 5.09294016e+01] [ 7.65491847e-03 -6.06979468e-04 9.99970516e-01 1.66868304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.27, Y:50.95, Z:1.67 [[ 6.98839332e-01 -7.15255320e-01 -5.78059835e-03 2.41271310e+02] [ 7.15237712e-01 6.98862980e-01 -5.05478810e-03 5.09489759e+01] [ 7.65531027e-03 -6.02017198e-04 9.99970516e-01 1.66895987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.29, Y:50.97, Z:1.67 [[ 6.99581708e-01 -7.14529236e-01 -5.77969204e-03 2.41291803e+02] [ 7.14511595e-01 6.99605331e-01 -5.05582417e-03 5.09684642e+01] [ 7.65603754e-03 -5.92694869e-04 9.99970516e-01 1.66902354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.31, Y:50.99, Z:1.67 [[ 7.00602701e-01 -7.13528178e-01 -5.77878150e-03 2.41311883e+02] [ 7.13510495e-01 7.00626293e-01 -5.05686469e-03 5.09869186e+01] [ 7.65698171e-03 -5.80368189e-04 9.99970516e-01 1.66833803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.33, Y:51.01, Z:1.67 [[ 7.02329067e-01 -7.11828978e-01 -5.77828632e-03 2.41331986e+02] [ 7.11811232e-01 7.02352612e-01 -5.05743045e-03 5.10054067e+01] [ 7.65842004e-03 -5.61068700e-04 9.99970516e-01 1.66565928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.35, Y:51.03, Z:1.67 [[ 7.02643375e-01 -7.11518789e-01 -5.77066843e-03 2.41353326e+02] [ 7.11500963e-01 7.02666859e-01 -5.06613213e-03 5.10252085e+01] [ 7.65950565e-03 -5.46151969e-04 9.99970516e-01 1.66652340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.37, Y:51.04, Z:1.67 [[ 7.03141490e-01 -7.11026488e-01 -5.77741049e-03 2.41373514e+02] [ 7.11008708e-01 7.03165009e-01 -5.05843178e-03 5.10437654e+01] [ 7.65915188e-03 -5.50995915e-04 9.99970516e-01 1.66708507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.39, Y:51.06, Z:1.67 [[ 7.03963565e-01 -7.10212592e-01 -5.77691637e-03 2.41394335e+02] [ 7.10194780e-01 7.03987060e-01 -5.05899602e-03 5.10625746e+01] [ 7.65983705e-03 -5.41386977e-04 9.99970516e-01 1.66625041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.42, Y:51.08, Z:1.67 [[ 7.04321753e-01 -7.09857384e-01 -5.77603643e-03 2.41415025e+02] [ 7.09839552e-01 7.04345232e-01 -5.06000048e-03 5.10805250e+01] [ 7.66020243e-03 -5.36190706e-04 9.99970516e-01 1.66560419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.44, Y:51.10, Z:1.67 [[ 7.04347839e-01 -7.09831577e-01 -5.76663520e-03 2.41436837e+02] [ 7.09813657e-01 7.04371251e-01 -5.07072862e-03 5.10995597e+01] [ 7.66121534e-03 -5.21679678e-04 9.99970516e-01 1.66708617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.46, Y:51.12, Z:1.67 [[ 7.04623000e-01 -7.09558369e-01 -5.77479825e-03 2.41457016e+02] [ 7.09540516e-01 7.04646464e-01 -5.06141502e-03 5.11171936e+01] [ 7.66056055e-03 -5.31063889e-04 9.99970516e-01 1.66807144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.245898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:241.48, Y:51.14, Z:1.67 [[ 7.05169546e-01 -7.09015210e-01 -5.77430455e-03 2.41477956e+02] [ 7.08997334e-01 7.05192992e-01 -5.06197820e-03 5.11350637e+01] [ 7.66101864e-03 -5.24413659e-04 9.99970516e-01 1.67014670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.50, Y:51.15, Z:1.67 [[ 7.05288000e-01 -7.08897386e-01 -5.77342660e-03 2.41498750e+02] [ 7.08879498e-01 7.05311437e-01 -5.06297934e-03 5.11520999e+01] [ 7.66119664e-03 -5.21805172e-04 9.99970516e-01 1.67066569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.52, Y:51.17, Z:1.67 [[ 7.05116109e-01 -7.09068365e-01 -5.77294734e-03 2.41520471e+02] [ 7.09050478e-01 7.05139547e-01 -5.06352575e-03 5.11703905e+01] [ 7.66111939e-03 -5.22937499e-04 9.99970516e-01 1.67045017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.54, Y:51.19, Z:1.67 [[ 7.04583440e-01 -7.09597674e-01 -5.77206794e-03 2.41541867e+02] [ 7.09579797e-01 7.04606885e-01 -5.06452801e-03 5.11885786e+01] [ 7.66081611e-03 -5.27360228e-04 9.99970516e-01 1.66946132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.56, Y:51.20, Z:1.67 [[ 7.02899683e-01 -7.11265583e-01 -5.77114981e-03 2.41564159e+02] [ 7.11247752e-01 7.02923164e-01 -5.06557402e-03 5.12037980e+01] [ 7.65964334e-03 -5.44126955e-04 9.99970516e-01 1.66603837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.59, Y:51.22, Z:1.66 [[ 7.01617658e-01 -7.12530253e-01 -5.77065912e-03 2.41586114e+02] [ 7.12512460e-01 7.01641168e-01 -5.06613295e-03 5.12195744e+01] [ 7.65870500e-03 -5.57178189e-04 9.99970516e-01 1.66481292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.42589822699995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:241.61, Y:51.24, Z:1.66 [[ 6.99975454e-01 -7.14143591e-01 -5.77018444e-03 2.41609286e+02] [ 7.14125848e-01 6.99999001e-01 -5.06667354e-03 5.12360849e+01] [ 7.65745578e-03 -5.74090749e-04 9.99970516e-01 1.66474811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.63, Y:51.25, Z:1.66 [[ 6.98759097e-01 -7.15333796e-01 -5.76926375e-03 2.41632140e+02] [ 7.15316085e-01 6.98782668e-01 -5.06772169e-03 5.12506857e+01] [ 7.65657411e-03 -5.85730524e-04 9.99970516e-01 1.66386014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.66, Y:51.26, Z:1.66 [[ 6.96682338e-01 -7.17356564e-01 -5.76878340e-03 2.41658008e+02] [ 7.17338917e-01 6.96705957e-01 -5.06826843e-03 5.12628678e+01] [ 7.65490139e-03 -6.07199733e-04 9.99970516e-01 1.66320815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.68, Y:51.28, Z:1.67 [[ 6.95751681e-01 -7.18259233e-01 -5.76829759e-03 2.41681698e+02] [ 7.18241611e-01 6.95775319e-01 -5.06882127e-03 5.12789248e+01] [ 7.65416678e-03 -6.16390439e-04 9.99970516e-01 1.66508147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.70, Y:51.29, Z:1.67 [[ 6.95289443e-01 -7.18706705e-01 -5.76737294e-03 2.41704263e+02] [ 7.18689090e-01 6.95313086e-01 -5.06987314e-03 5.12944113e+01] [ 7.65388170e-03 -6.19918737e-04 9.99970516e-01 1.66625594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.73, Y:51.31, Z:1.67 [[ 6.94815860e-01 -7.19164560e-01 -5.76685513e-03 2.41729847e+02] [ 7.19146956e-01 6.94839511e-01 -5.07046206e-03 5.13073174e+01] [ 7.65353542e-03 -6.24178863e-04 9.99970516e-01 1.66773555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.75, Y:51.32, Z:1.67 [[ 6.94927506e-01 -7.19056685e-01 -5.76594714e-03 2.41753319e+02] [ 7.19039068e-01 6.94951148e-01 -5.07149438e-03 5.13230448e+01] [ 7.65374352e-03 -6.21620320e-04 9.99970516e-01 1.66840490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.78, Y:51.34, Z:1.67 [[ 6.95462806e-01 -7.18538969e-01 -5.76502024e-03 2.41776103e+02] [ 7.18521327e-01 6.95486429e-01 -5.07254783e-03 5.13385649e+01] [ 7.65431662e-03 -6.14521645e-04 9.99970516e-01 1.66822239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.80, Y:51.35, Z:1.67 [[ 6.96250281e-01 -7.17775952e-01 -5.76451169e-03 2.41799380e+02] [ 7.17758279e-01 6.96273881e-01 -5.07312568e-03 5.13542556e+01] [ 7.65504654e-03 -6.05360805e-04 9.99970516e-01 1.66828582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.82, Y:51.37, Z:1.67 [[ 6.97688225e-01 -7.16378337e-01 -5.76359911e-03 2.41824061e+02] [ 7.16360608e-01 6.97711783e-01 -5.07416225e-03 5.13663479e+01] [ 7.65635093e-03 -5.88632107e-04 9.99970516e-01 1.66987552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.85, Y:51.38, Z:1.67 [[ 6.97645524e-01 -7.16419926e-01 -5.76297611e-03 2.41846903e+02] [ 7.16402193e-01 6.97669079e-01 -5.07486972e-03 5.13818533e+01] [ 7.65638803e-03 -5.88148577e-04 9.99970516e-01 1.67078291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.87, Y:51.40, Z:1.67 [[ 6.97082076e-01 -7.16968184e-01 -5.76217199e-03 2.41870202e+02] [ 7.16950462e-01 6.97105639e-01 -5.07578259e-03 5.13977860e+01] [ 7.65601721e-03 -5.92954802e-04 9.99970516e-01 1.67116142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.89, Y:51.41, Z:1.67 [[ 6.96480021e-01 -7.17553057e-01 -5.76124862e-03 2.41893042e+02] [ 7.17535346e-01 6.96503592e-01 -5.07683044e-03 5.14134091e+01] [ 7.65562556e-03 -5.97988553e-04 9.99970516e-01 1.67042533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.92, Y:51.43, Z:1.66 [[ 6.95109311e-01 -7.18880977e-01 -5.76075035e-03 2.41919836e+02] [ 7.18863307e-01 6.95132913e-01 -5.07739577e-03 5.14259559e+01] [ 7.65453040e-03 -6.11846967e-04 9.99970516e-01 1.66339936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.94, Y:51.44, Z:1.66 [[ 6.94483910e-01 -7.19485179e-01 -5.75988102e-03 2.41943779e+02] [ 7.19467521e-01 6.94507520e-01 -5.07838175e-03 5.14407388e+01] [ 7.65410109e-03 -6.17192909e-04 9.99970516e-01 1.66076704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.97, Y:51.46, Z:1.66 [[ 6.94101043e-01 -7.19854552e-01 -5.75900274e-03 2.41966955e+02] [ 7.19836898e-01 6.94124657e-01 -5.07937755e-03 5.14553162e+01] [ 7.65387886e-03 -6.19941419e-04 9.99970516e-01 1.66007906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.99, Y:51.47, Z:1.66 [[ 6.93648432e-01 -7.20290701e-01 -5.75839512e-03 2.41990201e+02] [ 7.20273057e-01 6.93672053e-01 -5.08006631e-03 5.14710564e+01] [ 7.65356229e-03 -6.23836833e-04 9.99970516e-01 1.66174875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.02, Y:51.48, Z:1.66 [[ 6.93888926e-01 -7.20059032e-01 -5.75751431e-03 2.42015914e+02] [ 7.20041371e-01 6.93912535e-01 -5.08106438e-03 5.14835109e+01] [ 7.65387765e-03 -6.19954190e-04 9.99970516e-01 1.66488561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.04, Y:51.50, Z:1.67 [[ 6.94842530e-01 -7.19138874e-01 -5.75658388e-03 2.42038408e+02] [ 7.19121174e-01 6.94866109e-01 -5.08211829e-03 5.14982872e+01] [ 7.65480387e-03 -6.08409426e-04 9.99970516e-01 1.66540839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.06, Y:51.51, Z:1.67 [[ 6.96217588e-01 -7.17807733e-01 -5.75574261e-03 2.42061105e+02] [ 7.17789980e-01 6.96241127e-01 -5.08307089e-03 5.15138518e+01] [ 7.65605232e-03 -5.92491014e-04 9.99970516e-01 1.66609555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.08, Y:51.53, Z:1.67 [[ 6.98115796e-01 -7.15961742e-01 -5.75493129e-03 2.42083472e+02] [ 7.15943919e-01 6.98139282e-01 -5.08398928e-03 5.15305134e+01] [ 7.65768543e-03 -5.70994841e-04 9.99970516e-01 1.66756805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.10, Y:51.55, Z:1.67 [[ 7.02615812e-01 -7.11546142e-01 -5.75403960e-03 2.42104709e+02] [ 7.11528163e-01 7.02639180e-01 -5.08499830e-03 5.15472533e+01] [ 7.66122458e-03 -5.21361012e-04 9.99970516e-01 1.67098915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.13, Y:51.56, Z:1.67 [[ 7.04422931e-01 -7.09757166e-01 -5.75322809e-03 2.42125188e+02] [ 7.09739120e-01 7.04446247e-01 -5.08591628e-03 5.15647535e+01] [ 7.66260546e-03 -5.00654996e-04 9.99970516e-01 1.67210671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.15, Y:51.58, Z:1.67 [[ 7.05570138e-01 -7.08616745e-01 -5.75242389e-03 2.42145248e+02] [ 7.08598654e-01 7.05593418e-01 -5.08682571e-03 5.15821698e+01] [ 7.66348231e-03 -4.87047506e-04 9.99970516e-01 1.67399691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.17, Y:51.60, Z:1.68 [[ 7.06069217e-01 -7.08119467e-01 -5.75162618e-03 2.42166686e+02] [ 7.08101353e-01 7.06092480e-01 -5.08772751e-03 5.16005447e+01] [ 7.66389888e-03 -4.80446497e-04 9.99970516e-01 1.67795873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.19, Y:51.62, Z:1.68 [[ 7.05208551e-01 -7.08976607e-01 -5.75066544e-03 2.42186963e+02] [ 7.08958512e-01 7.05231828e-01 -5.08881321e-03 5.16183351e+01] [ 7.66340182e-03 -4.88308629e-04 9.99970516e-01 1.67714546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.21, Y:51.64, Z:1.68 [[ 7.03761086e-01 -7.10413450e-01 -5.75013992e-03 2.42207199e+02] [ 7.10395398e-01 7.03784396e-01 -5.08940695e-03 5.16360531e+01] [ 7.66244190e-03 -5.03146374e-04 9.99970516e-01 1.67653452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.23, Y:51.65, Z:1.68 [[ 7.01957991e-01 -7.12195142e-01 -5.74962024e-03 2.42228316e+02] [ 7.12177144e-01 7.01981344e-01 -5.08999398e-03 5.16539872e+01] [ 7.66119513e-03 -5.21786177e-04 9.99970516e-01 1.67576937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.25, Y:51.67, Z:1.67 [[ 6.97263617e-01 -7.16791741e-01 -5.74873671e-03 2.42251260e+02] [ 7.16773889e-01 6.97287081e-01 -5.09099166e-03 5.16707644e+01] [ 7.65770062e-03 -5.70781105e-04 9.99970516e-01 1.67497977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.27, Y:51.69, Z:1.67 [[ 6.94778236e-01 -7.19201061e-01 -5.74779707e-03 2.42273149e+02] [ 7.19183281e-01 6.94801755e-01 -5.09205231e-03 5.16874318e+01] [ 7.65578891e-03 -5.95872436e-04 9.99970516e-01 1.67479967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.30, Y:51.70, Z:1.68 [[ 6.92758632e-01 -7.21146619e-01 -5.74728632e-03 2.42295032e+02] [ 7.21128901e-01 6.92782198e-01 -5.09262871e-03 5.17042965e+01] [ 7.65414963e-03 -6.16571762e-04 9.99970516e-01 1.67531706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.32, Y:51.72, Z:1.68 [[ 6.91869876e-01 -7.21999345e-01 -5.74636069e-03 2.42315854e+02] [ 7.21981647e-01 6.91893457e-01 -5.09367294e-03 5.17210522e+01] [ 7.65349789e-03 -6.24608094e-04 9.99970516e-01 1.67698836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.34, Y:51.74, Z:1.68 [[ 6.93787612e-01 -7.20156745e-01 -5.74552695e-03 2.42335053e+02] [ 7.20138977e-01 6.93811140e-01 -5.09461321e-03 5.17396665e+01] [ 7.65523067e-03 -6.02998365e-04 9.99970516e-01 1.67931613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.35, Y:51.76, Z:1.68 [[ 6.96052707e-01 -7.17967706e-01 -5.74470052e-03 2.42354810e+02] [ 7.17949857e-01 6.96076173e-01 -5.09554493e-03 5.17599445e+01] [ 7.65718586e-03 -5.77639073e-04 9.99970516e-01 1.67913262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.37, Y:51.78, Z:1.68 [[ 6.98253638e-01 -7.15827400e-01 -5.74379037e-03 2.42373467e+02] [ 7.15809469e-01 6.98277043e-01 -5.09657065e-03 5.17797594e+01] [ 7.65902187e-03 -5.52760538e-04 9.99970516e-01 1.67833772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.39, Y:51.80, Z:1.68 [[ 7.00080798e-01 -7.14040541e-01 -5.74297039e-03 2.42391462e+02] [ 7.14022543e-01 7.00104152e-01 -5.09749447e-03 5.18017728e+01] [ 7.66049512e-03 -5.31952327e-04 9.99970516e-01 1.67934163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.41, Y:51.82, Z:1.68 [[ 6.99951082e-01 -7.14167705e-01 -5.74207544e-03 2.42410594e+02] [ 7.14149704e-01 6.99974432e-01 -5.09850238e-03 5.18216365e+01] [ 7.66049174e-03 -5.31999216e-04 9.99970516e-01 1.68019860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.43, Y:51.84, Z:1.68 [[ 6.99138429e-01 -7.14963283e-01 -5.74116674e-03 2.42429228e+02] [ 7.14945299e-01 6.99161794e-01 -5.09952542e-03 5.18406746e+01] [ 7.65997787e-03 -5.39345983e-04 9.99970516e-01 1.68077813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.45, Y:51.86, Z:1.68 [[ 6.95829106e-01 -7.18184450e-01 -5.74035006e-03 2.42447175e+02] [ 7.18166567e-01 6.95852547e-01 -5.10044457e-03 5.18606621e+01] [ 7.65749718e-03 -5.73489713e-04 9.99970516e-01 1.67757245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.47, Y:51.88, Z:1.68 [[ 6.93789833e-01 -7.20154654e-01 -5.73953937e-03 2.42467027e+02] [ 7.20136831e-01 6.93813319e-01 -5.10135667e-03 5.18801632e+01] [ 7.65593461e-03 -5.93984299e-04 9.99970516e-01 1.67636865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.49, Y:51.90, Z:1.68 [[ 6.92309950e-01 -7.21577440e-01 -5.73861040e-03 2.42485887e+02] [ 7.21559656e-01 6.92333466e-01 -5.10240147e-03 5.18991653e+01] [ 7.65480982e-03 -6.08306432e-04 9.99970516e-01 1.67570105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.51, Y:51.92, Z:1.68 [[ 6.92184544e-01 -7.21697745e-01 -5.73777472e-03 2.42507044e+02] [ 7.21679957e-01 6.92208058e-01 -5.10334104e-03 5.19182008e+01] [ 7.65480361e-03 -6.08383227e-04 9.99970516e-01 1.67591976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.53, Y:51.94, Z:1.68 [[ 6.91387282e-01 -7.22461566e-01 -5.73688767e-03 2.42525693e+02] [ 7.22443796e-01 6.91410809e-01 -5.10433802e-03 5.19371353e+01] [ 7.65423418e-03 -6.15504520e-04 9.99970516e-01 1.67612484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.54, Y:51.96, Z:1.67 [[ 6.91660589e-01 -7.22199922e-01 -5.73609180e-03 2.42544322e+02] [ 7.22182136e-01 6.91684104e-01 -5.10523223e-03 5.19575072e+01] [ 7.65456183e-03 -6.11415099e-04 9.99970516e-01 1.67352698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.56, Y:51.98, Z:1.67 [[ 6.91651987e-01 -7.22208165e-01 -5.73549196e-03 2.42563637e+02] [ 7.22190374e-01 6.91675497e-01 -5.10590603e-03 5.19771690e+01] [ 7.65462628e-03 -6.10607034e-04 9.99970516e-01 1.67167089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.58, Y:52.00, Z:1.67 [[ 6.91543374e-01 -7.22312174e-01 -5.73460547e-03 2.42582258e+02] [ 7.22294378e-01 6.91566881e-01 -5.10690149e-03 5.19968716e+01] [ 7.65464033e-03 -6.10429406e-04 9.99970516e-01 1.67046319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.60, Y:52.02, Z:1.67 [[ 6.91222310e-01 -7.22619431e-01 -5.73382297e-03 2.42599265e+02] [ 7.22601638e-01 6.91245819e-01 -5.10777990e-03 5.20175714e+01] [ 7.65446216e-03 -6.12658456e-04 9.99970516e-01 1.67124578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.62, Y:52.04, Z:1.67 [[ 6.90968873e-01 -7.22861777e-01 -5.73303869e-03 2.42619131e+02] [ 7.22843986e-01 6.90992383e-01 -5.10866003e-03 5.20367700e+01] [ 7.65434114e-03 -6.14167468e-04 9.99970516e-01 1.67345716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.64, Y:52.06, Z:1.67 [[ 6.90560821e-01 -7.23251612e-01 -5.73213007e-03 2.42638377e+02] [ 7.23233826e-01 6.90584336e-01 -5.10967933e-03 5.20550136e+01] [ 7.65410305e-03 -6.17126005e-04 9.99970516e-01 1.67440340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.66, Y:52.07, Z:1.68 [[ 6.89815826e-01 -7.23962208e-01 -5.73131309e-03 2.42658434e+02] [ 7.23944438e-01 6.89839352e-01 -5.11059555e-03 5.20744848e+01] [ 7.65356335e-03 -6.23782549e-04 9.99970516e-01 1.67593948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.68, Y:52.09, Z:1.68 [[ 6.89053350e-01 -7.24687963e-01 -5.73042195e-03 2.42677534e+02] [ 7.24670210e-01 6.89076889e-01 -5.11159457e-03 5.20928479e+01] [ 7.65301239e-03 -6.30504719e-04 9.99970516e-01 1.67740932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.70, Y:52.11, Z:1.68 [[ 6.87028738e-01 -7.26607655e-01 -5.72962082e-03 2.42697785e+02] [ 7.26589960e-01 6.87052321e-01 -5.11249241e-03 5.21101240e+01] [ 7.65132540e-03 -6.50655755e-04 9.99970516e-01 1.67788163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.72, Y:52.13, Z:1.68 [[ 6.85560771e-01 -7.27992862e-01 -5.72901744e-03 2.42719560e+02] [ 7.27975209e-01 6.85584386e-01 -5.11316846e-03 5.21272067e+01] [ 7.65007504e-03 -6.65194957e-04 9.99970517e-01 1.67538850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.74, Y:52.14, Z:1.67 [[ 6.83888834e-01 -7.29563741e-01 -5.72814006e-03 2.42741043e+02] [ 7.29546134e-01 6.83912483e-01 -5.11415117e-03 5.21447442e+01] [ 7.64864575e-03 -6.81431558e-04 9.99970517e-01 1.67194755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.76, Y:52.16, Z:1.67 [[ 6.81844627e-01 -7.31474608e-01 -5.72726804e-03 2.42763615e+02] [ 7.31457060e-01 6.81868320e-01 -5.11512755e-03 5.21620961e+01] [ 7.64682855e-03 -7.01528407e-04 9.99970517e-01 1.66928571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.79, Y:52.18, Z:1.67 [[ 6.82116821e-01 -7.31220795e-01 -5.72640853e-03 2.42785790e+02] [ 7.31203229e-01 6.82140501e-01 -5.11608959e-03 5.21799076e+01] [ 7.64720628e-03 -6.97397641e-04 9.99970517e-01 1.67132196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.81, Y:52.20, Z:1.67 [[ 6.83112471e-01 -7.30290743e-01 -5.72553020e-03 2.42806570e+02] [ 7.30273138e-01 6.83136121e-01 -5.11707237e-03 5.21964868e+01] [ 7.64826707e-03 -6.85664953e-04 9.99970517e-01 1.67322525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.83, Y:52.21, Z:1.67 [[ 6.86054781e-01 -7.27527364e-01 -5.72473553e-03 2.42828391e+02] [ 7.27509656e-01 6.86078354e-01 -5.11796125e-03 5.22136820e+01] [ 7.65107398e-03 -6.53598598e-04 9.99970517e-01 1.67462043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.85, Y:52.23, Z:1.67 [[ 6.87262725e-01 -7.26386388e-01 -5.72386754e-03 2.42849540e+02] [ 7.26368632e-01 6.87286262e-01 -5.11893181e-03 5.22321925e+01] [ 7.65225792e-03 -6.39586815e-04 9.99970517e-01 1.67327982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.87, Y:52.25, Z:1.67 [[ 6.88279794e-01 -7.25422754e-01 -5.72300092e-03 2.42869469e+02] [ 7.25404958e-01 6.88303301e-01 -5.11990052e-03 5.22499534e+01] [ 7.65325276e-03 -6.27569165e-04 9.99970517e-01 1.67179824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.89, Y:52.27, Z:1.67 [[ 6.88902622e-01 -7.24831315e-01 -5.72208143e-03 2.42889739e+02] [ 7.24813490e-01 6.88926107e-01 -5.12092795e-03 5.22678447e+01] [ 7.65390022e-03 -6.19621115e-04 9.99970517e-01 1.67142124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.91, Y:52.29, Z:1.67 [[ 6.89459021e-01 -7.24302094e-01 -5.72145404e-03 2.42910995e+02] [ 7.24284245e-01 6.89482488e-01 -5.12162881e-03 5.22860511e+01] [ 7.65444884e-03 -6.12805839e-04 9.99970517e-01 1.67221974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28589822699996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:242.93, Y:52.30, Z:1.67 [[ 6.90112711e-01 -7.23679294e-01 -5.72059128e-03 2.42931176e+02] [ 7.23661416e-01 6.90136156e-01 -5.12259230e-03 5.23035547e+01] [ 7.65510085e-03 -6.04605128e-04 9.99970517e-01 1.67313514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.95, Y:52.32, Z:1.67 [[ 6.90357891e-01 -7.23445414e-01 -5.71967807e-03 2.42952030e+02] [ 7.23427520e-01 6.90381323e-01 -5.12361174e-03 5.23217043e+01] [ 7.65541234e-03 -6.00646731e-04 9.99970517e-01 1.67310268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.97, Y:52.34, Z:1.67 [[ 6.90274498e-01 -7.23524991e-01 -5.71877641e-03 2.42973590e+02] [ 7.23507092e-01 6.90297926e-01 -5.12461794e-03 5.23395020e+01] [ 7.65544865e-03 -6.00182212e-04 9.99970517e-01 1.67047484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.375898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.99, Y:52.36, Z:1.67 [[ 6.89829606e-01 -7.23949183e-01 -5.71788366e-03 2.42994782e+02] [ 7.23931290e-01 6.89853039e-01 -5.12561385e-03 5.23571784e+01] [ 7.65518338e-03 -6.03554710e-04 9.99970517e-01 1.67059147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.02, Y:52.37, Z:1.67 [[ 6.89364377e-01 -7.24392209e-01 -5.71693930e-03 2.43015996e+02] [ 7.24374322e-01 6.89387814e-01 -5.12666694e-03 5.23740729e+01] [ 7.65490588e-03 -6.07062468e-04 9.99970517e-01 1.66998210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.04, Y:52.39, Z:1.67 [[ 6.88712183e-01 -7.25012313e-01 -5.71629538e-03 2.43036979e+02] [ 7.24994441e-01 6.88735632e-01 -5.12738482e-03 5.23919502e+01] [ 7.65443344e-03 -6.12989983e-04 9.99970517e-01 1.67124347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.06, Y:52.41, Z:1.67 [[ 6.87405935e-01 -7.26250931e-01 -5.71537066e-03 2.43059242e+02] [ 7.26233093e-01 6.87429410e-01 -5.12841537e-03 5.24095202e+01] [ 7.65343032e-03 -6.25388152e-04 9.99970517e-01 1.67486966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.08, Y:52.43, Z:1.67 [[ 6.86268659e-01 -7.27325695e-01 -5.71494614e-03 2.43080501e+02] [ 7.27307890e-01 6.86292159e-01 -5.12888841e-03 5.24268594e+01] [ 7.65249505e-03 -6.36730048e-04 9.99970517e-01 1.67483951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.52589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.10, Y:52.44, Z:1.67 [[ 6.85019244e-01 -7.28502560e-01 -5.71441215e-03 2.43101488e+02] [ 7.28484791e-01 6.85042771e-01 -5.12948329e-03 5.24439862e+01] [ 7.65145844e-03 -6.49067573e-04 9.99970517e-01 1.67377934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.12, Y:52.46, Z:1.67 [[ 6.83939996e-01 -7.29515892e-01 -5.71358317e-03 2.43122818e+02] [ 7.29498150e-01 6.83963543e-01 -5.13040650e-03 5.24610433e+01] [ 7.65059566e-03 -6.59158153e-04 9.99970517e-01 1.67206284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.15, Y:52.48, Z:1.67 [[ 6.81646251e-01 -7.31659588e-01 -5.71277474e-03 2.43145862e+02] [ 7.31641912e-01 6.81669848e-01 -5.13130654e-03 5.24776948e+01] [ 7.64859592e-03 -6.81969569e-04 9.99970517e-01 1.67001079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61589822699995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.17, Y:52.50, Z:1.67 [[ 6.80664656e-01 -7.32572864e-01 -5.71187455e-03 2.43167719e+02] [ 7.32555211e-01 6.80688271e-01 -5.13230838e-03 5.24953254e+01] [ 7.64779586e-03 -6.90882552e-04 9.99970517e-01 1.66922836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.19, Y:52.51, Z:1.67 [[ 6.80361644e-01 -7.32854296e-01 -5.71094755e-03 2.43189472e+02] [ 7.32836644e-01 6.80385260e-01 -5.13333969e-03 5.25116966e+01] [ 7.64763457e-03 -6.92664203e-04 9.99970517e-01 1.66709934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.21, Y:52.53, Z:1.67 [[ 6.80408614e-01 -7.32810692e-01 -5.71032692e-03 2.43213326e+02] [ 7.32793033e-01 6.80432224e-01 -5.13402998e-03 5.25266031e+01] [ 7.64776251e-03 -6.91249567e-04 9.99970517e-01 1.66581270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.24, Y:52.54, Z:1.67 [[ 6.80757683e-01 -7.32486437e-01 -5.70941359e-03 2.43235652e+02] [ 7.32468758e-01 6.80781279e-01 -5.13504547e-03 5.25429475e+01] [ 7.64821304e-03 -6.86245430e-04 9.99970517e-01 1.66729788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73589822699995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.26, Y:52.56, Z:1.67 [[ 6.81067469e-01 -7.32198413e-01 -5.70849132e-03 2.43257754e+02] [ 7.32180716e-01 6.81091051e-01 -5.13607053e-03 5.25597916e+01] [ 7.64862504e-03 -6.81636709e-04 9.99970517e-01 1.66885996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.28, Y:52.57, Z:1.67 [[ 6.82667180e-01 -7.30707154e-01 -5.70758395e-03 2.43283313e+02] [ 7.30689397e-01 6.82690717e-01 -5.13707867e-03 5.25737614e+01] [ 7.65021471e-03 -6.63556065e-04 9.99970517e-01 1.67161905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.31, Y:52.59, Z:1.67 [[ 6.83493939e-01 -7.29933880e-01 -5.70668543e-03 2.43305614e+02] [ 7.29916089e-01 6.83517449e-01 -5.13807662e-03 5.25898449e+01] [ 7.65107528e-03 -6.53557282e-04 9.99970517e-01 1.67135522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.33, Y:52.61, Z:1.67 [[ 6.84370808e-01 -7.29111814e-01 -5.70605896e-03 2.43328126e+02] [ 7.29093989e-01 6.84394293e-01 -5.13877225e-03 5.26058295e+01] [ 7.65193375e-03 -6.43427571e-04 9.99970517e-01 1.67061052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85589822699995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:243.35, Y:52.62, Z:1.67 [[ 6.84614780e-01 -7.28882743e-01 -5.70526657e-03 2.43351027e+02] [ 7.28864902e-01 6.84638254e-01 -5.13965185e-03 5.26222748e+01] [ 7.65224727e-03 -6.39686942e-04 9.99970517e-01 1.67012739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.38, Y:52.63, Z:1.67 [[ 6.85795131e-01 -7.27772285e-01 -5.70433840e-03 2.43377698e+02] [ 7.27754398e-01 6.85818569e-01 -5.14068178e-03 5.26348582e+01] [ 7.65338693e-03 -6.25902827e-04 9.99970517e-01 1.67418175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.40, Y:52.65, Z:1.68 [[ 6.86696342e-01 -7.26922004e-01 -5.70391115e-03 2.43400281e+02] [ 7.26904084e-01 6.86719755e-01 -5.14115580e-03 5.26517307e+01] [ 7.65420774e-03 -6.15783426e-04 9.99970517e-01 1.67848909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.42, Y:52.67, Z:1.68 [[ 6.88076152e-01 -7.25616072e-01 -5.70300653e-03 2.43422437e+02] [ 7.25598100e-01 6.88099525e-01 -5.14215909e-03 5.26693831e+01] [ 7.65546936e-03 -5.99893663e-04 9.99970517e-01 1.68115662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.44, Y:52.69, Z:1.68 [[ 6.89816243e-01 -7.23962041e-01 -5.70209069e-03 2.43443356e+02] [ 7.23944004e-01 6.89839566e-01 -5.14317445e-03 5.26864979e+01] [ 7.65699084e-03 -5.80149091e-04 9.99970517e-01 1.68215648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.46, Y:52.70, Z:1.68 [[ 6.92532814e-01 -7.21363844e-01 -5.70141762e-03 2.43464863e+02] [ 7.21345713e-01 6.92556064e-01 -5.14392047e-03 5.27035287e+01] [ 7.65918959e-03 -5.50359439e-04 9.99970517e-01 1.68370394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.49, Y:52.72, Z:1.68 [[ 6.92332965e-01 -7.21555660e-01 -5.70046205e-03 2.43486471e+02] [ 7.21537528e-01 6.92356213e-01 -5.14497921e-03 5.27212099e+01] [ 7.65913919e-03 -5.51058578e-04 9.99970517e-01 1.68373713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.51, Y:52.74, Z:1.68 [[ 6.91196923e-01 -7.22643985e-01 -5.69957051e-03 2.43508248e+02] [ 7.22625881e-01 6.91220193e-01 -5.14596666e-03 5.27381152e+01] [ 7.65836008e-03 -5.61780842e-04 9.99970517e-01 1.68300005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.53, Y:52.75, Z:1.68 [[ 6.87738199e-01 -7.25936426e-01 -5.69866032e-03 2.43530686e+02] [ 7.25918425e-01 6.87761549e-01 -5.14697441e-03 5.27532287e+01] [ 7.65569566e-03 -5.96991610e-04 9.99970517e-01 1.67978387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.55, Y:52.77, Z:1.68 [[ 6.86131813e-01 -7.27454925e-01 -5.69799451e-03 2.43552284e+02] [ 7.27436970e-01 6.86155198e-01 -5.14771139e-03 5.27704188e+01] [ 7.65443656e-03 -6.12923314e-04 9.99970517e-01 1.67871638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.57, Y:52.79, Z:1.68 [[ 6.84854967e-01 -7.28657133e-01 -5.69706518e-03 2.43573051e+02] [ 7.28639210e-01 6.84878378e-01 -5.14873969e-03 5.27871323e+01] [ 7.65346266e-03 -6.24965122e-04 9.99970517e-01 1.67661921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.60, Y:52.80, Z:1.67 [[ 6.83319461e-01 -7.30097299e-01 -5.69642909e-03 2.43595865e+02] [ 7.30079419e-01 6.83342904e-01 -5.14944336e-03 5.28022342e+01] [ 7.65220908e-03 -6.40130784e-04 9.99970517e-01 1.67166487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.62, Y:52.82, Z:1.67 [[ 6.83071358e-01 -7.30329433e-01 -5.69552074e-03 2.43617414e+02] [ 7.30311554e-01 6.83094801e-01 -5.15044783e-03 5.28190614e+01] [ 7.65210426e-03 -6.41381205e-04 9.99970517e-01 1.67098823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.64, Y:52.84, Z:1.67 [[ 6.83107877e-01 -7.30295281e-01 -5.69487055e-03 2.43639338e+02] [ 7.30277394e-01 6.83131315e-01 -5.15116666e-03 5.28369642e+01] [ 7.65221710e-03 -6.40032702e-04 9.99970517e-01 1.67153435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.66, Y:52.85, Z:1.67 [[ 6.84202169e-01 -7.29270163e-01 -5.69399247e-03 2.43662146e+02] [ 7.29252233e-01 6.84225574e-01 -5.15213708e-03 5.28539543e+01] [ 7.65327511e-03 -6.27253358e-04 9.99970517e-01 1.67309942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.68, Y:52.87, Z:1.67 [[ 6.84937644e-01 -7.28579448e-01 -5.69317092e-03 2.43684674e+02] [ 7.28561487e-01 6.84961025e-01 -5.15304474e-03 5.28713869e+01] [ 7.65400268e-03 -6.18310740e-04 9.99970517e-01 1.67343589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.335898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.71, Y:52.89, Z:1.67 [[ 6.85192997e-01 -7.28339313e-01 -5.69225990e-03 2.43707103e+02] [ 7.28321335e-01 6.85216366e-01 -5.15405090e-03 5.28887170e+01] [ 7.65432753e-03 -6.14274745e-04 9.99970517e-01 1.67404671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.73, Y:52.90, Z:1.67 [[ 6.84794894e-01 -7.28713635e-01 -5.69132941e-03 2.43731015e+02] [ 7.28695662e-01 6.84818266e-01 -5.15507817e-03 5.29039398e+01] [ 7.65410210e-03 -6.17075838e-04 9.99970517e-01 1.67376262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.75, Y:52.92, Z:1.67 [[ 6.84530998e-01 -7.28961544e-01 -5.69040734e-03 2.43752488e+02] [ 7.28943571e-01 6.84554370e-01 -5.15609580e-03 5.29194142e+01] [ 7.65398876e-03 -6.18478447e-04 9.99970517e-01 1.67200873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.78, Y:52.94, Z:1.67 [[ 6.83620403e-01 -7.29815652e-01 -5.67961447e-03 2.43775981e+02] [ 7.29797611e-01 6.83643722e-01 -5.16800220e-03 5.29365797e+01] [ 7.65452167e-03 -6.12017321e-04 9.99970516e-01 1.67383835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.80, Y:52.95, Z:1.67 [[ 6.82858023e-01 -7.30528958e-01 -5.68884056e-03 2.43800978e+02] [ 7.30511024e-01 6.82881425e-01 -5.15782625e-03 5.29491900e+01] [ 7.65274499e-03 -6.33697712e-04 9.99970517e-01 1.67472076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.82, Y:52.97, Z:1.68 [[ 6.82385236e-01 -7.30970614e-01 -5.68784587e-03 2.43823513e+02] [ 7.30952686e-01 6.82408643e-01 -5.15892293e-03 5.29653682e+01] [ 7.65245624e-03 -6.37173380e-04 9.99970517e-01 1.67578814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.84, Y:52.98, Z:1.68 [[ 6.82436244e-01 -7.30923000e-01 -5.68689613e-03 2.43844575e+02] [ 7.30905063e-01 6.82459643e-01 -5.15996965e-03 5.29816958e+01] [ 7.65261760e-03 -6.35230862e-04 9.99970517e-01 1.67695938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.87, Y:53.00, Z:1.68 [[ 6.82304574e-01 -7.31045921e-01 -5.68589283e-03 2.43865551e+02] [ 7.31027979e-01 6.82327969e-01 -5.16107498e-03 5.30009580e+01] [ 7.65262652e-03 -6.35121671e-04 9.99970517e-01 1.67717810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.89, Y:53.02, Z:1.68 [[ 6.83674957e-01 -7.29764506e-01 -5.68496297e-03 2.43887544e+02] [ 7.29746511e-01 6.83698312e-01 -5.16209902e-03 5.30185569e+01] [ 7.65391623e-03 -6.19384072e-04 9.99970517e-01 1.68028444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.91, Y:53.04, Z:1.68 [[ 6.84822254e-01 -7.28687980e-01 -5.68403038e-03 2.43907885e+02] [ 7.28669940e-01 6.84845574e-01 -5.16312570e-03 5.30369369e+01] [ 7.65499069e-03 -6.05958697e-04 9.99970517e-01 1.68125512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.93, Y:53.06, Z:1.68 [[ 6.86070839e-01 -7.27512547e-01 -5.68309694e-03 2.43928578e+02] [ 7.27494458e-01 6.86094122e-01 -5.16415294e-03 5.30562317e+01] [ 7.65612546e-03 -5.91446794e-04 9.99970517e-01 1.68232416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.95, Y:53.07, Z:1.68 [[ 6.87129033e-01 -7.26513183e-01 -5.68215123e-03 2.43948208e+02] [ 7.26495052e-01 6.87152283e-01 -5.16519330e-03 5.30748240e+01] [ 7.65708422e-03 -5.78900475e-04 9.99970517e-01 1.68227313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.97, Y:53.09, Z:1.68 [[ 6.87952263e-01 -7.25733703e-01 -5.68115905e-03 2.43968143e+02] [ 7.25715537e-01 6.87975485e-01 -5.16628437e-03 5.30939759e+01] [ 7.65784484e-03 -5.68748366e-04 9.99970517e-01 1.68166257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.99, Y:53.11, Z:1.68 [[ 6.88611669e-01 -7.25108064e-01 -5.68017801e-03 2.43987154e+02] [ 7.25089868e-01 6.88634868e-01 -5.16736276e-03 5.31133229e+01] [ 7.65846504e-03 -5.60333221e-04 9.99970517e-01 1.67859393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.01, Y:53.13, Z:1.68 [[ 6.87781080e-01 -7.25895951e-01 -5.67931325e-03 2.44007412e+02] [ 7.25877774e-01 6.87804293e-01 -5.16831303e-03 5.31331167e+01] [ 7.65791353e-03 -5.67819345e-04 9.99970517e-01 1.67843012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.03, Y:53.15, Z:1.68 [[ 6.86538374e-01 -7.27071397e-01 -5.67838384e-03 2.44027471e+02] [ 7.27053252e-01 6.86561612e-01 -5.16933396e-03 5.31524330e+01] [ 7.65703523e-03 -5.79541298e-04 9.99970517e-01 1.67878352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.05, Y:53.17, Z:1.68 [[ 6.82904680e-01 -7.30485431e-01 -5.67741032e-03 2.44046931e+02] [ 7.30467392e-01 6.82928002e-01 -5.17040293e-03 5.31712810e+01] [ 7.65416650e-03 -6.16270752e-04 9.99970517e-01 1.67587282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:53.19, Z:1.68 [[ 6.81230597e-01 -7.32046891e-01 -5.67659809e-03 2.44066913e+02] [ 7.32028898e-01 6.81253954e-01 -5.17129454e-03 5.31886818e+01] [ 7.65283498e-03 -6.32589782e-04 9.99970517e-01 1.67528540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.09, Y:53.21, Z:1.68 [[ 6.79479062e-01 -7.33672946e-01 -5.67561894e-03 2.44088509e+02] [ 7.33655001e-01 6.79502455e-01 -5.17236895e-03 5.32066712e+01] [ 7.65142417e-03 -6.49429823e-04 9.99970517e-01 1.67568666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.11, Y:53.22, Z:1.68 [[ 6.77174222e-01 -7.35800837e-01 -5.67468096e-03 2.44111246e+02] [ 7.35782957e-01 6.77197664e-01 -5.17339781e-03 5.32222235e+01] [ 7.64947114e-03 -6.72041900e-04 9.99970517e-01 1.67655698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.13, Y:53.24, Z:1.68 [[ 6.76735989e-01 -7.36203919e-01 -5.67369402e-03 2.44133362e+02] [ 7.36186043e-01 6.76759436e-01 -5.17447997e-03 5.32399506e+01] [ 7.64919840e-03 -6.75137530e-04 9.99970517e-01 1.67739449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.15, Y:53.26, Z:1.68 [[ 6.76781320e-01 -7.36162255e-01 -5.67274972e-03 2.44154567e+02] [ 7.36144369e-01 6.76804759e-01 -5.17551500e-03 5.32570029e+01] [ 7.64936280e-03 -6.73270891e-04 9.99970517e-01 1.67641961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.18, Y:53.27, Z:1.67 [[ 6.77349315e-01 -7.35639679e-01 -5.67176158e-03 2.44176496e+02] [ 7.35621766e-01 6.77372733e-01 -5.17659766e-03 5.32749424e+01] [ 7.65000728e-03 -6.65906395e-04 9.99970517e-01 1.67448801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:53.29, Z:1.67 [[ 6.79185401e-01 -7.33944843e-01 -5.67083315e-03 2.44198536e+02] [ 7.33926864e-01 6.79208768e-01 -5.17761453e-03 5.32906870e+01] [ 7.65176308e-03 -6.45416585e-04 9.99970517e-01 1.67344779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.22, Y:53.31, Z:1.68 [[ 6.80462917e-01 -7.32760583e-01 -5.66985490e-03 2.44219420e+02] [ 7.32742554e-01 6.80486246e-01 -5.17868556e-03 5.33082116e+01] [ 7.65299493e-03 -6.30640477e-04 9.99970517e-01 1.67528492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:53.33, Z:1.68 [[ 6.82042177e-01 -7.31290867e-01 -5.66887851e-03 2.44240488e+02] [ 7.31272779e-01 6.82065461e-01 -5.17975416e-03 5.33261879e+01] [ 7.65445314e-03 -6.12685739e-04 9.99970517e-01 1.67766172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.26, Y:53.34, Z:1.68 [[ 6.85044469e-01 -7.28479204e-01 -5.66795231e-03 2.44262186e+02] [ 7.28461012e-01 6.85067671e-01 -5.18076745e-03 5.33429149e+01] [ 7.65701223e-03 -5.79826196e-04 9.99970517e-01 1.67537876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.28, Y:53.36, Z:1.68 [[ 6.85548478e-01 -7.28004924e-01 -5.66698116e-03 2.44283412e+02] [ 7.27986708e-01 6.85571661e-01 -5.18182953e-03 5.33607329e+01] [ 7.65751910e-03 -5.73091608e-04 9.99970517e-01 1.67613039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.30, Y:53.38, Z:1.67 [[ 6.85767601e-01 -7.27798525e-01 -5.66600688e-03 2.44303944e+02] [ 7.27780293e-01 6.85790772e-01 -5.18289462e-03 5.33778952e+01] [ 7.65779829e-03 -5.69346932e-04 9.99970517e-01 1.67265778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.205898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.33, Y:53.40, Z:1.67 [[ 6.85453338e-01 -7.28094538e-01 -5.66254433e-03 2.44326083e+02] [ 7.28076285e-01 6.85476492e-01 -5.18667864e-03 5.33970342e+01] [ 7.65793342e-03 -5.67538053e-04 9.99970517e-01 1.67463549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.35, Y:53.41, Z:1.68 [[ 6.85345171e-01 -7.28196339e-01 -5.66467084e-03 2.44348689e+02] [ 7.28178108e-01 6.85368343e-01 -5.18435512e-03 5.34130621e+01] [ 7.65761448e-03 -5.71816549e-04 9.99970517e-01 1.67717894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.265898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.37, Y:53.43, Z:1.68 [[ 6.85584699e-01 -7.27970840e-01 -5.66365284e-03 2.44369290e+02] [ 7.27952593e-01 6.85607857e-01 -5.18546699e-03 5.34301860e+01] [ 7.65791365e-03 -5.67793941e-04 9.99970517e-01 1.67876503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.39, Y:53.45, Z:1.68 [[ 6.86362817e-01 -7.27237249e-01 -5.66269943e-03 2.44390879e+02] [ 7.27218969e-01 6.86385950e-01 -5.18650794e-03 5.34478167e+01] [ 7.65861909e-03 -5.58196234e-04 9.99970517e-01 1.68016729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.41, Y:53.47, Z:1.68 [[ 6.87497670e-01 -7.26164512e-01 -5.66174931e-03 2.44411314e+02] [ 7.26146187e-01 6.87520766e-01 -5.18754491e-03 5.34657367e+01] [ 7.65958125e-03 -5.44832643e-04 9.99970517e-01 1.67986034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.43, Y:53.48, Z:1.68 [[ 6.91144454e-01 -7.22694472e-01 -5.66074678e-03 2.44430190e+02] [ 7.22676022e-01 6.91167451e-01 -5.18863866e-03 5.34847474e+01] [ 7.66232440e-03 -5.04787133e-04 9.99970517e-01 1.68008043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.45, Y:53.50, Z:1.68 [[ 6.93285436e-01 -7.20640875e-01 -5.65985139e-03 2.44450042e+02] [ 7.20622349e-01 6.93308372e-01 -5.18961518e-03 5.35046248e+01] [ 7.66387118e-03 -4.80730777e-04 9.99970517e-01 1.68215779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:53.52, Z:1.68 [[ 6.95275711e-01 -7.18720852e-01 -5.65889904e-03 2.44470183e+02] [ 7.18702254e-01 6.95298589e-01 -5.19065344e-03 5.35246193e+01] [ 7.66525538e-03 -4.58128231e-04 9.99970517e-01 1.68358962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.445898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.49, Y:53.55, Z:1.69 [[ 6.97637965e-01 -7.16428124e-01 -5.65794597e-03 2.44488455e+02] [ 7.16409443e-01 6.97660775e-01 -5.19169210e-03 5.35460432e+01] [ 7.66680121e-03 -4.31484406e-04 9.99970517e-01 1.68666704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.51, Y:53.57, Z:1.69 [[ 6.97775482e-01 -7.16294196e-01 -5.65699544e-03 2.44507284e+02] [ 7.16275502e-01 6.97798281e-01 -5.19272763e-03 5.35653180e+01] [ 7.66696235e-03 -4.28609223e-04 9.99970517e-01 1.68656033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.53, Y:53.59, Z:1.69 [[ 6.97571739e-01 -7.16492623e-01 -5.65598928e-03 2.44526712e+02] [ 7.16473927e-01 6.97594536e-01 -5.19382331e-03 5.35858867e+01] [ 7.66692331e-03 -4.29304492e-04 9.99970517e-01 1.68674153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.55, Y:53.61, Z:1.69 [[ 6.95998772e-01 -7.18020703e-01 -5.65505243e-03 2.44545288e+02] [ 7.18002048e-01 6.96021604e-01 -5.19484316e-03 5.36071737e+01] [ 7.66604360e-03 -4.44734764e-04 9.99970517e-01 1.68593351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.56, Y:53.63, Z:1.69 [[ 6.94789370e-01 -7.19191048e-01 -5.65410889e-03 2.44563598e+02] [ 7.19172423e-01 6.94812226e-01 -5.19586991e-03 5.36267782e+01] [ 7.66536711e-03 -4.56244010e-04 9.99970517e-01 1.68582848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59589822699996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.58, Y:53.65, Z:1.69 [[ 6.93531196e-01 -7.20404416e-01 -5.65311168e-03 2.44582285e+02] [ 7.20385822e-01 6.93554078e-01 -5.19695465e-03 5.36483346e+01] [ 7.66464774e-03 -4.68171329e-04 9.99970517e-01 1.68741189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.60, Y:53.67, Z:1.69 [[ 6.92931582e-01 -7.20981189e-01 -5.65217441e-03 2.44599956e+02] [ 7.20962607e-01 6.92954473e-01 -5.19797382e-03 5.36686747e+01] [ 7.66434088e-03 -4.73166171e-04 9.99970517e-01 1.68778531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.62, Y:53.69, Z:1.69 [[ 6.93041995e-01 -7.20875064e-01 -5.65118601e-03 2.44615576e+02] [ 7.20856469e-01 6.93064875e-01 -5.19904818e-03 5.36923036e+01] [ 7.66450271e-03 -4.70535272e-04 9.99970517e-01 1.68810381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.63, Y:53.71, Z:1.69 [[ 6.93100504e-01 -7.20818817e-01 -5.65022842e-03 2.44633121e+02] [ 7.20800211e-01 6.93123376e-01 -5.20008866e-03 5.37131830e+01] [ 7.66462715e-03 -4.68501770e-04 9.99970517e-01 1.68597362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.65, Y:53.73, Z:1.69 [[ 6.92907670e-01 -7.21004194e-01 -5.64921969e-03 2.44650964e+02] [ 7.20985586e-01 6.92930540e-01 -5.20118429e-03 5.37347281e+01] [ 7.66459253e-03 -4.69065482e-04 9.99970517e-01 1.68564743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.67, Y:53.76, Z:1.68 [[ 6.92613149e-01 -7.21287130e-01 -5.64822282e-03 2.44668366e+02] [ 7.21268523e-01 6.92636019e-01 -5.20226661e-03 5.37555976e+01] [ 7.66449052e-03 -4.70727073e-04 9.99970517e-01 1.68291260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.69, Y:53.78, Z:1.69 [[ 6.91945012e-01 -7.21928119e-01 -5.64733504e-03 2.44685057e+02] [ 7.21909525e-01 6.91967893e-01 -5.20323016e-03 5.37788772e+01] [ 7.66413269e-03 -4.76515808e-04 9.99970517e-01 1.68502786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.80589822699994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.70, Y:53.80, Z:1.69 [[ 6.90900594e-01 -7.22927719e-01 -5.64636041e-03 2.44702488e+02] [ 7.22909150e-01 6.90923495e-01 -5.20428758e-03 5.37991430e+01] [ 7.66352682e-03 -4.86160221e-04 9.99970517e-01 1.68500971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.72, Y:53.82, Z:1.68 [[ 6.89328400e-01 -7.24427005e-01 -5.64549781e-03 2.44720790e+02] [ 7.24408478e-01 6.89351335e-01 -5.20522314e-03 5.38192736e+01] [ 7.66253566e-03 -5.01538340e-04 9.99970517e-01 1.68410722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.74, Y:53.84, Z:1.68 [[ 6.85773457e-01 -7.27793173e-01 -5.64464126e-03 2.44738481e+02] [ 7.27774751e-01 6.85796477e-01 -5.20615184e-03 5.38415903e+01] [ 7.66007686e-03 -5.37786642e-04 9.99970517e-01 1.68466964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.76, Y:53.86, Z:1.68 [[ 6.84209716e-01 -7.29263473e-01 -5.64368222e-03 2.44757315e+02] [ 7.29245092e-01 6.84232768e-01 -5.20719127e-03 5.38603913e+01] [ 7.65900670e-03 -5.52816696e-04 9.99970517e-01 1.68499531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.78, Y:53.88, Z:1.69 [[ 6.82693469e-01 -7.30683095e-01 -5.64281777e-03 2.44777656e+02] [ 7.30664754e-01 6.82716553e-01 -5.20812787e-03 5.38794209e+01] [ 7.65793609e-03 -5.67453175e-04 9.99970517e-01 1.68631025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.80, Y:53.90, Z:1.69 [[ 6.81077828e-01 -7.32189294e-01 -5.64187914e-03 2.44797648e+02] [ 7.32170995e-01 6.81100946e-01 -5.20914447e-03 5.38972537e+01] [ 7.65676903e-03 -5.82987470e-04 9.99970517e-01 1.68635254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.82, Y:53.92, Z:1.69 [[ 6.78345128e-01 -7.34721760e-01 -5.64119287e-03 2.44819281e+02] [ 7.34703542e-01 6.78368309e-01 -5.20988756e-03 5.39150753e+01] [ 7.65462422e-03 -6.10502540e-04 9.99970517e-01 1.68572391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.015898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.84, Y:53.93, Z:1.69 [[ 6.77228068e-01 -7.35751542e-01 -5.64029890e-03 2.44840287e+02] [ 7.35733351e-01 6.77251270e-01 -5.21085520e-03 5.39333139e+01] [ 7.65379434e-03 -6.20818614e-04 9.99970517e-01 1.68511647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.86, Y:53.95, Z:1.68 [[ 6.76162477e-01 -7.36730957e-01 -5.63935640e-03 2.44862060e+02] [ 7.36712791e-01 6.76185699e-01 -5.21187500e-03 5.39504871e+01] [ 7.65300181e-03 -6.30511689e-04 9.99970517e-01 1.68405797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.88, Y:53.97, Z:1.68 [[ 6.75490217e-01 -7.37347391e-01 -5.63841468e-03 2.44883164e+02] [ 7.37329238e-01 6.75513449e-01 -5.21289359e-03 5.39667833e+01] [ 7.65253844e-03 -6.36109381e-04 9.99970517e-01 1.68419767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.91, Y:53.98, Z:1.69 [[ 6.74939699e-01 -7.37851355e-01 -5.63742143e-03 2.44907911e+02] [ 7.37833211e-01 6.74962938e-01 -5.21396752e-03 5.39820020e+01] [ 7.65218353e-03 -6.40363087e-04 9.99970517e-01 1.68817845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.135898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.93, Y:54.00, Z:1.69 [[ 6.75075141e-01 -7.37727445e-01 -5.63652917e-03 2.44929750e+02] [ 7.37709289e-01 6.75098370e-01 -5.21493190e-03 5.39981175e+01] [ 7.65241005e-03 -6.37649039e-04 9.99970517e-01 1.69012128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.95, Y:54.01, Z:1.69 [[ 6.77234716e-01 -7.35745459e-01 -5.63559669e-03 2.44954369e+02] [ 7.35727226e-01 6.77257885e-01 -5.21593941e-03 5.40129154e+01] [ 7.65435603e-03 -6.13846678e-04 9.99970517e-01 1.68976401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.98, Y:54.03, Z:1.69 [[ 6.79430720e-01 -7.33718030e-01 -5.63465163e-03 2.44975362e+02] [ 7.33699720e-01 6.79453828e-01 -5.21696013e-03 5.40294374e+01] [ 7.65626334e-03 -5.89579345e-04 9.99970517e-01 1.68934335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.00, Y:54.05, Z:1.69 [[ 6.82246348e-01 -7.31100666e-01 -5.63365553e-03 2.44997242e+02] [ 7.31082258e-01 6.82269378e-01 -5.21803558e-03 5.40466483e+01] [ 7.65857994e-03 -5.58679889e-04 9.99970517e-01 1.69038624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.02, Y:54.06, Z:1.69 [[ 6.85073505e-01 -7.28452168e-01 -5.63306749e-03 2.45018457e+02] [ 7.28433666e-01 6.85096460e-01 -5.21867031e-03 5.40639653e+01] [ 7.66074630e-03 -5.28143248e-04 9.99970517e-01 1.69063533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.04, Y:54.08, Z:1.69 [[ 6.88050875e-01 -7.25640593e-01 -5.63237415e-03 2.45038947e+02] [ 7.25621990e-01 6.88073749e-01 -5.21941851e-03 5.40820982e+01] [ 7.66291074e-03 -4.95749069e-04 9.99970517e-01 1.69071781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.06, Y:54.10, Z:1.69 [[ 6.93491117e-01 -7.20443168e-01 -5.63137604e-03 2.45058379e+02] [ 7.20424385e-01 6.93513844e-01 -5.22049517e-03 5.41008356e+01] [ 7.66650732e-03 -4.36613593e-04 9.99970517e-01 1.69036513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.08, Y:54.12, Z:1.69 [[ 6.95364965e-01 -7.18634720e-01 -5.63068885e-03 2.45079004e+02] [ 7.18615872e-01 6.95387638e-01 -5.22123626e-03 5.41201862e+01] [ 7.66767307e-03 -4.15637605e-04 9.99970517e-01 1.69126914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.10, Y:54.14, Z:1.69 [[ 6.96219558e-01 -7.17806822e-01 -5.62974246e-03 2.45099767e+02] [ 7.17787939e-01 6.96242201e-01 -5.22225649e-03 5.41393736e+01] [ 7.66823562e-03 -4.05124133e-04 9.99970517e-01 1.69226393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.12, Y:54.16, Z:1.69 [[ 6.95743641e-01 -7.18268127e-01 -5.62879461e-03 2.45121006e+02] [ 7.18249251e-01 6.95766290e-01 -5.22327792e-03 5.41572554e+01] [ 7.66803960e-03 -4.08815117e-04 9.99970517e-01 1.69405036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.14, Y:54.17, Z:1.69 [[ 6.94759126e-01 -7.19220470e-01 -5.62783761e-03 2.45140801e+02] [ 7.19201617e-01 6.94781794e-01 -5.22430884e-03 5.41749655e+01] [ 7.66754897e-03 -4.17913664e-04 9.99970517e-01 1.69341215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.16, Y:54.19, Z:1.69 [[ 6.94632977e-01 -7.19342315e-01 -5.62682693e-03 2.45161545e+02] [ 7.19323457e-01 6.94655641e-01 -5.22539717e-03 5.41944805e+01] [ 7.66755636e-03 -4.17775416e-04 9.99970517e-01 1.69363087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.18, Y:54.21, Z:1.69 [[ 6.93526520e-01 -7.20409131e-01 -5.62591030e-03 2.45182095e+02] [ 7.20390300e-01 6.93549206e-01 -5.22638388e-03 5.42134055e+01] [ 7.66698028e-03 -4.28215383e-04 9.99970517e-01 1.69284096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.20, Y:54.23, Z:1.69 [[ 6.92345494e-01 -7.21544230e-01 -5.62498885e-03 2.45201979e+02] [ 7.21525429e-01 6.92368204e-01 -5.22737541e-03 5.42321526e+01] [ 7.66634600e-03 -4.39422686e-04 9.99970517e-01 1.69239005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.22, Y:54.25, Z:1.69 [[ 6.90287970e-01 -7.23512878e-01 -5.62431487e-03 2.45222882e+02] [ 7.23494135e-01 6.90310729e-01 -5.22810047e-03 5.42511435e+01] [ 7.66512292e-03 -4.60263962e-04 9.99970517e-01 1.69466979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.24, Y:54.27, Z:1.69 [[ 6.89455353e-01 -7.24306353e-01 -5.62340490e-03 2.45242291e+02] [ 7.24287628e-01 6.89478128e-01 -5.22907906e-03 5.42692799e+01] [ 7.66466986e-03 -4.67746042e-04 9.99970517e-01 1.69470210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.26, Y:54.29, Z:1.69 [[ 6.88845328e-01 -7.24886544e-01 -5.62244439e-03 2.45262555e+02] [ 7.24867830e-01 6.88868111e-01 -5.23011162e-03 5.42891328e+01] [ 7.66436019e-03 -4.72791114e-04 9.99970517e-01 1.69448466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.28, Y:54.31, Z:1.69 [[ 6.88601386e-01 -7.25118288e-01 -5.62144705e-03 2.45281522e+02] [ 7.25099573e-01 6.88624168e-01 -5.23118337e-03 5.43090896e+01] [ 7.66429102e-03 -4.73908739e-04 9.99970517e-01 1.68836275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.30, Y:54.33, Z:1.69 [[ 6.88156850e-01 -7.25540182e-01 -5.62080478e-03 2.45302029e+02] [ 7.25521476e-01 6.88179639e-01 -5.23187338e-03 5.43287882e+01] [ 7.66405777e-03 -4.77665076e-04 9.99970517e-01 1.68893076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.32, Y:54.35, Z:1.69 [[ 6.87644361e-01 -7.26025929e-01 -5.61990328e-03 2.45322045e+02] [ 7.26007231e-01 6.87667157e-01 -5.23284156e-03 5.43484631e+01] [ 7.66380157e-03 -4.81756425e-04 9.99970517e-01 1.69276207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73589822699995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:245.34, Y:54.37, Z:1.69 [[ 6.86421626e-01 -7.27182081e-01 -5.61894269e-03 2.45339494e+02] [ 7.27163412e-01 6.86444447e-01 -5.23387282e-03 5.43685853e+01] [ 7.66307054e-03 -4.93246051e-04 9.99970517e-01 1.69449039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.36, Y:54.39, Z:1.69 [[ 6.85789065e-01 -7.27778670e-01 -5.61830079e-03 2.45358940e+02] [ 7.27760016e-01 6.85811897e-01 -5.23456178e-03 5.43887446e+01] [ 7.66269994e-03 -4.98969438e-04 9.99970517e-01 1.69354758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79589822699995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.38, Y:54.41, Z:1.69 [[ 6.85048905e-01 -7.28475424e-01 -5.61735452e-03 2.45378271e+02] [ 7.28456785e-01 6.85071749e-01 -5.23557705e-03 5.44086824e+01] [ 7.66228010e-03 -5.05373691e-04 9.99970517e-01 1.69216037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.40, Y:54.43, Z:1.69 [[ 6.84521260e-01 -7.28971262e-01 -5.61640164e-03 2.45397839e+02] [ 7.28952631e-01 6.84544111e-01 -5.23659904e-03 5.44288975e+01] [ 7.66200488e-03 -5.09527380e-04 9.99970517e-01 1.69210159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.41, Y:54.45, Z:1.69 [[ 6.84419391e-01 -7.29066913e-01 -5.61543148e-03 2.45414696e+02] [ 7.29048277e-01 6.84442237e-01 -5.23763918e-03 5.44510998e+01] [ 7.66202792e-03 -5.09178827e-04 9.99970517e-01 1.69233631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.43, Y:54.47, Z:1.69 [[ 6.84772850e-01 -7.28734947e-01 -5.61447056e-03 2.45433405e+02] [ 7.28716291e-01 6.84795680e-01 -5.23866904e-03 5.44725953e+01] [ 7.66236639e-03 -5.04057833e-04 9.99970517e-01 1.69198700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.45, Y:54.49, Z:1.69 [[ 6.85242614e-01 -7.28293244e-01 -5.61352302e-03 2.45451223e+02] [ 7.28274565e-01 6.85265426e-01 -5.23968418e-03 5.44928654e+01] [ 7.66277983e-03 -4.97731153e-04 9.99970517e-01 1.69054585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.47, Y:54.51, Z:1.69 [[ 6.85961745e-01 -7.27615960e-01 -5.61252112e-03 2.45467538e+02] [ 7.27597250e-01 6.85984531e-01 -5.24075716e-03 5.45147421e+01] [ 7.66336121e-03 -4.88696005e-04 9.99970517e-01 1.69148378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.49, Y:54.54, Z:1.69 [[ 6.86195452e-01 -7.27395568e-01 -5.61155657e-03 2.45485643e+02] [ 7.27376842e-01 6.86218225e-01 -5.24178974e-03 5.45357984e+01] [ 7.66360702e-03 -4.84824017e-04 9.99970517e-01 1.69479784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:54.56, Z:1.70 [[ 6.86399605e-01 -7.27202931e-01 -5.61067464e-03 2.45503101e+02] [ 7.27184192e-01 6.86422366e-01 -5.24273357e-03 5.45571103e+01] [ 7.66382378e-03 -4.81383650e-04 9.99970517e-01 1.69707654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.52, Y:54.58, Z:1.70 [[ 6.85557730e-01 -7.27996656e-01 -5.60967415e-03 2.45519152e+02] [ 7.27977934e-01 6.85580506e-01 -5.24380387e-03 5.45799357e+01] [ 7.66335492e-03 -4.88788722e-04 9.99970517e-01 1.69909088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.54, Y:54.60, Z:1.70 [[ 6.84250122e-01 -7.29225829e-01 -5.60899852e-03 2.45537941e+02] [ 7.29207142e-01 6.84272927e-01 -5.24452644e-03 5.46006570e+01] [ 7.66252998e-03 -5.01553927e-04 9.99970517e-01 1.69920688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.56, Y:54.62, Z:1.70 [[ 6.82985270e-01 -7.30410618e-01 -5.60808403e-03 2.45556959e+02] [ 7.30391963e-01 6.83008101e-01 -5.24550415e-03 5.46207682e+01] [ 7.66173875e-03 -5.13497441e-04 9.99970517e-01 1.70002077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.57, Y:54.64, Z:1.70 [[ 6.80196199e-01 -7.33008657e-01 -5.60709900e-03 2.45573909e+02] [ 7.32990080e-01 6.80219094e-01 -5.24655687e-03 5.46414214e+01] [ 7.65982741e-03 -5.41259910e-04 9.99970517e-01 1.69959044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.59, Y:54.66, Z:1.70 [[ 6.78856539e-01 -7.34249527e-01 -5.60633686e-03 2.45593129e+02] [ 7.34230986e-01 6.78879462e-01 -5.24737115e-03 5.46616102e+01] [ 7.65890674e-03 -5.54134027e-04 9.99970517e-01 1.70105796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:54.68, Z:1.70 [[ 6.77543508e-01 -7.35461335e-01 -5.60537124e-03 2.45611963e+02] [ 7.35442826e-01 6.77566458e-01 -5.24840245e-03 5.46809473e+01] [ 7.65800860e-03 -5.66409055e-04 9.99970517e-01 1.70066586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.63, Y:54.70, Z:1.70 [[ 6.76031691e-01 -7.36851235e-01 -5.60450073e-03 2.45630993e+02] [ 7.36832765e-01 6.76054673e-01 -5.24933186e-03 5.46998078e+01] [ 7.65692556e-03 -5.80865075e-04 9.99970517e-01 1.70027484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:54.72, Z:1.70 [[ 6.75811661e-01 -7.37053051e-01 -5.60353316e-03 2.45651360e+02] [ 7.37034580e-01 6.75834641e-01 -5.25036451e-03 5.47194708e+01] [ 7.65685900e-03 -5.81740147e-04 9.99970517e-01 1.70162506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.67, Y:54.74, Z:1.70 [[ 6.75812085e-01 -7.37052669e-01 -5.60258574e-03 2.45671044e+02] [ 7.37034190e-01 6.75835059e-01 -5.25137529e-03 5.47388207e+01] [ 7.65696404e-03 -5.80354358e-04 9.99970517e-01 1.70234386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:54.76, Z:1.70 [[ 6.76731942e-01 -7.36208191e-01 -5.60163851e-03 2.45689262e+02] [ 7.36189675e-01 6.76754886e-01 -5.25238551e-03 5.47589011e+01] [ 7.65778546e-03 -5.69411387e-04 9.99970517e-01 1.70382189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.71, Y:54.78, Z:1.71 [[ 6.76772324e-01 -7.36171077e-01 -5.60063478e-03 2.45708518e+02] [ 7.36152551e-01 6.76795259e-01 -5.25345556e-03 5.47789836e+01] [ 7.65792511e-03 -5.67528255e-04 9.99970517e-01 1.70540900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.73, Y:54.80, Z:1.71 [[ 6.76572192e-01 -7.36355018e-01 -5.59971505e-03 2.45727202e+02] [ 7.36336489e-01 6.76595127e-01 -5.25443574e-03 5.47981705e+01] [ 7.65787003e-03 -5.68269416e-04 9.99970517e-01 1.70650475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.395898227 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:245.75, Y:54.82, Z:1.71 [[ 6.76274618e-01 -7.36628329e-01 -5.59874347e-03 2.45747040e+02] [ 7.36609802e-01 6.76297553e-01 -5.25547077e-03 5.48180425e+01] [ 7.65774516e-03 -5.69947829e-04 9.99970517e-01 1.70673067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.77, Y:54.84, Z:1.70 [[ 6.75193868e-01 -7.37619078e-01 -5.59779758e-03 2.45768395e+02] [ 7.37600576e-01 6.75216824e-01 -5.25647808e-03 5.48368082e+01] [ 7.65700562e-03 -5.79796951e-04 9.99970517e-01 1.70320727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:54.86, Z:1.70 [[ 6.74034059e-01 -7.38679066e-01 -5.59685644e-03 2.45789522e+02] [ 7.38660592e-01 6.74057036e-01 -5.25747998e-03 5.48555670e+01] [ 7.65619087e-03 -5.90456725e-04 9.99970517e-01 1.70249259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48589822699995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:245.81, Y:54.87, Z:1.70 [[ 6.72859668e-01 -7.39748980e-01 -5.59591635e-03 2.45810048e+02] [ 7.39730534e-01 6.72882668e-01 -5.25848039e-03 5.48742233e+01] [ 7.65535063e-03 -6.01250823e-04 9.99970517e-01 1.70183773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.83, Y:54.89, Z:1.70 [[ 6.72035844e-01 -7.40497482e-01 -5.59497140e-03 2.45829820e+02] [ 7.40479053e-01 6.72058858e-01 -5.25948562e-03 5.48924873e+01] [ 7.65478595e-03 -6.08396263e-04 9.99970517e-01 1.70198126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:54.91, Z:1.70 [[ 6.72070371e-01 -7.40466153e-01 -5.59397471e-03 2.45849832e+02] [ 7.40447715e-01 6.72093378e-01 -5.26054548e-03 5.49113764e+01] [ 7.65492923e-03 -6.06589034e-04 9.99970517e-01 1.70202605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.575898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.87, Y:54.93, Z:1.70 [[ 6.72219123e-01 -7.40331121e-01 -5.59302568e-03 2.45869240e+02] [ 7.40312670e-01 6.72242120e-01 -5.26155430e-03 5.49306306e+01] [ 7.65515983e-03 -6.03670347e-04 9.99970517e-01 1.70018252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.89, Y:54.95, Z:1.70 [[ 6.72444697e-01 -7.40126245e-01 -5.59202969e-03 2.45889379e+02] [ 7.40107778e-01 6.72467681e-01 -5.26261263e-03 5.49507061e+01] [ 7.65545696e-03 -5.99888709e-04 9.99970517e-01 1.70016731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.91, Y:54.97, Z:1.70 [[ 6.72388458e-01 -7.40177345e-01 -5.59104701e-03 2.45906724e+02] [ 7.40158871e-01 6.72411436e-01 -5.26365644e-03 5.49718406e+01] [ 7.65552319e-03 -5.99041205e-04 9.99970517e-01 1.70012854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.93, Y:54.99, Z:1.70 [[ 6.72235459e-01 -7.40316307e-01 -5.59041100e-03 2.45925339e+02] [ 7.40297833e-01 6.72258437e-01 -5.26433184e-03 5.49921449e+01] [ 7.65547167e-03 -5.99698621e-04 9.99970517e-01 1.70161313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.94, Y:55.01, Z:1.70 [[ 6.72086681e-01 -7.40451384e-01 -5.58947435e-03 2.45943622e+02] [ 7.40432906e-01 6.72109655e-01 -5.26532616e-03 5.50121136e+01] [ 7.65545771e-03 -5.99875151e-04 9.99970517e-01 1.70104689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.96, Y:55.03, Z:1.70 [[ 6.71774394e-01 -7.40734725e-01 -5.58848430e-03 2.45962047e+02] [ 7.40716248e-01 6.71797369e-01 -5.26637675e-03 5.50342280e+01] [ 7.65531719e-03 -6.01664074e-04 9.99970517e-01 1.69749792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.98, Y:55.05, Z:1.70 [[ 6.71229039e-01 -7.41228950e-01 -5.58755662e-03 2.45981295e+02] [ 7.41210482e-01 6.71252021e-01 -5.26736083e-03 5.50538507e+01] [ 7.65497901e-03 -6.05949995e-04 9.99970517e-01 1.69749360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.00, Y:55.07, Z:1.70 [[ 6.70627801e-01 -7.41772973e-01 -5.58654536e-03 2.46001326e+02] [ 7.41754514e-01 6.70650791e-01 -5.26843315e-03 5.50737623e+01] [ 7.65460239e-03 -6.10687506e-04 9.99970517e-01 1.69912131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.02, Y:55.09, Z:1.70 [[ 6.69516820e-01 -7.42775894e-01 -5.58558803e-03 2.46022155e+02] [ 7.42757462e-01 6.69539831e-01 -5.26944792e-03 5.50929821e+01] [ 7.65379256e-03 -6.20753170e-04 9.99970517e-01 1.70209522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.04, Y:55.11, Z:1.70 [[ 6.69001793e-01 -7.43239808e-01 -5.58464882e-03 2.46041954e+02] [ 7.43221384e-01 6.69024811e-01 -5.27044312e-03 5.51109980e+01] [ 7.65347175e-03 -6.24694523e-04 9.99970517e-01 1.70110660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.06, Y:55.13, Z:1.70 [[ 6.68579033e-01 -7.43620129e-01 -5.58398632e-03 2.46062556e+02] [ 7.43601712e-01 6.68602056e-01 -5.27114494e-03 5.51301866e+01] [ 7.65319421e-03 -6.28084805e-04 9.99970517e-01 1.70051009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.08, Y:55.15, Z:1.70 [[ 6.67923925e-01 -7.44208647e-01 -5.57850843e-03 2.46081896e+02] [ 7.44190202e-01 6.67946926e-01 -5.27694539e-03 5.51500693e+01] [ 7.65329595e-03 -6.26873240e-04 9.99970517e-01 1.69785795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.10, Y:55.17, Z:1.70 [[ 6.67937174e-01 -7.44196721e-01 -5.58310474e-03 2.46102244e+02] [ 7.44178316e-01 6.67960207e-01 -5.27207980e-03 5.51698444e+01] [ 7.65275630e-03 -6.33407405e-04 9.99970517e-01 1.70122481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.12, Y:55.19, Z:1.70 [[ 6.67856187e-01 -7.44269416e-01 -5.58122441e-03 2.46121654e+02] [ 7.44250997e-01 6.67879209e-01 -5.27406963e-03 5.51878176e+01] [ 7.65291247e-03 -6.31511800e-04 9.99970517e-01 1.70152054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:55.21, Z:1.71 [[ 6.66408025e-01 -7.45566391e-01 -5.57689314e-03 2.46141915e+02] [ 7.45547979e-01 6.66431052e-01 -5.27865203e-03 5.52064715e+01] [ 7.65220031e-03 -6.40105332e-04 9.99970517e-01 1.70523522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.16, Y:55.23, Z:1.71 [[ 6.65782222e-01 -7.46125256e-01 -5.57995605e-03 2.46161900e+02] [ 7.46106890e-01 6.65805286e-01 -5.27541230e-03 5.52266078e+01] [ 7.65128259e-03 -6.50967933e-04 9.99970517e-01 1.70695565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.18, Y:55.25, Z:1.71 [[ 6.65288247e-01 -7.46565753e-01 -5.57901742e-03 2.46181885e+02] [ 7.46547394e-01 6.65311317e-01 -5.27640477e-03 5.52466124e+01] [ 7.65096652e-03 -6.54670839e-04 9.99970517e-01 1.70638124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.20, Y:55.27, Z:1.70 [[ 6.64671109e-01 -7.47115253e-01 -5.57807264e-03 2.46202592e+02] [ 7.47096905e-01 6.64694188e-01 -5.27740338e-03 5.52657139e+01] [ 7.65054102e-03 -6.59623242e-04 9.99970517e-01 1.70450533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.22, Y:55.28, Z:1.70 [[ 6.62493485e-01 -7.49046913e-01 -5.57717407e-03 2.46224646e+02] [ 7.49028624e-01 6.62516611e-01 -5.27835282e-03 5.52813556e+01] [ 7.64870434e-03 -6.80588662e-04 9.99970517e-01 1.70086805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.25, Y:55.30, Z:1.70 [[ 6.60790022e-01 -7.50550099e-01 -5.57639419e-03 2.46246493e+02] [ 7.50531856e-01 6.60813184e-01 -5.27917660e-03 5.52982905e+01] [ 7.64724132e-03 -6.96834256e-04 9.99970517e-01 1.70151858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.27, Y:55.31, Z:1.70 [[ 6.58709743e-01 -7.52376494e-01 -5.57545872e-03 2.46267986e+02] [ 7.52358307e-01 6.58732948e-01 -5.28016439e-03 5.53141268e+01] [ 7.64540993e-03 -7.16646959e-04 9.99970517e-01 1.70256546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.29, Y:55.33, Z:1.70 [[ 6.55254029e-01 -7.55388035e-01 -5.57446756e-03 2.46294314e+02] [ 7.55369945e-01 6.55277311e-01 -5.28121058e-03 5.53273681e+01] [ 7.64218540e-03 -7.50250745e-04 9.99970517e-01 1.70457879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.32, Y:55.34, Z:1.70 [[ 6.54354169e-01 -7.56167679e-01 -5.57351316e-03 2.46316377e+02] [ 7.56149609e-01 6.54377466e-01 -5.28221762e-03 5.53429636e+01] [ 7.64142365e-03 -7.57968674e-04 9.99970517e-01 1.70455099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.34, Y:55.36, Z:1.71 [[ 6.54290708e-01 -7.56222597e-01 -5.57250842e-03 2.46337784e+02] [ 7.56204520e-01 6.54314000e-01 -5.28327737e-03 5.53596934e+01] [ 7.64150400e-03 -7.57156763e-04 9.99970517e-01 1.70547765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29589822699995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:246.36, Y:55.38, Z:1.71 [[ 6.55157278e-01 -7.55471971e-01 -5.57155217e-03 2.46359164e+02] [ 7.55453859e-01 6.55180542e-01 -5.28428560e-03 5.53781064e+01] [ 7.64250223e-03 -7.47012423e-04 9.99970517e-01 1.70666377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.38, Y:55.40, Z:1.70 [[ 6.59049162e-01 -7.52079231e-01 -5.57061673e-03 2.46379724e+02] [ 7.52060992e-01 6.59072326e-01 -5.28527154e-03 5.53958938e+01] [ 7.64638228e-03 -7.06189762e-04 9.99970517e-01 1.70411122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.40, Y:55.42, Z:1.70 [[ 6.58915860e-01 -7.52196030e-01 -5.56968163e-03 2.46400262e+02] [ 7.52177786e-01 6.58939021e-01 -5.28625678e-03 5.54156161e+01] [ 7.64638192e-03 -7.06192360e-04 9.99970517e-01 1.70432994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.42, Y:55.43, Z:1.70 [[ 6.60985397e-01 -7.50378100e-01 -5.56874454e-03 2.46420740e+02] [ 7.50359785e-01 6.61008501e-01 -5.28724375e-03 5.54340398e+01] [ 7.64841941e-03 -6.83771042e-04 9.99970517e-01 1.70367331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.44, Y:55.45, Z:1.70 [[ 6.62989536e-01 -7.48607958e-01 -5.56781124e-03 2.46441358e+02] [ 7.48589572e-01 6.63012585e-01 -5.28822641e-03 5.54531438e+01] [ 7.65033729e-03 -6.61966657e-04 9.99970517e-01 1.70447204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.46, Y:55.47, Z:1.71 [[ 6.66648097e-01 -7.45351813e-01 -5.56685308e-03 2.46459346e+02] [ 7.45333306e-01 6.66671048e-01 -5.28923485e-03 5.54743012e+01] [ 7.65360056e-03 -6.23102669e-04 9.99970517e-01 1.70874233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.48, Y:55.49, Z:1.71 [[ 6.68298228e-01 -7.43872635e-01 -5.56599848e-03 2.46477492e+02] [ 7.43854071e-01 6.68321133e-01 -5.29013401e-03 5.54944472e+01] [ 7.65506034e-03 -6.04903439e-04 9.99970517e-01 1.70972278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.50, Y:55.52, Z:1.71 [[ 6.69624102e-01 -7.42679333e-01 -5.56505512e-03 2.46496106e+02] [ 7.42660720e-01 6.69646966e-01 -5.29112621e-03 5.55151744e+01] [ 7.65623237e-03 -5.89882204e-04 9.99970517e-01 1.70859492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.52, Y:55.53, Z:1.71 [[ 6.68763166e-01 -7.43454685e-01 -5.56410836e-03 2.46515077e+02] [ 7.43436089e-01 6.68786046e-01 -5.29212163e-03 5.55340574e+01] [ 7.65565065e-03 -5.97382944e-04 9.99970517e-01 1.70751115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.53, Y:55.55, Z:1.71 [[ 6.67048653e-01 -7.44993385e-01 -5.56341523e-03 2.46534808e+02] [ 7.44974836e-01 6.67071570e-01 -5.29285020e-03 5.55532637e+01] [ 7.65433452e-03 -6.14015748e-04 9.99970517e-01 1.70801302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.56, Y:55.57, Z:1.70 [[ 6.62790425e-01 -7.48784289e-01 -5.56246963e-03 2.46555996e+02] [ 7.48765863e-01 6.62813441e-01 -5.29384378e-03 5.55699855e+01] [ 7.65082669e-03 -6.56278400e-04 9.99970517e-01 1.70492606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.58, Y:55.59, Z:1.70 [[ 6.61039868e-01 -7.50330169e-01 -5.56148507e-03 2.46577283e+02] [ 7.50311788e-01 6.61062921e-01 -5.29487791e-03 5.55871541e+01] [ 7.64939820e-03 -6.72722412e-04 9.99970517e-01 1.70347185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.60, Y:55.60, Z:1.70 [[ 6.59589068e-01 -7.51605840e-01 -5.56081395e-03 2.46597921e+02] [ 7.51587498e-01 6.59612151e-01 -5.29558264e-03 5.56040927e+01] [ 7.64817129e-03 -6.86529830e-04 9.99970517e-01 1.70309977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.62, Y:55.62, Z:1.71 [[ 6.59751814e-01 -7.51462994e-01 -5.55985015e-03 2.46620458e+02] [ 7.51444639e-01 6.59774887e-01 -5.29659435e-03 5.56207325e+01] [ 7.64844415e-03 -6.83481861e-04 9.99970517e-01 1.70534200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.64, Y:55.64, Z:1.71 [[ 6.60886112e-01 -7.50465619e-01 -5.55893056e-03 2.46641581e+02] [ 7.50447221e-01 6.60909150e-01 -5.29755932e-03 5.56391879e+01] [ 7.64958420e-03 -6.70600608e-04 9.99970517e-01 1.70767937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.66, Y:55.66, Z:1.71 [[ 6.62631625e-01 -7.48924855e-01 -5.55798382e-03 2.46661984e+02] [ 7.48906395e-01 6.62654614e-01 -5.29855241e-03 5.56563876e+01] [ 7.65124121e-03 -6.51421233e-04 9.99970517e-01 1.70803766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.68, Y:55.67, Z:1.71 [[ 6.64506393e-01 -7.47261918e-01 -5.55698144e-03 2.46682705e+02] [ 7.47243391e-01 6.64529328e-01 -5.29960347e-03 5.56744966e+01] [ 7.65296900e-03 -6.30797272e-04 9.99970517e-01 1.70831415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.70, Y:55.69, Z:1.71 [[ 6.66450595e-01 -7.45528493e-01 -5.55605874e-03 2.46703542e+02] [ 7.45509899e-01 6.66473476e-01 -5.30057064e-03 5.56933934e+01] [ 7.65469223e-03 -6.09528336e-04 9.99970517e-01 1.70868824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.72, Y:55.71, Z:1.71 [[ 6.70283655e-01 -7.42084202e-01 -5.55510852e-03 2.46722759e+02] [ 7.42065482e-01 6.70306433e-01 -5.30156630e-03 5.57123306e+01] [ 7.65783358e-03 -5.68701042e-04 9.99970517e-01 1.70827590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.74, Y:55.73, Z:1.71 [[ 6.71478702e-01 -7.41003064e-01 -5.55094808e-03 2.46743589e+02] [ 7.40984271e-01 6.71501420e-01 -5.30592466e-03 5.57318413e+01] [ 7.65917595e-03 -5.50349819e-04 9.99970517e-01 1.70796655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.76, Y:55.75, Z:1.71 [[ 6.72104557e-01 -7.40435425e-01 -5.55389638e-03 2.46763584e+02] [ 7.40416639e-01 6.72127281e-01 -5.30283678e-03 5.57510049e+01] [ 7.65933347e-03 -5.48136522e-04 9.99970517e-01 1.70773012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.78, Y:55.77, Z:1.71 [[ 6.72262217e-01 -7.40292292e-01 -5.55293087e-03 2.46783769e+02] [ 7.40273492e-01 6.72284929e-01 -5.30384762e-03 5.57694862e+01] [ 7.65954925e-03 -5.45111168e-04 9.99970517e-01 1.70555420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.80, Y:55.79, Z:1.71 [[ 6.71657424e-01 -7.40841063e-01 -5.55197126e-03 2.46804080e+02] [ 7.40822274e-01 6.71680145e-01 -5.30485194e-03 5.57889096e+01] [ 7.65920101e-03 -5.49980783e-04 9.99970517e-01 1.70659501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.82, Y:55.81, Z:1.71 [[ 6.69430560e-01 -7.42853896e-01 -5.55102336e-03 2.46824350e+02] [ 7.42835168e-01 6.69453331e-01 -5.30584364e-03 5.58072105e+01] [ 7.65761770e-03 -5.71601494e-04 9.99970517e-01 1.70839707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.85, Y:55.83, Z:1.71 [[ 6.67879426e-01 -7.44248796e-01 -5.55002317e-03 2.46845144e+02] [ 7.44230106e-01 6.67902228e-01 -5.30688965e-03 5.58256406e+01] [ 7.65651908e-03 -5.86131915e-04 9.99970517e-01 1.70947366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.87, Y:55.84, Z:1.71 [[ 6.66078379e-01 -7.45861113e-01 -5.54909935e-03 2.46866046e+02] [ 7.45842471e-01 6.66101220e-01 -5.30785546e-03 5.58436119e+01] [ 7.65518483e-03 -6.03306202e-04 9.99970517e-01 1.71069361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.89, Y:55.86, Z:1.71 [[ 6.62189681e-01 -7.49315718e-01 -5.54812032e-03 2.46887506e+02] [ 7.49297186e-01 6.62212612e-01 -5.30887861e-03 5.58601088e+01] [ 7.65206144e-03 -6.41706304e-04 9.99970517e-01 1.71009854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.91, Y:55.88, Z:1.71 [[ 6.60503536e-01 -7.50802443e-01 -5.54708790e-03 2.46909204e+02] [ 7.50783954e-01 6.60526501e-01 -5.30995714e-03 5.58785704e+01] [ 7.65072736e-03 -6.57419123e-04 9.99970517e-01 1.71071518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.93, Y:55.89, Z:1.71 [[ 6.59394066e-01 -7.51777032e-01 -5.54617103e-03 2.46929182e+02] [ 7.51758568e-01 6.59417053e-01 -5.31091463e-03 5.58948181e+01] [ 7.64986338e-03 -6.67395998e-04 9.99970517e-01 1.71112470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.95, Y:55.91, Z:1.71 [[ 6.58551321e-01 -7.52515388e-01 -5.54508891e-03 2.46950560e+02] [ 7.52496941e-01 6.58574321e-01 -5.31204422e-03 5.59102549e+01] [ 7.64924818e-03 -6.74408698e-04 9.99970517e-01 1.70986694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.97, Y:55.93, Z:1.71 [[ 6.58340712e-01 -7.52699655e-01 -5.54401343e-03 2.46971548e+02] [ 7.52681205e-01 6.58363709e-01 -5.31316643e-03 5.59282860e+01] [ 7.64919578e-03 -6.75000935e-04 9.99970517e-01 1.71131330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.99, Y:55.95, Z:1.71 [[ 6.58617906e-01 -7.52457128e-01 -5.54305287e-03 2.46992474e+02] [ 7.52438661e-01 6.58640889e-01 -5.31416835e-03 5.59459285e+01] [ 7.64956513e-03 -6.70800853e-04 9.99970517e-01 1.71233701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.01, Y:55.96, Z:1.71 [[ 6.59258260e-01 -7.51896155e-01 -5.54235041e-03 2.47013969e+02] [ 7.51877663e-01 6.59281223e-01 -5.31490088e-03 5.59641449e+01] [ 7.65022109e-03 -6.63277169e-04 9.99970517e-01 1.71354106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.04, Y:55.98, Z:1.72 [[ 6.62339904e-01 -7.49182984e-01 -5.54140153e-03 2.47037086e+02] [ 7.49164390e-01 6.62362785e-01 -5.31589001e-03 5.59804652e+01] [ 7.65299249e-03 -6.30494617e-04 9.99970517e-01 1.71512451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.06, Y:56.00, Z:1.71 [[ 6.64101064e-01 -7.47622284e-01 -5.54045115e-03 2.47058300e+02] [ 7.47603628e-01 6.64123894e-01 -5.31688035e-03 5.59967106e+01] [ 7.65456423e-03 -6.11115486e-04 9.99970517e-01 1.71422194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.08, Y:56.01, Z:1.71 [[ 6.65576288e-01 -7.46309265e-01 -5.53944274e-03 2.47079533e+02] [ 7.46290555e-01 6.65599074e-01 -5.31793077e-03 5.60131081e+01] [ 7.65586896e-03 -5.94545170e-04 9.99970517e-01 1.71113619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.10, Y:56.03, Z:1.71 [[ 6.68211672e-01 -7.43950595e-01 -5.53844825e-03 2.47103298e+02] [ 7.43931796e-01 6.68234384e-01 -5.31896629e-03 5.60287565e+01] [ 7.65802969e-03 -5.66032398e-04 9.99970517e-01 1.70833597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.13, Y:56.05, Z:1.71 [[ 6.69339072e-01 -7.42936432e-01 -5.53756483e-03 2.47125395e+02] [ 7.42917591e-01 6.69361750e-01 -5.31988586e-03 5.60463002e+01] [ 7.65897111e-03 -5.53146852e-04 9.99970517e-01 1.70808600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.15, Y:56.06, Z:1.71 [[ 6.70309032e-01 -7.42061417e-01 -5.53661616e-03 2.47147273e+02] [ 7.42042539e-01 6.70331679e-01 -5.32087299e-03 5.60634436e+01] [ 7.65978376e-03 -5.41775488e-04 9.99970517e-01 1.70919100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.17, Y:56.08, Z:1.71 [[ 6.72211536e-01 -7.40338442e-01 -5.53565089e-03 2.47171250e+02] [ 7.40319497e-01 6.72234126e-01 -5.32187704e-03 5.60787895e+01] [ 7.66124360e-03 -5.20723140e-04 9.99970517e-01 1.71189449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.19, Y:56.10, Z:1.71 [[ 6.73172814e-01 -7.39464488e-01 -5.53467567e-03 2.47191818e+02] [ 7.39445506e-01 6.73195374e-01 -5.32289106e-03 5.60959462e+01] [ 7.66200697e-03 -5.09365497e-04 9.99970517e-01 1.71231771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.21, Y:56.11, Z:1.71 [[ 6.77156650e-01 -7.35818082e-01 -5.53364397e-03 2.47212800e+02] [ 7.35798969e-01 6.77179099e-01 -5.32396340e-03 5.61148869e+01] [ 7.66473657e-03 -4.66492305e-04 9.99970517e-01 1.71365117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.23, Y:56.13, Z:1.71 [[ 6.79883576e-01 -7.33299198e-01 -5.53266969e-03 2.47231401e+02] [ 7.33279993e-01 6.79905947e-01 -5.32497568e-03 5.61340043e+01] [ 7.66649541e-03 -4.36632488e-04 9.99970517e-01 1.71447604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.25, Y:56.15, Z:1.72 [[ 6.82465331e-01 -7.30897033e-01 -5.53163685e-03 2.47250176e+02] [ 7.30877742e-01 6.82487626e-01 -5.32604838e-03 5.61539327e+01] [ 7.66806667e-03 -4.08106876e-04 9.99970517e-01 1.71532207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.27, Y:56.18, Z:1.72 [[ 6.85771823e-01 -7.27795589e-01 -5.53061096e-03 2.47267594e+02] [ 7.27776188e-01 6.85794023e-01 -5.32711347e-03 5.61758178e+01] [ 7.66990962e-03 -3.71862647e-04 9.99970517e-01 1.71775217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.28, Y:56.20, Z:1.72 [[ 6.86171905e-01 -7.27418408e-01 -5.52963284e-03 2.47284858e+02] [ 7.27398986e-01 6.86194087e-01 -5.32812857e-03 5.61961672e+01] [ 7.67018017e-03 -3.66237192e-04 9.99970517e-01 1.71865774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.30, Y:56.22, Z:1.72 [[ 6.86279492e-01 -7.27316912e-01 -5.52891595e-03 2.47302793e+02] [ 7.27297481e-01 6.86301666e-01 -5.32887238e-03 5.62179720e+01] [ 7.67028323e-03 -3.64070817e-04 9.99970517e-01 1.71971175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.705898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:247.32, Y:56.24, Z:1.72 [[ 6.85945465e-01 -7.27631955e-01 -5.52794555e-03 2.47321061e+02] [ 7.27612526e-01 6.85967641e-01 -5.32987884e-03 5.62400322e+01] [ 7.67018193e-03 -3.66196210e-04 9.99970517e-01 1.72037856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73589822699995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:247.34, Y:56.26, Z:1.72 [[ 6.84354370e-01 -7.29128623e-01 -5.52697681e-03 2.47336153e+02] [ 7.29109235e-01 6.84376582e-01 -5.33088321e-03 5.62630364e+01] [ 7.66943303e-03 -3.81556607e-04 9.99970517e-01 1.72145463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.765898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:247.35, Y:56.28, Z:1.72 [[ 6.83181524e-01 -7.30227683e-01 -5.52595424e-03 2.47353688e+02] [ 7.30208322e-01 6.83203759e-01 -5.33194299e-03 5.62845125e+01] [ 7.66888509e-03 -3.92412837e-04 9.99970517e-01 1.72247919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:247.37, Y:56.31, Z:1.72 [[ 6.81780214e-01 -7.31536201e-01 -5.52499377e-03 2.47370938e+02] [ 7.31516875e-01 6.81802480e-01 -5.33293805e-03 5.63059889e+01] [ 7.66819170e-03 -4.05734522e-04 9.99970517e-01 1.72091628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.825898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:247.39, Y:56.33, Z:1.72 [[ 6.77468476e-01 -7.35531067e-01 -5.52397781e-03 2.47385902e+02] [ 7.35511863e-01 6.77490847e-01 -5.33399020e-03 5.63306715e+01] [ 7.66575991e-03 -4.49341004e-04 9.99970517e-01 1.71860003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85589822699995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:247.40, Y:56.35, Z:1.72 [[ 6.74288837e-01 -7.38447060e-01 -5.52302064e-03 2.47403254e+02] [ 7.38427945e-01 6.74311284e-01 -5.33498110e-03 5.63517222e+01] [ 7.66383625e-03 -4.81034582e-04 9.99970517e-01 1.71785652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.885898227 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:247.42, Y:56.37, Z:1.72 [[ 6.70762493e-01 -7.41651661e-01 -5.52201463e-03 2.47420937e+02] [ 7.41632644e-01 6.70785024e-01 -5.33602218e-03 5.63716550e+01] [ 7.66155442e-03 -5.16102775e-04 9.99970517e-01 1.71730655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:247.44, Y:56.39, Z:1.72 [[ 6.63754712e-01 -7.47929944e-01 -5.52101788e-03 2.47440515e+02] [ 7.47911132e-01 6.63777414e-01 -5.33705329e-03 5.63922335e+01] [ 7.65646893e-03 -5.86736459e-04 9.99970517e-01 1.71599425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.945898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:247.46, Y:56.41, Z:1.72 [[ 6.60616415e-01 -7.50703324e-01 -5.52008881e-03 2.47460087e+02] [ 7.50684599e-01 6.60639189e-01 -5.33801405e-03 5.64103800e+01] [ 7.65405188e-03 -6.17465949e-04 9.99970517e-01 1.71609474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97589822699996 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:247.48, Y:56.43, Z:1.72 [[ 6.57957144e-01 -7.53035150e-01 -5.51905215e-03 2.47479911e+02] [ 7.53016497e-01 6.57979976e-01 -5.33908564e-03 5.64281932e+01] [ 7.65194497e-03 -6.43047780e-04 9.99970517e-01 1.71675816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.005898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:247.50, Y:56.44, Z:1.71 [[ 6.53081932e-01 -7.57267152e-01 -5.51824830e-03 2.47501320e+02] [ 7.57248640e-01 6.53104879e-01 -5.33991634e-03 5.64437358e+01] [ 7.64773813e-03 -6.91283137e-04 9.99970517e-01 1.71372660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03589822699996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:247.52, Y:56.46, Z:1.71 [[ 6.50832505e-01 -7.59201298e-01 -5.51717087e-03 2.47524164e+02] [ 7.59182845e-01 6.50855499e-01 -5.34102931e-03 5.64608915e+01] [ 7.64579739e-03 -7.12425992e-04 9.99970517e-01 1.71300451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.065898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:247.55, Y:56.47, Z:1.71 [[ 6.48426068e-01 -7.61257648e-01 -5.51618439e-03 2.47550584e+02] [ 7.61239259e-01 6.48449114e-01 -5.34204795e-03 5.64735580e+01] [ 7.64363973e-03 -7.35212972e-04 9.99970517e-01 1.70580229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09589822699996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:247.57, Y:56.49, Z:1.71 [[ 6.48259951e-01 -7.61399119e-01 -5.51524292e-03 2.47574116e+02] [ 7.61380727e-01 6.48282994e-01 -5.34301976e-03 5.64899030e+01] [ 7.64360873e-03 -7.35533939e-04 9.99970517e-01 1.70808635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.125898227 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:247.60, Y:56.51, Z:1.71 [[ 6.48915873e-01 -7.60840182e-01 -5.51429014e-03 2.47596509e+02] [ 7.60821762e-01 6.48938894e-01 -5.34400291e-03 5.65056113e+01] [ 7.64436948e-03 -7.27583630e-04 9.99970517e-01 1.70728409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15589822699997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:247.62, Y:56.52, Z:1.71 [[ 6.53963268e-01 -7.56506211e-01 -5.51328615e-03 2.47620458e+02] [ 7.56487630e-01 6.53986159e-01 -5.34503849e-03 5.65206514e+01] [ 7.64916765e-03 -6.75273935e-04 9.99970517e-01 1.71170515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.185898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:247.64, Y:56.54, Z:1.71 [[ 6.57102342e-01 -7.53781219e-01 -5.51238545e-03 2.47641849e+02] [ 7.53762535e-01 6.57125150e-01 -5.34596724e-03 5.65393418e+01] [ 7.65201681e-03 -6.42182032e-04 9.99970517e-01 1.71229202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21589822699997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:247.66, Y:56.56, Z:1.71 [[ 6.63375829e-01 -7.48266085e-01 -5.51141478e-03 2.47663019e+02] [ 7.48247203e-01 6.63398473e-01 -5.34696776e-03 5.65560973e+01] [ 7.65721878e-03 -5.76851522e-04 9.99970517e-01 1.71046764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:247.68, Y:56.57, Z:1.71 [[ 6.65189074e-01 -7.46654626e-01 -5.51044461e-03 2.47683166e+02] [ 7.46635681e-01 6.65211665e-01 -5.34796740e-03 5.65741118e+01] [ 7.65869663e-03 -5.56885087e-04 9.99970517e-01 1.71350938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:247.70, Y:56.59, Z:1.71 [[ 6.65049565e-01 -7.46778898e-01 -5.50944285e-03 2.47702837e+02] [ 7.46759949e-01 6.65072152e-01 -5.34899921e-03 5.65935443e+01] [ 7.65869675e-03 -5.56881665e-04 9.99970517e-01 1.71372168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.30589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.72, Y:56.61, Z:1.72 [[ 6.66072762e-01 -7.45866431e-01 -5.50844328e-03 2.47724018e+02] [ 7.45847442e-01 6.66095317e-01 -5.35002838e-03 5.66116852e+01] [ 7.65955484e-03 -5.44950146e-04 9.99970517e-01 1.71795460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.335898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.75, Y:56.63, Z:1.72 [[ 6.66060783e-01 -7.45877135e-01 -5.50745544e-03 2.47745060e+02] [ 7.45858138e-01 6.66083331e-01 -5.35104509e-03 5.66289429e+01] [ 7.65964645e-03 -5.43659182e-04 9.99970517e-01 1.71711501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.36589822699995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:247.77, Y:56.64, Z:1.72 [[ 6.64842435e-01 -7.46963330e-01 -5.50641227e-03 2.47770186e+02] [ 7.46944361e-01 6.64865006e-01 -5.35211834e-03 5.66438363e+01] [ 7.65885696e-03 -5.54668208e-04 9.99970517e-01 1.71665617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.395898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:247.79, Y:56.66, Z:1.72 [[ 6.64369947e-01 -7.47383612e-01 -5.50540492e-03 2.47791897e+02] [ 7.47364649e-01 6.64392523e-01 -5.35315433e-03 5.66600048e+01] [ 7.65860969e-03 -5.58070152e-04 9.99970517e-01 1.71747706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.42589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:247.81, Y:56.68, Z:1.72 [[ 6.64047445e-01 -7.47670174e-01 -5.50466697e-03 2.47813913e+02] [ 7.47651215e-01 6.64070024e-01 -5.35391307e-03 5.66774989e+01] [ 7.65844544e-03 -5.60318654e-04 9.99970517e-01 1.72057091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.455898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.84, Y:56.69, Z:1.73 [[ 6.65160345e-01 -7.46680269e-01 -5.50367810e-03 2.47836238e+02] [ 7.46661268e-01 6.65182889e-01 -5.35492941e-03 5.66930477e+01] [ 7.65937263e-03 -5.47496572e-04 9.99970517e-01 1.72572309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.86, Y:56.71, Z:1.73 [[ 6.65993381e-01 -7.45937353e-01 -5.50296436e-03 2.47857584e+02] [ 7.45918320e-01 6.66015898e-01 -5.35566278e-03 5.67115362e+01] [ 7.66005066e-03 -5.37925974e-04 9.99970517e-01 1.72806209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.88, Y:56.73, Z:1.73 [[ 6.67130571e-01 -7.44920486e-01 -5.50197477e-03 2.47878514e+02] [ 7.44901410e-01 6.67153052e-01 -5.35667920e-03 5.67288373e+01] [ 7.66095933e-03 -5.24824311e-04 9.99970517e-01 1.72775764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54589822699995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:247.90, Y:56.75, Z:1.73 [[ 6.66962106e-01 -7.45071329e-01 -5.50124969e-03 2.47898670e+02] [ 7.45052253e-01 6.66984587e-01 -5.35742375e-03 5.67480604e+01] [ 7.66091158e-03 -5.25519847e-04 9.99970517e-01 1.72772676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.92, Y:56.77, Z:1.73 [[ 6.66578132e-01 -7.45414879e-01 -5.50022544e-03 2.47919006e+02] [ 7.45395805e-01 6.66600615e-01 -5.35847509e-03 5.67657394e+01] [ 7.66074072e-03 -5.28002652e-04 9.99970517e-01 1.72638692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.94, Y:56.78, Z:1.73 [[ 6.65346030e-01 -7.46514849e-01 -5.49914545e-03 2.47939293e+02] [ 7.46495804e-01 6.65368537e-01 -5.35958321e-03 5.67834181e+01] [ 7.65996681e-03 -5.39111587e-04 9.99970517e-01 1.72735766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.96, Y:56.80, Z:1.73 [[ 6.61826953e-01 -7.49636483e-01 -5.49805405e-03 2.47960000e+02] [ 7.49617534e-01 6.61849541e-01 -5.36070257e-03 5.68003594e+01] [ 7.65746277e-03 -5.73580281e-04 9.99970517e-01 1.73014876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.98, Y:56.82, Z:1.73 [[ 6.59695953e-01 -7.51512495e-01 -5.49720436e-03 2.47979497e+02] [ 7.51493604e-01 6.59718589e-01 -5.36157375e-03 5.68184584e+01] [ 7.65589757e-03 -5.94105412e-04 9.99970517e-01 1.73082553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.00, Y:56.84, Z:1.73 [[ 6.56374834e-01 -7.54414920e-01 -5.49606234e-03 2.48000497e+02] [ 7.54396119e-01 6.56397545e-01 -5.36274417e-03 5.68361632e+01] [ 7.65333604e-03 -6.26237786e-04 9.99970517e-01 1.73048435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.02, Y:56.86, Z:1.73 [[ 6.55053025e-01 -7.55562929e-01 -5.49498958e-03 2.48021834e+02] [ 7.55544159e-01 6.55075762e-01 -5.36384316e-03 5.68550862e+01] [ 7.65235553e-03 -6.38105589e-04 9.99970517e-01 1.73016129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.04, Y:56.87, Z:1.73 [[ 6.54051428e-01 -7.56430132e-01 -5.49401620e-03 2.48041981e+02] [ 7.56411384e-01 6.54074183e-01 -5.36483997e-03 5.68715783e+01] [ 7.65162077e-03 -6.46855151e-04 9.99970517e-01 1.72772043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.06, Y:56.89, Z:1.73 [[ 6.54531259e-01 -7.56014986e-01 -5.49286658e-03 2.48061484e+02] [ 7.55996214e-01 6.54553994e-01 -5.36601676e-03 5.68902246e+01] [ 7.65216685e-03 -6.40360630e-04 9.99970517e-01 1.72780317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.08, Y:56.91, Z:1.73 [[ 6.55722356e-01 -7.54982140e-01 -5.49177047e-03 2.48080177e+02] [ 7.54963323e-01 6.55745053e-01 -5.36713834e-03 5.69081775e+01] [ 7.65329491e-03 -6.26732684e-04 9.99970517e-01 1.72875255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.10, Y:56.93, Z:1.73 [[ 6.57175493e-01 -7.53717603e-01 -5.49062036e-03 2.48098758e+02] [ 7.53698732e-01 6.57198146e-01 -5.36831465e-03 5.69269042e+01] [ 7.65461876e-03 -6.10348781e-04 9.99970517e-01 1.72884469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.12, Y:56.95, Z:1.73 [[ 6.60044361e-01 -7.51206567e-01 -5.48948332e-03 2.48118070e+02] [ 7.51187601e-01 6.60066934e-01 -5.36947710e-03 5.69460769e+01] [ 7.65701288e-03 -5.79538722e-04 9.99970517e-01 1.72789186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.14, Y:56.97, Z:1.73 [[ 6.61229975e-01 -7.50163180e-01 -5.48839462e-03 2.48137028e+02] [ 7.50144169e-01 6.61252510e-01 -5.37058968e-03 5.69656058e+01] [ 7.65803335e-03 -5.65892338e-04 9.99970517e-01 1.72611354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.16, Y:56.99, Z:1.73 [[ 6.62531345e-01 -7.49014089e-01 -5.48730886e-03 2.48155267e+02] [ 7.48995030e-01 6.62553840e-01 -5.37169880e-03 5.69852283e+01] [ 7.65911564e-03 -5.51048230e-04 9.99970517e-01 1.72520017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.17, Y:57.01, Z:1.73 [[ 6.65004893e-01 -7.46818849e-01 -5.48627988e-03 2.48173571e+02] [ 7.46799706e-01 6.65027317e-01 -5.37274953e-03 5.70067941e+01] [ 7.66099661e-03 -5.24247484e-04 9.99970517e-01 1.72609445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.19, Y:57.03, Z:1.72 [[ 6.66127423e-01 -7.45817785e-01 -5.48525906e-03 2.48191796e+02] [ 7.45798600e-01 6.66149811e-01 -5.37379153e-03 5.70268532e+01] [ 7.66187358e-03 -5.11268623e-04 9.99970517e-01 1.72376999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.21, Y:57.05, Z:1.73 [[ 6.67129261e-01 -7.44921790e-01 -5.48418280e-03 2.48210936e+02] [ 7.44902566e-01 6.67151615e-01 -5.37488967e-03 5.70478935e+01] [ 7.66265385e-03 -4.99435669e-04 9.99970517e-01 1.72639013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.23, Y:57.07, Z:1.72 [[ 6.69622013e-01 -7.42681826e-01 -5.48319093e-03 2.48227629e+02] [ 7.42662519e-01 6.69644296e-01 -5.37590133e-03 5.70688204e+01] [ 7.66437175e-03 -4.72338516e-04 9.99970517e-01 1.72473084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.25, Y:57.09, Z:1.72 [[ 6.70246976e-01 -7.42117873e-01 -5.48216283e-03 2.48247018e+02] [ 7.42098539e-01 6.70269235e-01 -5.37694955e-03 5.70894585e+01] [ 7.66485545e-03 -4.64420850e-04 9.99970517e-01 1.72426034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.27, Y:57.11, Z:1.72 [[ 6.70628712e-01 -7.41772935e-01 -5.48115040e-03 2.48265712e+02] [ 7.41753581e-01 6.70650954e-01 -5.37798140e-03 5.71085446e+01] [ 7.66517979e-03 -4.59034200e-04 9.99970517e-01 1.72092230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.145898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.28, Y:57.13, Z:1.72 [[ 6.69830364e-01 -7.42493939e-01 -5.48040660e-03 2.48284522e+02] [ 7.42474602e-01 6.69852621e-01 -5.37873927e-03 5.71268134e+01] [ 7.66474603e-03 -4.66219829e-04 9.99970517e-01 1.71906263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.30, Y:57.15, Z:1.72 [[ 6.69058678e-01 -7.43189386e-01 -5.47924841e-03 2.48303688e+02] [ 7.43170063e-01 6.69080947e-01 -5.37991884e-03 5.71453865e+01] [ 7.66435929e-03 -4.72532003e-04 9.99970517e-01 1.72229573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.205898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:248.32, Y:57.16, Z:1.72 [[ 6.68526654e-01 -7.43668006e-01 -5.47814448e-03 2.48323583e+02] [ 7.43648690e-01 6.68548928e-01 -5.38104269e-03 5.71643304e+01] [ 7.66411691e-03 -4.76444505e-04 9.99970517e-01 1.72297119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:248.34, Y:57.18, Z:1.72 [[ 6.67885168e-01 -7.44244184e-01 -5.47705135e-03 2.48343795e+02] [ 7.44224878e-01 6.67907451e-01 -5.38215509e-03 5.71818619e+01] [ 7.66380103e-03 -4.81496321e-04 9.99970517e-01 1.72130946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.265898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:248.36, Y:57.20, Z:1.72 [[ 6.67227032e-01 -7.44834278e-01 -5.47596307e-03 2.48363797e+02] [ 7.44814983e-01 6.67249325e-01 -5.38326211e-03 5.72001205e+01] [ 7.66347081e-03 -4.86721345e-04 9.99970517e-01 1.72210256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:248.38, Y:57.22, Z:1.72 [[ 6.66669438e-01 -7.45333406e-01 -5.47486019e-03 2.48384869e+02] [ 7.45314119e-01 6.66691738e-01 -5.38438352e-03 5.72190801e+01] [ 7.66320496e-03 -4.90886657e-04 9.99970517e-01 1.72425217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.325898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:248.41, Y:57.24, Z:1.73 [[ 6.66112593e-01 -7.45831113e-01 -5.47387070e-03 2.48406187e+02] [ 7.45811835e-01 6.66134900e-01 -5.38538927e-03 5.72383052e+01] [ 7.66292719e-03 -4.95201931e-04 9.99970517e-01 1.72962869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:248.43, Y:57.26, Z:1.73 [[ 6.66237946e-01 -7.45719148e-01 -5.47291481e-03 2.48425413e+02] [ 7.45699857e-01 6.66260242e-01 -5.38636052e-03 5.72567864e+01] [ 7.66309772e-03 -4.92554027e-04 9.99970517e-01 1.73107947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.45, Y:57.28, Z:1.73 [[ 6.66572040e-01 -7.45420535e-01 -5.47184489e-03 2.48445020e+02] [ 7.45401226e-01 6.66594320e-01 -5.38744720e-03 5.72759495e+01] [ 7.66341450e-03 -4.87598221e-04 9.99970517e-01 1.73113364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.47, Y:57.30, Z:1.73 [[ 6.67010007e-01 -7.45028668e-01 -5.47111313e-03 2.48465168e+02] [ 7.45009340e-01 6.67032271e-01 -5.38819023e-03 5.72956604e+01] [ 7.66376520e-03 -4.82053576e-04 9.99970517e-01 1.73246074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.48, Y:57.31, Z:1.73 [[ 6.68040328e-01 -7.44104965e-01 -5.47010745e-03 2.48484706e+02] [ 7.44085597e-01 6.68062557e-01 -5.38921100e-03 5.73141722e+01] [ 7.66451263e-03 -4.70017883e-04 9.99970517e-01 1.73184014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.50, Y:57.33, Z:1.73 [[ 6.68056735e-01 -7.44090243e-01 -5.46904831e-03 2.48504230e+02] [ 7.44070866e-01 6.68078956e-01 -5.39028562e-03 5.73342223e+01] [ 7.66461502e-03 -4.68342897e-04 9.99970517e-01 1.73221583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.52, Y:57.35, Z:1.73 [[ 6.67475642e-01 -7.44611555e-01 -5.46806260e-03 2.48522534e+02] [ 7.44592187e-01 6.67497872e-01 -5.39128536e-03 5.73532292e+01] [ 7.66433352e-03 -4.72925030e-04 9.99970517e-01 1.73262447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.54, Y:57.37, Z:1.73 [[ 6.64473892e-01 -7.47291481e-01 -5.46720361e-03 2.48541605e+02] [ 7.47272196e-01 6.64496193e-01 -5.39215631e-03 5.73727331e+01] [ 7.66244846e-03 -5.02542153e-04 9.99970517e-01 1.73117680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.565898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.56, Y:57.39, Z:1.73 [[ 6.62236729e-01 -7.49274741e-01 -5.46610348e-03 2.48561943e+02] [ 7.49255513e-01 6.62259080e-01 -5.39327130e-03 5.73920815e+01] [ 7.66101861e-03 -5.23885829e-04 9.99970517e-01 1.73101604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.58, Y:57.41, Z:1.73 [[ 6.59916888e-01 -7.51318730e-01 -5.46511879e-03 2.48581143e+02] [ 7.51299563e-01 6.59939291e-01 -5.39426892e-03 5.74094116e+01] [ 7.65946189e-03 -5.46172202e-04 9.99970517e-01 1.72963371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.60, Y:57.43, Z:1.73 [[ 6.55541590e-01 -7.55139304e-01 -5.46395666e-03 2.48603375e+02] [ 7.55120259e-01 6.55564096e-01 -5.39544580e-03 5.74256182e+01] [ 7.65628700e-03 -5.89005247e-04 9.99970517e-01 1.72875522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:248.62, Y:57.44, Z:1.73 [[ 6.53685279e-01 -7.56746796e-01 -5.46284568e-03 2.48622854e+02] [ 7.56727796e-01 6.53707824e-01 -5.39657043e-03 5.74423821e+01] [ 7.65494234e-03 -6.06228518e-04 9.99970517e-01 1.73069141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.685898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.64, Y:57.46, Z:1.73 [[ 6.52802935e-01 -7.57508083e-01 -5.46182595e-03 2.48642514e+02] [ 7.57489102e-01 6.52825495e-01 -5.39760229e-03 5.74603031e+01] [ 7.65434660e-03 -6.13703013e-04 9.99970517e-01 1.73144367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.66, Y:57.48, Z:1.73 [[ 6.52307498e-01 -7.57934813e-01 -5.45412485e-03 2.48661695e+02] [ 7.57915782e-01 6.52330016e-01 -5.40539183e-03 5.74794468e+01] [ 7.65482400e-03 -6.07789684e-04 9.99970517e-01 1.73254356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.68, Y:57.50, Z:1.73 [[ 6.52629470e-01 -7.57657550e-01 -5.46001649e-03 2.48680872e+02] [ 7.57638559e-01 6.52652021e-01 -5.39943409e-03 5.74995346e+01] [ 7.65441280e-03 -6.12889214e-04 9.99970517e-01 1.73376906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.70, Y:57.52, Z:1.73 [[ 6.54094045e-01 -7.56393535e-01 -5.45905910e-03 2.48698682e+02] [ 7.56374491e-01 6.54116553e-01 -5.40040187e-03 5.75197244e+01] [ 7.65568998e-03 -5.96722349e-04 9.99970517e-01 1.73460463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.80589822699994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:248.72, Y:57.54, Z:1.73 [[ 6.54056065e-01 -7.56426384e-01 -5.45797300e-03 2.48717819e+02] [ 7.56407333e-01 6.54078566e-01 -5.40149932e-03 5.75405284e+01] [ 7.65577976e-03 -5.95567412e-04 9.99970517e-01 1.73464614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.835898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:248.74, Y:57.56, Z:1.73 [[ 6.53904142e-01 -7.56557727e-01 -5.45696304e-03 2.48736715e+02] [ 7.56538672e-01 6.53926640e-01 -5.40251947e-03 5.75599259e+01] [ 7.65577135e-03 -5.95673717e-04 9.99970517e-01 1.73203965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.86589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.76, Y:57.58, Z:1.73 [[ 6.52722888e-01 -7.57577099e-01 -5.45622098e-03 2.48755945e+02] [ 7.57558073e-01 6.52745411e-01 -5.40326880e-03 5.75797528e+01] [ 7.65491591e-03 -6.06567032e-04 9.99970517e-01 1.73246199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.895898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:248.78, Y:57.60, Z:1.73 [[ 6.50559573e-01 -7.59435635e-01 -5.45511630e-03 2.48775167e+02] [ 7.59416663e-01 6.50582142e-01 -5.40438385e-03 5.75996613e+01] [ 7.65328293e-03 -6.26832562e-04 9.99970517e-01 1.73164569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.92589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.80, Y:57.62, Z:1.73 [[ 6.46689008e-01 -7.62734279e-01 -5.45406934e-03 2.48795214e+02] [ 7.62715414e-01 6.46711665e-01 -5.40544023e-03 5.76162304e+01] [ 7.65012482e-03 -6.64263982e-04 9.99970517e-01 1.73113682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.81, Y:57.63, Z:1.73 [[ 6.44700694e-01 -7.64415647e-01 -5.45290682e-03 2.48814996e+02] [ 7.64396831e-01 6.44723392e-01 -5.40661270e-03 5.76343257e+01] [ 7.64851593e-03 -6.82537738e-04 9.99970517e-01 1.73193632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.84, Y:57.65, Z:1.73 [[ 6.43109726e-01 -7.65754633e-01 -5.45180794e-03 2.48835801e+02] [ 7.65735855e-01 6.43132456e-01 -5.40772054e-03 5.76524165e+01] [ 7.64722169e-03 -6.96887144e-04 9.99970517e-01 1.73157902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.86, Y:57.67, Z:1.73 [[ 6.42278411e-01 -7.66452042e-01 -5.45070997e-03 2.48857192e+02] [ 7.66433280e-01 6.42301154e-01 -5.40882701e-03 5.76684417e+01] [ 7.64660381e-03 -7.03632706e-04 9.99970517e-01 1.73201929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04589822699995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:248.88, Y:57.69, Z:1.73 [[ 6.43161842e-01 -7.65710877e-01 -5.44955452e-03 2.48877767e+02] [ 7.65692079e-01 6.43184555e-01 -5.40999092e-03 5.76876194e+01] [ 7.64755819e-03 -6.93181001e-04 9.99970517e-01 1.73379277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.075898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.90, Y:57.71, Z:1.73 [[ 6.45235327e-01 -7.63964453e-01 -5.44852942e-03 2.48897901e+02] [ 7.63945585e-01 6.45257982e-01 -5.41102312e-03 5.77060990e+01] [ 7.64953642e-03 -6.70996719e-04 9.99970517e-01 1.73242957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.92, Y:57.73, Z:1.74 [[ 6.50518855e-01 -7.59470569e-01 -5.44744296e-03 2.48916611e+02] [ 7.59451535e-01 6.50541371e-01 -5.41211667e-03 5.77253145e+01] [ 7.65413034e-03 -6.16384980e-04 9.99970517e-01 1.73505926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.135898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:248.93, Y:57.74, Z:1.74 [[ 6.52961066e-01 -7.57371893e-01 -5.44633300e-03 2.48934648e+02] [ 7.57352777e-01 6.52983513e-01 -5.41323342e-03 5.77435579e+01] [ 7.65619649e-03 -5.90164756e-04 9.99970517e-01 1.73621092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:248.95, Y:57.76, Z:1.74 [[ 6.52807154e-01 -7.57504565e-01 -5.44540878e-03 2.48954114e+02] [ 7.57485447e-01 6.52829599e-01 -5.41416297e-03 5.77632130e+01] [ 7.65617720e-03 -5.90413578e-04 9.99970517e-01 1.73642324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.195898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:248.97, Y:57.78, Z:1.74 [[ 6.55297255e-01 -7.55351486e-01 -5.44430837e-03 2.48973323e+02] [ 7.55332284e-01 6.55319628e-01 -5.41526928e-03 5.77817872e+01] [ 7.65819383e-03 -5.63650778e-04 9.99970517e-01 1.73803874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22589822699996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:248.99, Y:57.80, Z:1.74 [[ 6.54931397e-01 -7.55668735e-01 -5.44319893e-03 2.48991643e+02] [ 7.55649535e-01 6.54953772e-01 -5.41638422e-03 5.78001244e+01] [ 7.65803588e-03 -5.65790656e-04 9.99970517e-01 1.73716644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.01, Y:57.82, Z:1.74 [[ 6.53986589e-01 -7.56486564e-01 -5.44233818e-03 2.49010989e+02] [ 7.56467385e-01 6.54008982e-01 -5.41724895e-03 5.78185880e+01] [ 7.65741410e-03 -5.74143168e-04 9.99970517e-01 1.73607770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28589822699996 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:249.03, Y:57.84, Z:1.73 [[ 6.52137547e-01 -7.58081139e-01 -5.44123790e-03 2.49030792e+02] [ 7.58062005e-01 6.52159979e-01 -5.41835388e-03 5.78370221e+01] [ 7.65610947e-03 -5.91283710e-04 9.99970517e-01 1.73465248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.315898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:249.05, Y:57.85, Z:1.73 [[ 6.48162644e-01 -7.61482496e-01 -5.44013378e-03 2.49053347e+02] [ 7.61463471e-01 6.48185168e-01 -5.41946221e-03 5.78510235e+01] [ 7.65303964e-03 -6.29770193e-04 9.99970517e-01 1.73038331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34589822699996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:249.07, Y:57.87, Z:1.73 [[ 6.45912922e-01 -7.63391717e-01 -5.43897585e-03 2.49074794e+02] [ 7.63372749e-01 6.45935494e-01 -5.42062406e-03 5.78675772e+01] [ 7.65128706e-03 -6.50714820e-04 9.99970517e-01 1.73025548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.375898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:249.10, Y:57.88, Z:1.73 [[ 6.44016048e-01 -7.64992653e-01 -5.43787183e-03 2.49096012e+02] [ 7.64973732e-01 6.44038659e-01 -5.42173136e-03 5.78844004e+01] [ 7.64978434e-03 -6.68147102e-04 9.99970517e-01 1.73070656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40589822699997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:249.12, Y:57.90, Z:1.73 [[ 6.42643409e-01 -7.66146129e-01 -5.43675835e-03 2.49118014e+02] [ 7.66127239e-01 6.42666046e-01 -5.42284770e-03 5.78994812e+01] [ 7.64871376e-03 -6.80291334e-04 9.99970517e-01 1.73257964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.435898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:249.14, Y:57.92, Z:1.74 [[ 6.43413641e-01 -7.65499406e-01 -5.43558499e-03 2.49138377e+02] [ 7.65480484e-01 6.43436251e-01 -5.42402356e-03 5.79172607e+01] [ 7.64953924e-03 -6.70943474e-04 9.99970517e-01 1.73570986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46589822699997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:249.16, Y:57.93, Z:1.74 [[ 6.44601287e-01 -7.64499606e-01 -5.43447606e-03 2.49158091e+02] [ 7.64480639e-01 6.44623860e-01 -5.42513440e-03 5.79341219e+01] [ 7.65070604e-03 -6.57503122e-04 9.99970517e-01 1.73855629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49589822699994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:249.18, Y:57.95, Z:1.74 [[ 6.47657912e-01 -7.61911877e-01 -5.43331413e-03 2.49180135e+02] [ 7.61892810e-01 6.47680400e-01 -5.42629783e-03 5.79485917e+01] [ 7.65341184e-03 -6.25218249e-04 9.99970517e-01 1.73945839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.52589822699997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:249.20, Y:57.97, Z:1.74 [[ 6.49151090e-01 -7.60640095e-01 -5.43216227e-03 2.49201151e+02] [ 7.60620974e-01 6.49173533e-01 -5.42745069e-03 5.79665483e+01] [ 7.65475258e-03 -6.08581021e-04 9.99970517e-01 1.73820958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.22, Y:57.98, Z:1.74 [[ 6.50644275e-01 -7.59363240e-01 -5.43107028e-03 2.49221104e+02] [ 7.59344067e-01 6.50666673e-01 -5.42854320e-03 5.79846100e+01] [ 7.65605258e-03 -5.92000436e-04 9.99970517e-01 1.73673873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.585898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:249.24, Y:58.00, Z:1.74 [[ 6.53164730e-01 -7.57196375e-01 -5.42995424e-03 2.49241040e+02] [ 7.57177118e-01 6.53187056e-01 -5.42965930e-03 5.80012169e+01] [ 7.65809416e-03 -5.64975151e-04 9.99970517e-01 1.73510732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61589822699995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:249.26, Y:58.02, Z:1.74 [[ 6.54076463e-01 -7.56408956e-01 -5.42878021e-03 2.49261068e+02] [ 7.56389663e-01 6.54098757e-01 -5.43083288e-03 5.80194763e+01] [ 7.65888902e-03 -5.54093277e-04 9.99970517e-01 1.73561710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.645898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:249.28, Y:58.04, Z:1.74 [[ 6.54679180e-01 -7.55887367e-01 -5.42768622e-03 2.49281844e+02] [ 7.55868047e-01 6.54701451e-01 -5.43192601e-03 5.80376539e+01] [ 7.65943830e-03 -5.46445711e-04 9.99970517e-01 1.73741301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:249.30, Y:58.05, Z:1.74 [[ 6.55139688e-01 -7.55488279e-01 -5.42672308e-03 2.49302563e+02] [ 7.55468938e-01 6.55161940e-01 -5.43288806e-03 5.80541338e+01] [ 7.65986568e-03 -5.40420126e-04 9.99970517e-01 1.73717862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.705898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:249.32, Y:58.07, Z:1.74 [[ 6.54989827e-01 -7.55618217e-01 -5.42550208e-03 2.49321474e+02] [ 7.55598870e-01 6.55012075e-01 -5.43410713e-03 5.80721894e+01] [ 7.65987971e-03 -5.40218350e-04 9.99970517e-01 1.73652909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73589822699995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:249.34, Y:58.09, Z:1.74 [[ 6.55206095e-01 -7.55430703e-01 -5.42464961e-03 2.49341218e+02] [ 7.55411342e-01 6.55228331e-01 -5.43495799e-03 5.80907657e+01] [ 7.66011824e-03 -5.36824240e-04 9.99970517e-01 1.73592293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.36, Y:58.11, Z:1.73 [[ 6.55062560e-01 -7.55555178e-01 -5.42353555e-03 2.49360649e+02] [ 7.55535813e-01 6.55084792e-01 -5.43606948e-03 5.81083732e+01] [ 7.66012610e-03 -5.36709749e-04 9.99970517e-01 1.73011013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:249.38, Y:58.13, Z:1.73 [[ 6.54650088e-01 -7.55912601e-01 -5.42236218e-03 2.49380086e+02] [ 7.55893238e-01 6.54672322e-01 -5.43723964e-03 5.81264585e+01] [ 7.65994839e-03 -5.39237499e-04 9.99970517e-01 1.72957323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.825898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:249.40, Y:58.15, Z:1.73 [[ 6.54398158e-01 -7.56130716e-01 -5.42124462e-03 2.49399391e+02] [ 7.56111352e-01 6.54420391e-01 -5.43835368e-03 5.81450245e+01] [ 7.65987929e-03 -5.40215961e-04 9.99970517e-01 1.73209567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:249.42, Y:58.16, Z:1.73 [[ 6.54322186e-01 -7.56196469e-01 -5.42013488e-03 2.49418374e+02] [ 7.56177097e-01 6.54344412e-01 -5.43945948e-03 5.81637366e+01] [ 7.65993502e-03 -5.39422845e-04 9.99970517e-01 1.73360538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.44, Y:58.18, Z:1.74 [[ 6.55232827e-01 -7.55407557e-01 -5.41896383e-03 2.49435551e+02] [ 7.55388149e-01 6.55255022e-01 -5.44062587e-03 5.81847124e+01] [ 7.66069315e-03 -5.28544392e-04 9.99970517e-01 1.73610014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:249.45, Y:58.20, Z:1.74 [[ 6.56223860e-01 -7.54546812e-01 -5.41782886e-03 2.49452661e+02] [ 7.54527366e-01 6.56246021e-01 -5.44175584e-03 5.82045168e+01] [ 7.66148816e-03 -5.16890114e-04 9.99970517e-01 1.73651807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.945898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:249.47, Y:58.22, Z:1.74 [[ 6.57361072e-01 -7.53556289e-01 -5.41663667e-03 2.49470514e+02] [ 7.53536800e-01 6.57383195e-01 -5.44294227e-03 5.82248062e+01] [ 7.66236930e-03 -5.03656700e-04 9.99970517e-01 1.73808780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.49, Y:58.24, Z:1.74 [[ 6.57920685e-01 -7.53067755e-01 -5.41552117e-03 2.49488490e+02] [ 7.53048241e-01 6.57942786e-01 -5.44405192e-03 5.82449792e+01] [ 7.66284305e-03 -4.96394316e-04 9.99970517e-01 1.74098607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.005898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:249.51, Y:58.26, Z:1.74 [[ 6.56417943e-01 -7.54378001e-01 -5.41436772e-03 2.49505568e+02] [ 7.54358521e-01 6.56440074e-01 -5.44519884e-03 5.82646807e+01] [ 7.66194617e-03 -5.10048210e-04 9.99970517e-01 1.74315121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:249.52, Y:58.28, Z:1.74 [[ 6.54139190e-01 -7.56354822e-01 -5.41315339e-03 2.49524438e+02] [ 7.56335399e-01 6.54161372e-01 -5.44640576e-03 5.82844990e+01] [ 7.66049111e-03 -5.31452076e-04 9.99970517e-01 1.74436655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.54, Y:58.30, Z:1.74 [[ 6.49161107e-01 -7.60631690e-01 -5.41201601e-03 2.49544649e+02] [ 7.60612403e-01 6.49183407e-01 -5.44753572e-03 5.83029039e+01] [ 7.65695929e-03 -5.80118185e-04 9.99970517e-01 1.74231346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.56, Y:58.32, Z:1.74 [[ 6.47041630e-01 -7.62435474e-01 -5.41087455e-03 2.49564321e+02] [ 7.62416240e-01 6.47063976e-01 -5.44866927e-03 5.83203021e+01] [ 7.65544073e-03 -5.99822783e-04 9.99970517e-01 1.74068751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.58, Y:58.34, Z:1.74 [[ 6.45471450e-01 -7.63765240e-01 -5.40967387e-03 2.49584089e+02] [ 7.63746043e-01 6.45493827e-01 -5.44986109e-03 5.83376898e+01] [ 7.65432556e-03 -6.13887274e-04 9.99970517e-01 1.74036303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15589822699997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:249.60, Y:58.36, Z:1.74 [[ 6.44570555e-01 -7.64525701e-01 -5.40850886e-03 2.49604217e+02] [ 7.64506520e-01 6.44592946e-01 -5.45101702e-03 5.83553923e+01] [ 7.65372927e-03 -6.21275219e-04 9.99970517e-01 1.74258128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.185898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:249.63, Y:58.37, Z:1.75 [[ 6.44408773e-01 -7.64662078e-01 -5.40739635e-03 2.49625018e+02] [ 7.64642893e-01 6.44431160e-01 -5.45212040e-03 5.83715859e+01] [ 7.65372442e-03 -6.21332970e-04 9.99970517e-01 1.74739717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21589822699997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:249.64, Y:58.39, Z:1.75 [[ 6.45022998e-01 -7.64144032e-01 -5.40653217e-03 2.49644250e+02] [ 7.64124822e-01 6.45045364e-01 -5.45297722e-03 5.83895576e+01] [ 7.65431851e-03 -6.13969722e-04 9.99970517e-01 1.74924518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.66, Y:58.41, Z:1.75 [[ 6.46002635e-01 -7.63316038e-01 -5.40567820e-03 2.49663240e+02] [ 7.63296792e-01 6.46024971e-01 -5.45382365e-03 5.84076056e+01] [ 7.65519416e-03 -6.02952378e-04 9.99970517e-01 1.74948270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.68, Y:58.43, Z:1.75 [[ 6.46935053e-01 -7.62525950e-01 -5.40482773e-03 2.49683470e+02] [ 7.62506671e-01 6.46957359e-01 -5.45466635e-03 5.84260480e+01] [ 7.65601772e-03 -5.92402333e-04 9.99970517e-01 1.74822147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.30589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:249.71, Y:58.44, Z:1.75 [[ 6.48642271e-01 -7.61074244e-01 -5.40372461e-03 2.49705523e+02] [ 7.61054905e-01 6.48664525e-01 -5.45575895e-03 5.84420256e+01] [ 7.65744208e-03 -5.73695248e-04 9.99970517e-01 1.74561445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.335898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:249.73, Y:58.46, Z:1.75 [[ 6.49376017e-01 -7.60448289e-01 -5.40261917e-03 2.49725279e+02] [ 7.60428920e-01 6.49398245e-01 -5.45685340e-03 5.84591826e+01] [ 7.65810624e-03 -5.64758132e-04 9.99970517e-01 1.74682382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.36589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:249.75, Y:58.48, Z:1.75 [[ 6.50330825e-01 -7.59631913e-01 -5.40145666e-03 2.49746149e+02] [ 7.59612506e-01 6.50353020e-01 -5.45800387e-03 5.84771577e+01] [ 7.65892757e-03 -5.53505868e-04 9.99970517e-01 1.74819714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.77, Y:58.49, Z:1.75 [[ 6.52566193e-01 -7.57712478e-01 -5.40034561e-03 2.49768187e+02] [ 7.57692997e-01 6.52588324e-01 -5.45910296e-03 5.84927902e+01] [ 7.66063292e-03 -5.29378013e-04 9.99970517e-01 1.74576177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.79, Y:58.51, Z:1.74 [[ 6.53333361e-01 -7.57051100e-01 -5.39917741e-03 2.49788884e+02] [ 7.57031587e-01 6.53355463e-01 -5.46025809e-03 5.85098933e+01] [ 7.66127645e-03 -5.19979073e-04 9.99970517e-01 1.74457258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.455898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:249.81, Y:58.53, Z:1.74 [[ 6.53620400e-01 -7.56803299e-01 -5.39801697e-03 2.49809116e+02] [ 7.56783769e-01 6.53642487e-01 -5.46140506e-03 5.85264227e+01] [ 7.66158261e-03 -5.15445868e-04 9.99970517e-01 1.74207545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.83, Y:58.54, Z:1.74 [[ 6.53538976e-01 -7.56873623e-01 -5.39680034e-03 2.49829843e+02] [ 7.56854085e-01 6.53561056e-01 -5.46260704e-03 5.85435237e+01] [ 7.66164171e-03 -5.14563776e-04 9.99970517e-01 1.74137009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.85, Y:58.56, Z:1.74 [[ 6.53199923e-01 -7.57166262e-01 -5.39564317e-03 2.49853386e+02] [ 7.57146724e-01 6.53222003e-01 -5.46374978e-03 5.85577983e+01] [ 7.66151984e-03 -5.16372612e-04 9.99970517e-01 1.73864898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.88, Y:58.57, Z:1.74 [[ 6.52547883e-01 -7.57728288e-01 -5.39456021e-03 2.49875465e+02] [ 7.57708761e-01 6.52569973e-01 -5.46481882e-03 5.85742058e+01] [ 7.66117582e-03 -5.21449573e-04 9.99970517e-01 1.73887653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.90, Y:58.59, Z:1.74 [[ 6.51921625e-01 -7.58267173e-01 -5.39340548e-03 2.49897592e+02] [ 7.58247655e-01 6.51943723e-01 -5.46595823e-03 5.85896700e+01] [ 7.66085354e-03 -5.26160681e-04 9.99970517e-01 1.73843757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.92, Y:58.61, Z:1.74 [[ 6.51499101e-01 -7.58630243e-01 -5.39219109e-03 2.49919513e+02] [ 7.58610727e-01 6.51521201e-01 -5.46715596e-03 5.86053939e+01] [ 7.66067667e-03 -5.28726807e-04 9.99970517e-01 1.73821017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.94, Y:58.62, Z:1.74 [[ 6.51462872e-01 -7.58661361e-01 -5.39130066e-03 2.49944489e+02] [ 7.58641839e-01 6.51484966e-01 -5.46803390e-03 5.86187791e+01] [ 7.66073736e-03 -5.27845176e-04 9.99970517e-01 1.73797635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:249.97, Y:58.64, Z:1.74 [[ 6.52084628e-01 -7.58127024e-01 -5.39014855e-03 2.49965288e+02] [ 7.58107474e-01 6.52106698e-01 -5.46916936e-03 5.86351960e+01] [ 7.66127706e-03 -5.19950636e-04 9.99970517e-01 1.73705303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.99, Y:58.65, Z:1.74 [[ 6.53226165e-01 -7.57143670e-01 -5.38893626e-03 2.49986236e+02] [ 7.57124077e-01 6.53248197e-01 -5.47036360e-03 5.86519788e+01] [ 7.66216407e-03 -5.06708756e-04 9.99970517e-01 1.73677721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.01, Y:58.67, Z:1.74 [[ 6.57347483e-01 -7.53568351e-01 -5.38775489e-03 2.50007620e+02] [ 7.53548629e-01 6.57369399e-01 -5.47152689e-03 5.86696083e+01] [ 7.66491468e-03 -4.63240879e-04 9.99970517e-01 1.74013609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.03, Y:58.69, Z:1.74 [[ 6.59647408e-01 -7.51555907e-01 -5.38663490e-03 2.50026768e+02] [ 7.51536110e-01 6.59669255e-01 -5.47262928e-03 5.86888537e+01] [ 7.66638429e-03 -4.38244918e-04 9.99970517e-01 1.74310605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.04, Y:58.71, Z:1.74 [[ 6.61984751e-01 -7.49497956e-01 -5.38545932e-03 2.50044352e+02] [ 7.49478081e-01 6.62006528e-01 -5.47378589e-03 5.87078271e+01] [ 7.66780056e-03 -4.12720927e-04 9.99970517e-01 1.74424803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.06, Y:58.73, Z:1.74 [[ 6.65955163e-01 -7.45972339e-01 -5.38422421e-03 2.50061020e+02] [ 7.45952339e-01 6.65976825e-01 -5.47500052e-03 5.87285018e+01] [ 7.66996749e-03 -3.70269787e-04 9.99970517e-01 1.74333772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.08, Y:58.75, Z:1.74 [[ 6.67232883e-01 -7.44829712e-01 -5.38335113e-03 2.50079524e+02] [ 7.44809668e-01 6.67254505e-01 -5.47585885e-03 5.87489704e+01] [ 7.67064766e-03 -3.55898873e-04 9.99970517e-01 1.74247884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.10, Y:58.77, Z:1.74 [[ 6.68116687e-01 -7.44037044e-01 -5.38228941e-03 2.50097400e+02] [ 7.44016966e-01 6.68138277e-01 -5.47690223e-03 5.87688472e+01] [ 7.67113172e-03 -3.45304863e-04 9.99970517e-01 1.74304456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.12, Y:58.79, Z:1.74 [[ 6.68804260e-01 -7.43419064e-01 -5.38114668e-03 2.50115369e+02] [ 7.43398957e-01 6.68825823e-01 -5.47802475e-03 5.87885534e+01] [ 7.67151789e-03 -3.36612535e-04 9.99970517e-01 1.74257093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.13, Y:58.81, Z:1.74 [[ 6.67892440e-01 -7.44238389e-01 -5.37676683e-03 2.50132356e+02] [ 7.44218274e-01 6.67913995e-01 -5.48232580e-03 5.88094863e+01] [ 7.67137513e-03 -3.39884174e-04 9.99970517e-01 1.74064715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96589822699997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:250.15, Y:58.83, Z:1.74 [[ 6.66902828e-01 -7.45125278e-01 -5.37952554e-03 2.50150759e+02] [ 7.45105213e-01 6.66924430e-01 -5.47961748e-03 5.88298874e+01] [ 7.67073850e-03 -3.53940130e-04 9.99970517e-01 1.73937178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.17, Y:58.85, Z:1.74 [[ 6.65961091e-01 -7.45967089e-01 -5.37834286e-03 2.50168543e+02] [ 7.45947042e-01 6.65982711e-01 -5.48077806e-03 5.88488077e+01] [ 7.67036341e-03 -3.61974007e-04 9.99970517e-01 1.73659638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.19, Y:58.87, Z:1.74 [[ 6.64859291e-01 -7.46949268e-01 -5.37710144e-03 2.50186731e+02] [ 7.46929244e-01 6.64880931e-01 -5.48199572e-03 5.88684984e+01] [ 7.66990491e-03 -3.71558521e-04 9.99970517e-01 1.73773907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.21, Y:58.89, Z:1.74 [[ 6.64981364e-01 -7.46840602e-01 -5.37595296e-03 2.50205053e+02] [ 7.46820565e-01 6.65002992e-01 -5.48312175e-03 5.88886160e+01] [ 7.67004276e-03 -3.68698449e-04 9.99970517e-01 1.74014479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.085898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.22, Y:58.91, Z:1.74 [[ 6.64824840e-01 -7.46979949e-01 -5.37480240e-03 2.50224263e+02] [ 7.46959907e-01 6.64846464e-01 -5.48424935e-03 5.89085537e+01] [ 7.67004267e-03 -3.68696707e-04 9.99970517e-01 1.74035710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.24, Y:58.93, Z:1.74 [[ 6.65569642e-01 -7.46316405e-01 -5.37365285e-03 2.50241153e+02] [ 7.46296332e-01 6.65591237e-01 -5.48537549e-03 5.89281432e+01] [ 7.67048196e-03 -3.59438010e-04 9.99970517e-01 1.74117856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.145898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:250.26, Y:58.95, Z:1.74 [[ 6.68260442e-01 -7.43908004e-01 -5.37244558e-03 2.50256847e+02] [ 7.43887844e-01 6.68281956e-01 -5.48655765e-03 5.89514462e+01] [ 7.67180259e-03 -3.30047513e-04 9.99970517e-01 1.74090492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.27, Y:58.97, Z:1.74 [[ 6.69676666e-01 -7.42633363e-01 -5.37130928e-03 2.50272314e+02] [ 7.42613154e-01 6.69698133e-01 -5.48766986e-03 5.89731940e+01] [ 7.67248252e-03 -3.13840467e-04 9.99970517e-01 1.74213803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.29, Y:59.00, Z:1.75 [[ 6.71116508e-01 -7.41332445e-01 -5.37011021e-03 2.50288505e+02] [ 7.41312185e-01 6.71137927e-01 -5.48884299e-03 5.89957771e+01] [ 7.67314203e-03 -2.97274984e-04 9.99970517e-01 1.74532604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.30, Y:59.02, Z:1.75 [[ 6.72743783e-01 -7.39856051e-01 -5.36898393e-03 2.50300448e+02] [ 7.39835735e-01 6.72765149e-01 -5.48994445e-03 5.90218818e+01] [ 7.67383390e-03 -2.78840178e-04 9.99970517e-01 1.74989390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.265898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.31, Y:59.04, Z:1.75 [[ 6.72943465e-01 -7.39674441e-01 -5.36782202e-03 2.50314977e+02] [ 7.39654110e-01 6.72964817e-01 -5.49108028e-03 5.90446142e+01] [ 7.67396710e-03 -2.75145027e-04 9.99970517e-01 1.74999575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.33, Y:59.07, Z:1.75 [[ 6.72656647e-01 -7.39935291e-01 -5.36660074e-03 2.50330262e+02] [ 7.39914959e-01 6.72677997e-01 -5.49227362e-03 5.90675237e+01] [ 7.67392132e-03 -2.76413816e-04 9.99970517e-01 1.74910169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.325898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.34, Y:59.09, Z:1.75 [[ 6.70581660e-01 -7.41816318e-01 -5.36542117e-03 2.50342695e+02] [ 7.41796037e-01 6.70603059e-01 -5.49342570e-03 5.90935204e+01] [ 7.67318068e-03 -2.96257636e-04 9.99970517e-01 1.74785897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.36, Y:59.12, Z:1.75 [[ 6.68525629e-01 -7.43669758e-01 -5.36424028e-03 2.50358117e+02] [ 7.43649527e-01 6.68547075e-01 -5.49457858e-03 5.91168883e+01] [ 7.67239907e-03 -3.15848143e-04 9.99970517e-01 1.75054849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.37, Y:59.14, Z:1.75 [[ 6.66453481e-01 -7.45527326e-01 -5.36310806e-03 2.50372733e+02] [ 7.45507146e-01 6.66474976e-01 -5.49568349e-03 5.91393125e+01] [ 7.67155953e-03 -3.35617986e-04 9.99970517e-01 1.75315904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:250.39, Y:59.16, Z:1.75 [[ 6.64581179e-01 -7.47196833e-01 -5.36184743e-03 2.50388653e+02] [ 7.47176696e-01 6.64602715e-01 -5.49691315e-03 5.91620240e+01] [ 7.67077445e-03 -3.53102427e-04 9.99970517e-01 1.75484240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.40, Y:59.19, Z:1.75 [[ 6.61120018e-01 -7.50261011e-01 -5.36071635e-03 2.50402869e+02] [ 7.50240966e-01 6.61141638e-01 -5.49801598e-03 5.91867198e+01] [ 7.66913981e-03 -3.86980589e-04 9.99970517e-01 1.75323558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.42, Y:59.21, Z:1.75 [[ 6.59164520e-01 -7.51979661e-01 -5.35958307e-03 2.50419004e+02] [ 7.51959662e-01 6.59186184e-01 -5.49912050e-03 5.92086963e+01] [ 7.66818988e-03 -4.05365144e-04 9.99970517e-01 1.75263836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.43, Y:59.23, Z:1.75 [[ 6.57521851e-01 -7.53416420e-01 -5.35840116e-03 2.50434372e+02] [ 7.53396460e-01 6.57543550e-01 -5.50027192e-03 5.92302232e+01] [ 7.66737731e-03 -4.20451490e-04 9.99970517e-01 1.75150834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.45, Y:59.25, Z:1.75 [[ 6.54979950e-01 -7.55627267e-01 -5.35716210e-03 2.50447574e+02] [ 7.55607370e-01 6.55001707e-01 -5.50147848e-03 5.92537140e+01] [ 7.66601747e-03 -4.44553071e-04 9.99970517e-01 1.75115198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.565898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.47, Y:59.27, Z:1.75 [[ 6.53948240e-01 -7.56520332e-01 -5.35595599e-03 2.50465036e+02] [ 7.56500456e-01 6.53970016e-01 -5.50265243e-03 5.92749562e+01] [ 7.66550307e-03 -4.53333272e-04 9.99970517e-01 1.75190745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.48, Y:59.30, Z:1.75 [[ 6.52826483e-01 -7.57488554e-01 -5.35483470e-03 2.50482585e+02] [ 7.57468701e-01 6.52848280e-01 -5.50374339e-03 5.92961623e+01] [ 7.66491724e-03 -4.63130244e-04 9.99970517e-01 1.75196765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.50, Y:59.32, Z:1.75 [[ 6.51126323e-01 -7.58950492e-01 -5.35371473e-03 2.50498505e+02] [ 7.58930679e-01 6.51148156e-01 -5.50483262e-03 5.93188577e+01] [ 7.66395690e-03 -4.78756931e-04 9.99970517e-01 1.75024996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.52, Y:59.34, Z:1.75 [[ 6.50949983e-01 -7.59101752e-01 -5.35257884e-03 2.50515510e+02] [ 7.59081935e-01 6.50971813e-01 -5.50593687e-03 5.93389199e+01] [ 7.66394427e-03 -4.78956388e-04 9.99970517e-01 1.74941449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.685898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.53, Y:59.36, Z:1.75 [[ 6.51017910e-01 -7.59043506e-01 -5.35138438e-03 2.50533745e+02] [ 7.59023677e-01 6.51039730e-01 -5.50709755e-03 5.93594710e+01] [ 7.66409047e-03 -4.76608313e-04 9.99970517e-01 1.74747188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.55, Y:59.38, Z:1.75 [[ 6.51257446e-01 -7.58838003e-01 -5.35026334e-03 2.50552576e+02] [ 7.58818158e-01 6.51279251e-01 -5.50818645e-03 5.93794690e+01] [ 7.66433670e-03 -4.72629544e-04 9.99970517e-01 1.74613304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.57, Y:59.40, Z:1.74 [[ 6.51599914e-01 -7.58543959e-01 -5.34914015e-03 2.50569992e+02] [ 7.58524096e-01 6.51621702e-01 -5.50927700e-03 5.93984729e+01] [ 7.66464460e-03 -4.67607275e-04 9.99970517e-01 1.74446061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.59, Y:59.42, Z:1.74 [[ 6.51762735e-01 -7.58404072e-01 -5.34795858e-03 2.50588573e+02] [ 7.58384195e-01 6.51784511e-01 -5.51042373e-03 5.94177025e+01] [ 7.66484436e-03 -4.64318414e-04 9.99970517e-01 1.74493666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.61, Y:59.44, Z:1.75 [[ 6.51917157e-01 -7.58271345e-01 -5.34683976e-03 2.50606968e+02] [ 7.58251454e-01 6.51938920e-01 -5.51150912e-03 5.94367921e+01] [ 7.66503237e-03 -4.61201671e-04 9.99970517e-01 1.74545617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.835898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.63, Y:59.46, Z:1.75 [[ 6.53038855e-01 -7.57305538e-01 -5.34566741e-03 2.50625574e+02] [ 7.57285607e-01 6.53060580e-01 -5.51264596e-03 5.94570464e+01] [ 7.66580197e-03 -4.48224990e-04 9.99970517e-01 1.74802211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.64, Y:59.48, Z:1.75 [[ 6.53888232e-01 -7.56572281e-01 -5.34453606e-03 2.50643158e+02] [ 7.56552316e-01 6.53909926e-01 -5.51374259e-03 5.94775296e+01] [ 7.66638999e-03 -4.38049750e-04 9.99970517e-01 1.74886416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.895898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.66, Y:59.50, Z:1.75 [[ 6.54880700e-01 -7.55713383e-01 -5.34340842e-03 2.50660154e+02] [ 7.55693381e-01 6.54902360e-01 -5.51483518e-03 5.94982050e+01] [ 7.66704553e-03 -4.26419254e-04 9.99970517e-01 1.74999520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.68, Y:59.52, Z:1.75 [[ 6.55749712e-01 -7.54959452e-01 -5.34226927e-03 2.50677190e+02] [ 7.54939416e-01 6.55771341e-01 -5.51593846e-03 5.95188266e+01] [ 7.66761697e-03 -4.16014587e-04 9.99970517e-01 1.75185620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.69, Y:59.54, Z:1.76 [[ 6.57242786e-01 -7.53659998e-01 -5.34106930e-03 2.50694077e+02] [ 7.53639910e-01 6.57264367e-01 -5.51710015e-03 5.95397293e+01] [ 7.66851222e-03 -3.99168712e-04 9.99970517e-01 1.75505231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.71, Y:59.56, Z:1.76 [[ 6.56772610e-01 -7.54069774e-01 -5.33993009e-03 2.50711718e+02] [ 7.54049690e-01 6.56794195e-01 -5.51820255e-03 5.95595266e+01] [ 7.66834483e-03 -4.02368334e-04 9.99970517e-01 1.75602081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.73, Y:59.58, Z:1.76 [[ 6.55423788e-01 -7.55242448e-01 -5.33873402e-03 2.50730867e+02] [ 7.55222394e-01 6.55445400e-01 -5.51935948e-03 5.95804263e+01] [ 7.66770322e-03 -4.14411985e-04 9.99970517e-01 1.75643162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.75, Y:59.60, Z:1.75 [[ 6.52289152e-01 -7.57951431e-01 -5.33769068e-03 2.50749298e+02] [ 7.57931458e-01 6.52310839e-01 -5.52036830e-03 5.95993644e+01] [ 7.66600453e-03 -4.44727321e-04 9.99970517e-01 1.75455822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.77, Y:59.62, Z:1.75 [[ 6.50699151e-01 -7.59316886e-01 -5.33678025e-03 2.50767380e+02] [ 7.59296951e-01 6.50720874e-01 -5.52124830e-03 5.96180622e+01] [ 7.66513138e-03 -4.59529388e-04 9.99970517e-01 1.75328599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.79, Y:59.64, Z:1.75 [[ 6.48992925e-01 -7.60775732e-01 -5.33556896e-03 2.50786795e+02] [ 7.60755837e-01 6.49014684e-01 -5.52241861e-03 5.96363242e+01] [ 7.66418466e-03 -4.75054617e-04 9.99970517e-01 1.75416268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.81, Y:59.66, Z:1.76 [[ 6.48588503e-01 -7.61120555e-01 -5.33437219e-03 2.50806062e+02] [ 7.61100662e-01 6.48610263e-01 -5.52357439e-03 5.96550131e+01] [ 7.66403455e-03 -4.77467356e-04 9.99970517e-01 1.75580496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.83, Y:59.68, Z:1.76 [[ 6.48325308e-01 -7.61344765e-01 -5.33323641e-03 2.50825807e+02] [ 7.61324871e-01 6.48347067e-01 -5.52467081e-03 5.96751302e+01] [ 7.66396739e-03 -4.78541611e-04 9.99970517e-01 1.75713544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.84, Y:59.69, Z:1.76 [[ 6.48226779e-01 -7.61428664e-01 -5.33217809e-03 2.50844694e+02] [ 7.61408764e-01 6.48248533e-01 -5.52569207e-03 5.96944091e+01] [ 7.66399696e-03 -4.78065551e-04 9.99970517e-01 1.75674499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.86, Y:59.71, Z:1.75 [[ 6.48558711e-01 -7.61145964e-01 -5.33105871e-03 2.50864276e+02] [ 7.61126046e-01 6.48580448e-01 -5.52677181e-03 5.97137987e+01] [ 7.66430050e-03 -4.73171631e-04 9.99970517e-01 1.75449970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.88, Y:59.73, Z:1.75 [[ 6.48918985e-01 -7.60838841e-01 -5.32994158e-03 2.50883406e+02] [ 7.60818904e-01 6.48940705e-01 -5.52784895e-03 5.97332133e+01] [ 7.66461823e-03 -4.67994180e-04 9.99970517e-01 1.75403175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:250.90, Y:59.75, Z:1.75 [[ 6.49578190e-01 -7.60276120e-01 -5.32877354e-03 2.50901302e+02] [ 7.60256155e-01 6.49599884e-01 -5.52897469e-03 5.97521428e+01] [ 7.66511810e-03 -4.59731503e-04 9.99970517e-01 1.75303394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.92, Y:59.77, Z:1.75 [[ 6.51847519e-01 -7.58331345e-01 -5.32760984e-03 2.50920579e+02] [ 7.58311305e-01 6.51869145e-01 -5.53009578e-03 5.97716227e+01] [ 7.66654944e-03 -4.35207558e-04 9.99970517e-01 1.75276146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.94, Y:59.79, Z:1.75 [[ 6.52678775e-01 -7.57616028e-01 -5.32643521e-03 2.50939714e+02] [ 7.57595955e-01 6.52700371e-01 -5.53122692e-03 5.97911936e+01] [ 7.66711240e-03 -4.25171362e-04 9.99970517e-01 1.75319293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.96, Y:59.81, Z:1.75 [[ 6.53653147e-01 -7.56775531e-01 -5.32526582e-03 2.50958351e+02] [ 7.56755422e-01 6.53674708e-01 -5.53235254e-03 5.98094839e+01] [ 7.66774061e-03 -4.13684138e-04 9.99970517e-01 1.75223947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.98, Y:59.83, Z:1.75 [[ 6.54983705e-01 -7.55624246e-01 -5.32403625e-03 2.50976533e+02] [ 7.55604089e-01 6.55005222e-01 -5.53353556e-03 5.98280109e+01] [ 7.66854518e-03 -3.98487932e-04 9.99970517e-01 1.75229210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.99, Y:59.85, Z:1.75 [[ 6.55502325e-01 -7.55174396e-01 -5.32287550e-03 2.50994756e+02] [ 7.55154216e-01 6.55523820e-01 -5.53465189e-03 5.98477071e+01] [ 7.66889908e-03 -3.91614690e-04 9.99970517e-01 1.75340950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.01, Y:59.87, Z:1.75 [[ 6.55664296e-01 -7.55033781e-01 -5.32172663e-03 2.51012379e+02] [ 7.55013587e-01 6.55685777e-01 -5.53575634e-03 5.98682297e+01] [ 7.66906351e-03 -3.88378128e-04 9.99970517e-01 1.75280472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.03, Y:59.89, Z:1.75 [[ 6.55908395e-01 -7.54821747e-01 -5.32057223e-03 2.51029920e+02] [ 7.54801537e-01 6.55929861e-01 -5.53686565e-03 5.98893566e+01] [ 7.66926880e-03 -3.84299436e-04 9.99970517e-01 1.75238646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.05, Y:59.91, Z:1.75 [[ 6.55481382e-01 -7.55192599e-01 -5.31940875e-03 2.51048681e+02] [ 7.55172392e-01 6.55502852e-01 -5.53798321e-03 5.99094751e+01] [ 7.66913154e-03 -3.87025742e-04 9.99970517e-01 1.75258619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.07, Y:59.93, Z:1.75 [[ 6.54586941e-01 -7.55968024e-01 -5.31824814e-03 2.51065414e+02] [ 7.55947834e-01 6.54608426e-01 -5.53909755e-03 5.99301985e+01] [ 7.66875067e-03 -3.94497241e-04 9.99970517e-01 1.75176008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.08, Y:59.95, Z:1.75 [[ 6.54076065e-01 -7.56410094e-01 -5.31702948e-03 2.51081629e+02] [ 7.56389909e-01 6.54097555e-01 -5.54026709e-03 5.99504516e+01] [ 7.66856994e-03 -3.97991345e-04 9.99970517e-01 1.75116255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.10, Y:59.97, Z:1.75 [[ 6.53731545e-01 -7.56707875e-01 -5.31583901e-03 2.51097895e+02] [ 7.56687691e-01 6.53753036e-01 -5.54140911e-03 5.99716117e+01] [ 7.66847380e-03 -3.99836003e-04 9.99970517e-01 1.75188957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.11, Y:59.99, Z:1.75 [[ 6.53594658e-01 -7.56826121e-01 -5.31466575e-03 2.51114471e+02] [ 7.56805931e-01 6.53616143e-01 -5.54253413e-03 5.99931166e+01] [ 7.66848594e-03 -3.99599867e-04 9.99970517e-01 1.75401368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.13, Y:60.02, Z:1.76 [[ 6.53858300e-01 -7.56598368e-01 -5.31352389e-03 2.51127981e+02] [ 7.56578162e-01 6.53879770e-01 -5.54362860e-03 6.00166678e+01] [ 7.66870613e-03 -3.95348566e-04 9.99970517e-01 1.75622084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.705898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:251.14, Y:60.04, Z:1.76 [[ 6.53734849e-01 -7.56705046e-01 -5.31232440e-03 2.51144368e+02] [ 7.56684834e-01 6.53756314e-01 -5.54477780e-03 6.00390991e+01] [ 7.66872696e-03 -3.94940829e-04 9.99970517e-01 1.75603943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.16, Y:60.06, Z:1.76 [[ 6.53454002e-01 -7.56947593e-01 -5.31118823e-03 2.51159613e+02] [ 7.56927380e-01 6.53475466e-01 -5.54586589e-03 6.00609542e+01] [ 7.66866104e-03 -3.96215533e-04 9.99970517e-01 1.75574461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.18, Y:60.08, Z:1.76 [[ 6.52848752e-01 -7.57469677e-01 -5.30999449e-03 2.51176048e+02] [ 7.57449472e-01 6.52870223e-01 -5.54700862e-03 6.00832639e+01] [ 7.66842812e-03 -4.00694865e-04 9.99970517e-01 1.75665550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.19, Y:60.11, Z:1.76 [[ 6.51482124e-01 -7.58645410e-01 -5.30886922e-03 2.51189698e+02] [ 7.58625235e-01 6.51503623e-01 -5.54808538e-03 6.01057281e+01] [ 7.66777704e-03 -4.12963719e-04 9.99970517e-01 1.75810096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.21, Y:60.13, Z:1.76 [[ 6.50620060e-01 -7.59384860e-01 -5.30768484e-03 2.51206087e+02] [ 7.59364700e-01 6.50641574e-01 -5.54921821e-03 6.01264563e+01] [ 7.66739271e-03 -4.20035822e-04 9.99970517e-01 1.75743590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:251.22, Y:60.15, Z:1.76 [[ 6.48809045e-01 -7.60932759e-01 -5.30651170e-03 2.51221028e+02] [ 7.60912642e-01 6.48830599e-01 -5.55033981e-03 6.01478021e+01] [ 7.66646255e-03 -4.36681163e-04 9.99970517e-01 1.75661859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.24, Y:60.17, Z:1.76 [[ 6.47898444e-01 -7.61708250e-01 -5.30535910e-03 2.51239431e+02] [ 7.61688150e-01 6.47920013e-01 -5.55144132e-03 6.01683524e+01] [ 7.66602699e-03 -4.44258960e-04 9.99970517e-01 1.75747429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:251.26, Y:60.19, Z:1.76 [[ 6.47224942e-01 -7.62280617e-01 -5.30426422e-03 2.51257824e+02] [ 7.62260527e-01 6.47246521e-01 -5.55248725e-03 6.01882630e+01] [ 7.66571997e-03 -4.49523008e-04 9.99970517e-01 1.75745991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.28, Y:60.21, Z:1.76 [[ 6.46368614e-01 -7.63006875e-01 -5.30317408e-03 2.51275567e+02] [ 7.62986800e-01 6.46390208e-01 -5.55352825e-03 6.02075848e+01] [ 7.66530003e-03 -4.56625464e-04 9.99970517e-01 1.75573743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.29, Y:60.23, Z:1.76 [[ 6.46219821e-01 -7.63132905e-01 -5.30202598e-03 2.51294495e+02] [ 7.63112826e-01 6.46241410e-01 -5.55462413e-03 6.02277521e+01] [ 7.66530520e-03 -4.56535819e-04 9.99970517e-01 1.75594973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.005898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:251.31, Y:60.25, Z:1.76 [[ 6.46320189e-01 -7.63047910e-01 -5.30094264e-03 2.51313189e+02] [ 7.63027820e-01 6.46341768e-01 -5.55565781e-03 6.02477067e+01] [ 7.66545372e-03 -4.54032901e-04 9.99970517e-01 1.75519040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.33, Y:60.27, Z:1.76 [[ 6.46809787e-01 -7.62632946e-01 -5.29986107e-03 2.51331526e+02] [ 7.62612834e-01 6.46831345e-01 -5.55668939e-03 6.02675743e+01] [ 7.66583067e-03 -4.47620983e-04 9.99970517e-01 1.75510278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.065898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:251.35, Y:60.29, Z:1.76 [[ 6.48389292e-01 -7.61290515e-01 -5.29878374e-03 2.51348264e+02] [ 7.61270350e-01 6.48410801e-01 -5.55771653e-03 6.02875570e+01] [ 7.66682549e-03 -4.30243065e-04 9.99970517e-01 1.75575107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.37, Y:60.31, Z:1.76 [[ 6.49708133e-01 -7.60165295e-01 -5.29765024e-03 2.51367069e+02] [ 7.60145084e-01 6.49729599e-01 -5.55879678e-03 6.03071505e+01] [ 7.66764456e-03 -4.15387304e-04 9.99970517e-01 1.75678151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.39, Y:60.33, Z:1.76 [[ 6.50419865e-01 -7.59556414e-01 -5.29658461e-03 2.51385888e+02] [ 7.59536174e-01 6.50441303e-01 -5.55981196e-03 6.03284710e+01] [ 7.66810823e-03 -4.06735466e-04 9.99970517e-01 1.75769888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.40, Y:60.35, Z:1.76 [[ 6.50449659e-01 -7.59530907e-01 -5.29552694e-03 2.51403590e+02] [ 7.59510659e-01 6.50471088e-01 -5.56081917e-03 6.03488806e+01] [ 7.66820120e-03 -4.04976224e-04 9.99970517e-01 1.75530884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.185898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:251.42, Y:60.37, Z:1.76 [[ 6.49524566e-01 -7.60322174e-01 -5.29441042e-03 2.51421532e+02] [ 7.60301943e-01 6.49546012e-01 -5.56188199e-03 6.03695805e+01] [ 7.66778538e-03 -4.12771539e-04 9.99970517e-01 1.75776375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.44, Y:60.39, Z:1.76 [[ 6.49429470e-01 -7.60403410e-01 -5.29327764e-03 2.51440684e+02] [ 7.60383172e-01 6.49450910e-01 -5.56295986e-03 6.03872867e+01] [ 7.66781762e-03 -4.12169176e-04 9.99970517e-01 1.76008424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.46, Y:60.41, Z:1.76 [[ 6.49256186e-01 -7.60551376e-01 -5.29239970e-03 2.51460824e+02] [ 7.60531136e-01 6.49277625e-01 -5.56379497e-03 6.04072830e+01] [ 7.66778863e-03 -4.12706451e-04 9.99970517e-01 1.76152497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.48, Y:60.43, Z:1.76 [[ 6.49013925e-01 -7.60758127e-01 -5.29135661e-03 2.51479655e+02] [ 7.60737886e-01 6.49035362e-01 -5.56478681e-03 6.04260987e+01] [ 7.66773434e-03 -4.13711313e-04 9.99970517e-01 1.76083192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.50, Y:60.45, Z:1.76 [[ 6.48692827e-01 -7.61031950e-01 -5.29025342e-03 2.51498690e+02] [ 7.61011710e-01 6.48714266e-01 -5.56583538e-03 6.04465399e+01] [ 7.66764141e-03 -4.15427311e-04 9.99970517e-01 1.76137703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.52, Y:60.47, Z:1.76 [[ 6.48237362e-01 -7.61419954e-01 -5.28919242e-03 2.51517293e+02] [ 7.61399719e-01 6.48258805e-01 -5.56684346e-03 6.04662922e+01] [ 7.66747125e-03 -4.18553701e-04 9.99970517e-01 1.76174269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.54, Y:60.48, Z:1.76 [[ 6.47843301e-01 -7.61755272e-01 -5.28807488e-03 2.51535960e+02] [ 7.61735039e-01 6.47864746e-01 -5.56790483e-03 6.04848683e+01] [ 7.66733815e-03 -4.20982080e-04 9.99970517e-01 1.76168182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.395898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:251.55, Y:60.50, Z:1.76 [[ 6.47394889e-01 -7.62136407e-01 -5.28717445e-03 2.51554275e+02] [ 7.62116180e-01 6.47416340e-01 -5.56875974e-03 6.05048876e+01] [ 7.66715767e-03 -4.24254601e-04 9.99970517e-01 1.76045454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.57, Y:60.52, Z:1.76 [[ 6.48011892e-01 -7.61611874e-01 -5.28602879e-03 2.51573222e+02] [ 7.61591620e-01 6.48033318e-01 -5.56984702e-03 6.05227875e+01] [ 7.66758439e-03 -4.16468129e-04 9.99970517e-01 1.75946513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.59, Y:60.54, Z:1.76 [[ 6.48554955e-01 -7.61149484e-01 -5.28514212e-03 2.51591770e+02] [ 7.61129209e-01 6.48576360e-01 -5.57068823e-03 6.05420600e+01] [ 7.66794472e-03 -4.09778589e-04 9.99970517e-01 1.75854915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.61, Y:60.56, Z:1.76 [[ 6.49582313e-01 -7.60272910e-01 -5.28400795e-03 2.51610502e+02] [ 7.60252597e-01 6.49603682e-01 -5.57176383e-03 6.05612499e+01] [ 7.66857212e-03 -3.97861538e-04 9.99970517e-01 1.75767591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.63, Y:60.58, Z:1.76 [[ 6.51378185e-01 -7.58734836e-01 -5.28283923e-03 2.51628258e+02] [ 7.58714464e-01 6.51399498e-01 -5.57287173e-03 6.05802955e+01] [ 7.66957074e-03 -3.78119462e-04 9.99970517e-01 1.75526188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.65, Y:60.60, Z:1.76 [[ 6.51380670e-01 -7.58732711e-01 -5.28161184e-03 2.51646227e+02] [ 7.58712330e-01 6.51401974e-01 -5.57403472e-03 6.06000383e+01] [ 7.66965486e-03 -3.76405552e-04 9.99970517e-01 1.75595020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.67, Y:60.62, Z:1.76 [[ 6.49709910e-01 -7.60163897e-01 -5.28046449e-03 2.51665050e+02] [ 7.60143553e-01 6.49731250e-01 -5.57512143e-03 6.06194353e+01] [ 7.66888883e-03 -3.91699399e-04 9.99970517e-01 1.75777147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.68, Y:60.64, Z:1.76 [[ 6.48341832e-01 -7.61331070e-01 -5.27930148e-03 2.51683820e+02] [ 7.61310756e-01 6.48363200e-01 -5.57622252e-03 6.06381203e+01] [ 7.66825626e-03 -4.03890678e-04 9.99970517e-01 1.75753294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.70, Y:60.66, Z:1.76 [[ 6.46928152e-01 -7.62532693e-01 -5.27808071e-03 2.51702379e+02] [ 7.62512409e-01 6.46949549e-01 -5.57737778e-03 6.06566454e+01] [ 7.66758483e-03 -4.16439329e-04 9.99970517e-01 1.75700685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.72, Y:60.68, Z:1.76 [[ 6.45189666e-01 -7.64004220e-01 -5.27688947e-03 2.51721240e+02] [ 7.63983976e-01 6.45211101e-01 -5.57850462e-03 6.06759563e+01] [ 7.66670873e-03 -4.32265464e-04 9.99970517e-01 1.75768281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.74, Y:60.70, Z:1.76 [[ 6.44824563e-01 -7.64312403e-01 -5.27574818e-03 2.51739641e+02] [ 7.64292161e-01 6.44845998e-01 -5.57958376e-03 6.06952288e+01] [ 7.66659017e-03 -4.34360319e-04 9.99970517e-01 1.75831311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.76, Y:60.71, Z:1.76 [[ 6.45266863e-01 -7.63939038e-01 -5.27454780e-03 2.51759155e+02] [ 7.63918774e-01 6.45288278e-01 -5.58071828e-03 6.07143555e+01] [ 7.66693242e-03 -4.28273511e-04 9.99970517e-01 1.75992406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.78, Y:60.73, Z:1.76 [[ 6.45561195e-01 -7.63690340e-01 -5.27341510e-03 2.51776691e+02] [ 7.63670058e-01 6.45582594e-01 -5.58178840e-03 6.07331921e+01] [ 7.66718288e-03 -4.23763233e-04 9.99970517e-01 1.75979035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:251.79, Y:60.75, Z:1.76 [[ 6.45465676e-01 -7.63771079e-01 -5.27253872e-03 2.51794701e+02] [ 7.63750794e-01 6.45487072e-01 -5.58261610e-03 6.07534585e+01] [ 7.66719630e-03 -4.23518553e-04 9.99970517e-01 1.76060834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.81, Y:60.77, Z:1.76 [[ 6.45236360e-01 -7.63964823e-01 -5.27141781e-03 2.51813301e+02] [ 7.63944536e-01 6.45257754e-01 -5.58367433e-03 6.07738438e+01] [ 7.66715399e-03 -4.24281133e-04 9.99970517e-01 1.76076891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84589822699996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:251.83, Y:60.79, Z:1.76 [[ 6.44312839e-01 -7.64743871e-01 -5.27030277e-03 2.51830999e+02] [ 7.64723601e-01 6.44334249e-01 -5.58472659e-03 6.07947371e+01] [ 7.66672201e-03 -4.32013863e-04 9.99970517e-01 1.76275889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.85, Y:60.81, Z:1.77 [[ 6.45255139e-01 -7.63948979e-01 -5.26919110e-03 2.51850140e+02] [ 7.63928674e-01 6.45276515e-01 -5.58577526e-03 6.08142649e+01] [ 7.66733257e-03 -4.21035975e-04 9.99970517e-01 1.76579629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.87, Y:60.83, Z:1.77 [[ 6.46025283e-01 -7.63297833e-01 -5.26807772e-03 2.51867349e+02] [ 7.63277498e-01 6.46046631e-01 -5.58682511e-03 6.08343648e+01] [ 7.66783536e-03 -4.11774904e-04 9.99970517e-01 1.76720440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.88, Y:60.86, Z:1.77 [[ 6.46811452e-01 -7.62631762e-01 -5.26690954e-03 2.51884808e+02] [ 7.62611396e-01 6.46832771e-01 -5.58792618e-03 6.08553977e+01] [ 7.66833968e-03 -4.02270590e-04 9.99970517e-01 1.76859903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.90, Y:60.88, Z:1.77 [[ 6.47952171e-01 -7.61662823e-01 -5.26581097e-03 2.51900018e+02] [ 7.61642416e-01 6.47973451e-01 -5.58896123e-03 6.08776972e+01] [ 7.66900969e-03 -3.89285427e-04 9.99970517e-01 1.76927496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.92, Y:60.90, Z:1.77 [[ 6.48137672e-01 -7.61504985e-01 -5.26471603e-03 2.51917735e+02] [ 7.61484565e-01 6.48158939e-01 -5.58999246e-03 6.08988378e+01] [ 7.66917988e-03 -3.85915302e-04 9.99970517e-01 1.76951675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.93, Y:60.92, Z:1.77 [[ 6.47602634e-01 -7.61960053e-01 -5.26362417e-03 2.51933591e+02] [ 7.61939640e-01 6.47623908e-01 -5.59102039e-03 6.09211025e+01] [ 7.66898304e-03 -3.89804371e-04 9.99970517e-01 1.77297220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.95, Y:60.94, Z:1.77 [[ 6.46689051e-01 -7.62735588e-01 -5.26252094e-03 2.51950018e+02] [ 7.62715192e-01 6.46710341e-01 -5.59205860e-03 6.09420342e+01] [ 7.66858881e-03 -3.97481606e-04 9.99970517e-01 1.77404784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.97, Y:60.96, Z:1.77 [[ 6.45729137e-01 -7.63548427e-01 -5.26136142e-03 2.51967003e+02] [ 7.63528049e-01 6.45750444e-01 -5.59314934e-03 6.09636388e+01] [ 7.66816685e-03 -4.05537530e-04 9.99970517e-01 1.77301416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:251.98, Y:60.99, Z:1.77 [[ 6.44132507e-01 -7.64895838e-01 -5.26026292e-03 2.51981075e+02] [ 7.64875496e-01 6.44153849e-01 -5.59418226e-03 6.09860542e+01] [ 7.66738534e-03 -4.20051563e-04 9.99970517e-01 1.76574941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.00, Y:61.01, Z:1.76 [[ 6.43783776e-01 -7.65189383e-01 -5.25910682e-03 2.51997166e+02] [ 7.65169042e-01 6.43805118e-01 -5.59526891e-03 6.10053928e+01] [ 7.66728025e-03 -4.21962377e-04 9.99970517e-01 1.76397119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.01, Y:61.03, Z:1.77 [[ 6.43710717e-01 -7.65250851e-01 -5.25816394e-03 2.52013877e+02] [ 7.65230505e-01 6.43732054e-01 -5.59615484e-03 6.10264055e+01] [ 7.66731093e-03 -4.21402596e-04 9.99970517e-01 1.76545688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.03, Y:61.05, Z:1.77 [[ 6.46437714e-01 -7.62948652e-01 -5.25701385e-03 2.52028053e+02] [ 7.62928221e-01 6.46458970e-01 -5.59723503e-03 6.10482360e+01] [ 7.66884668e-03 -3.92460409e-04 9.99970517e-01 1.77299688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.04, Y:61.07, Z:1.78 [[ 6.48619480e-01 -7.61094702e-01 -5.25595332e-03 2.52044235e+02] [ 7.61074202e-01 6.48640670e-01 -5.59823071e-03 6.10705332e+01] [ 7.67000882e-03 -3.69048987e-04 9.99970517e-01 1.77592878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.06, Y:61.09, Z:1.78 [[ 6.50953413e-01 -7.59099494e-01 -5.25481864e-03 2.52059499e+02] [ 7.59078921e-01 6.50974531e-01 -5.59929558e-03 6.10932056e+01] [ 7.67117555e-03 -3.43941493e-04 9.99970517e-01 1.77671535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.07, Y:61.12, Z:1.77 [[ 6.55869396e-01 -7.54856102e-01 -5.25366590e-03 2.52071011e+02] [ 7.54835383e-01 6.55890372e-01 -5.60037696e-03 6.11190685e+01] [ 7.67330760e-03 -2.92537054e-04 9.99970517e-01 1.77284825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.325898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:252.08, Y:61.14, Z:1.77 [[ 6.57116164e-01 -7.53771025e-01 -5.25251414e-03 2.52084946e+02] [ 7.53750264e-01 6.57137097e-01 -5.60145698e-03 6.11427390e+01] [ 7.67383786e-03 -2.78275995e-04 9.99970517e-01 1.77101657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.10, Y:61.17, Z:1.77 [[ 6.58957784e-01 -7.52161593e-01 -5.25135812e-03 2.52101384e+02] [ 7.52140772e-01 6.58978657e-01 -5.60254054e-03 6.11650038e+01] [ 7.67454874e-03 -2.57922851e-04 9.99970517e-01 1.77194840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.11, Y:61.19, Z:1.77 [[ 6.60830950e-01 -7.50516416e-01 -5.25019781e-03 2.52114025e+02] [ 7.50495534e-01 6.60851763e-01 -5.60362766e-03 6.11896690e+01] [ 7.67521703e-03 -2.37199411e-04 9.99970517e-01 1.77249029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41589822699996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:252.13, Y:61.21, Z:1.77 [[ 6.60584356e-01 -7.50733480e-01 -5.24897961e-03 2.52128232e+02] [ 7.50712595e-01 6.60605166e-01 -5.60476853e-03 6.12117459e+01] [ 7.67519043e-03 -2.38052703e-04 9.99970517e-01 1.77133201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.15, Y:61.23, Z:1.77 [[ 6.60992149e-01 -7.50374464e-01 -5.24811225e-03 2.52145984e+02] [ 7.50353562e-01 6.61012943e-01 -5.60558057e-03 6.12332857e+01] [ 7.67535464e-03 -2.32694970e-04 9.99970517e-01 1.77232180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.16, Y:61.26, Z:1.77 [[ 6.60591385e-01 -7.50727308e-01 -5.24704913e-03 2.52161238e+02] [ 7.50706409e-01 6.60612181e-01 -5.60657552e-03 6.12561920e+01] [ 7.67527392e-03 -2.35337930e-04 9.99970517e-01 1.77031521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.18, Y:61.28, Z:1.77 [[ 6.60415241e-01 -7.50882275e-01 -5.24592140e-03 2.52177990e+02] [ 7.50861372e-01 6.60436033e-01 -5.60763051e-03 6.12770996e+01] [ 7.67526587e-03 -2.35595082e-04 9.99970517e-01 1.77038817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.19, Y:61.30, Z:1.77 [[ 6.60723773e-01 -7.50610810e-01 -5.24480309e-03 2.52193954e+02] [ 7.50589891e-01 6.60744548e-01 -5.60867627e-03 6.12975297e+01] [ 7.67540809e-03 -2.30910437e-04 9.99970517e-01 1.77217484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.21, Y:61.32, Z:1.78 [[ 6.64354774e-01 -7.47398982e-01 -5.24362499e-03 2.52208010e+02] [ 7.47377954e-01 6.64375439e-01 -5.60977747e-03 6.13202126e+01] [ 7.67647763e-03 -1.92087274e-04 9.99970517e-01 1.77603639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.22, Y:61.34, Z:1.78 [[ 6.67490347e-01 -7.44599996e-01 -5.24245848e-03 2.52224572e+02] [ 7.44578872e-01 6.67510915e-01 -5.61086739e-03 6.13424898e+01] [ 7.67725009e-03 -1.58224009e-04 9.99970517e-01 1.77575422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.24, Y:61.36, Z:1.77 [[ 6.71345750e-01 -7.41125773e-01 -5.24142159e-03 2.52239821e+02] [ 7.41104535e-01 6.71366201e-01 -5.61183584e-03 6.13648107e+01] [ 7.67798947e-03 -1.16959173e-04 9.99970517e-01 1.77468096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.26, Y:61.39, Z:1.77 [[ 6.75432654e-01 -7.37403058e-01 -5.24032531e-03 2.52255192e+02] [ 7.37381699e-01 6.75452978e-01 -5.61285936e-03 6.13880899e+01] [ 7.67853299e-03 -7.30114893e-05 9.99970517e-01 1.77491835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.27, Y:61.41, Z:1.77 [[ 6.83846888e-01 -7.29606732e-01 -5.23934601e-03 2.52266585e+02] [ 7.29585135e-01 6.83866958e-01 -5.61377334e-03 6.14138964e+01] [ 7.67886244e-03 1.64124597e-05 9.99970517e-01 1.77383785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.28, Y:61.44, Z:1.77 [[ 6.86875274e-01 -7.26756437e-01 -5.23823509e-03 2.52282747e+02] [ 7.26734749e-01 6.86895246e-01 -5.61480975e-03 6.14362439e+01] [ 7.67871791e-03 4.98665179e-05 9.99970517e-01 1.77170468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.30, Y:61.46, Z:1.77 [[ 6.88938223e-01 -7.24801143e-01 -5.23714129e-03 2.52297496e+02] [ 7.24779391e-01 6.88958124e-01 -5.61582979e-03 6.14603793e+01] [ 7.67853090e-03 7.31877207e-05 9.99970517e-01 1.76867944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.31, Y:61.48, Z:1.77 [[ 6.88166455e-01 -7.25533951e-01 -5.23611134e-03 2.52314549e+02] [ 7.25512212e-01 6.88186371e-01 -5.61678994e-03 6.14822113e+01] [ 7.67859226e-03 6.64236940e-05 9.99970517e-01 1.76842930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.33, Y:61.50, Z:1.77 [[ 6.86749320e-01 -7.26875481e-01 -5.23507394e-03 2.52330971e+02] [ 7.26853774e-01 6.86769271e-01 -5.61775668e-03 6.15035388e+01] [ 7.67869750e-03 5.28573296e-05 9.99970517e-01 1.76922791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.35, Y:61.53, Z:1.77 [[ 6.84218190e-01 -7.29258578e-01 -5.23398166e-03 2.52346802e+02] [ 7.29236933e-01 6.84238208e-01 -5.61877415e-03 6.15255844e+01] [ 7.67882948e-03 2.76547503e-05 9.99970517e-01 1.77353104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.86589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:252.36, Y:61.55, Z:1.77 [[ 6.83165065e-01 -7.30245240e-01 -5.23290667e-03 2.52364291e+02] [ 7.30223616e-01 6.83185106e-01 -5.61977514e-03 6.15468867e+01] [ 7.67885794e-03 1.80420195e-05 9.99970517e-01 1.77490102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.895898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:252.38, Y:61.57, Z:1.78 [[ 6.83018485e-01 -7.30382350e-01 -5.23177753e-03 2.52382938e+02] [ 7.30360722e-01 6.83038522e-01 -5.62082612e-03 6.15672837e+01] [ 7.67885778e-03 1.80433333e-05 9.99970517e-01 1.77511333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.40, Y:61.59, Z:1.78 [[ 6.82597620e-01 -7.30775704e-01 -5.23064914e-03 2.52400195e+02] [ 7.30754079e-01 6.82617660e-01 -5.62187599e-03 6.15884706e+01] [ 7.67886386e-03 1.51609674e-05 9.99970517e-01 1.77630761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.955898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:252.42, Y:61.61, Z:1.78 [[ 6.82817377e-01 -7.30570382e-01 -5.22952285e-03 2.52415897e+02] [ 7.30548743e-01 6.82837402e-01 -5.62292347e-03 6.16107210e+01] [ 7.67885515e-03 1.90085084e-05 9.99970517e-01 1.77859823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98589822699995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:252.43, Y:61.63, Z:1.78 [[ 6.83055855e-01 -7.30347426e-01 -5.22839731e-03 2.52433281e+02] [ 7.30325773e-01 6.83075864e-01 -5.62396985e-03 6.16315896e+01] [ 7.67884392e-03 2.30522226e-05 9.99970517e-01 1.77984463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.015898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:252.45, Y:61.65, Z:1.78 [[ 6.83388536e-01 -7.30036153e-01 -5.22727385e-03 2.52451837e+02] [ 7.30014482e-01 6.83408527e-01 -5.62501387e-03 6.16528392e+01] [ 7.67882701e-03 2.80843795e-05 9.99970517e-01 1.78014647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04589822699995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.47, Y:61.67, Z:1.78 [[ 6.83798856e-01 -7.29651842e-01 -5.22627774e-03 2.52470077e+02] [ 7.29630153e-01 6.83818827e-01 -5.62593922e-03 6.16736644e+01] [ 7.67880403e-03 3.37609799e-05 9.99970517e-01 1.78096894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.075898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:252.49, Y:61.69, Z:1.78 [[ 6.85553046e-01 -7.28003927e-01 -5.22518245e-03 2.52487110e+02] [ 7.27982183e-01 6.85572957e-01 -5.62695630e-03 6.16948397e+01] [ 7.67869007e-03 5.37373075e-05 9.99970517e-01 1.78323105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10589822699995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.50, Y:61.72, Z:1.78 [[ 6.86030150e-01 -7.27554356e-01 -5.22420689e-03 2.52504814e+02] [ 7.27532591e-01 6.86050039e-01 -5.62786189e-03 6.17168089e+01] [ 7.67864277e-03 6.01021653e-05 9.99970517e-01 1.78299947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.52, Y:61.74, Z:1.78 [[ 6.85179514e-01 -7.28355513e-01 -5.22311364e-03 2.52520945e+02] [ 7.28333764e-01 6.85199419e-01 -5.62887634e-03 6.17405512e+01] [ 7.67869754e-03 5.26207382e-05 9.99970517e-01 1.78222141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.54, Y:61.76, Z:1.78 [[ 6.83877147e-01 -7.29578494e-01 -5.22202524e-03 2.52537974e+02] [ 7.29556772e-01 6.83897083e-01 -5.62988589e-03 6.17616371e+01] [ 7.67877149e-03 4.03864233e-05 9.99970517e-01 1.78261564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.195898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:252.56, Y:61.78, Z:1.78 [[ 6.79965903e-01 -7.33225142e-01 -5.22123113e-03 2.52555393e+02] [ 7.33203522e-01 6.79985949e-01 -5.63062226e-03 6.17836470e+01] [ 7.67887761e-03 4.06099003e-07 9.99970517e-01 1.78016085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.57, Y:61.81, Z:1.78 [[ 6.77583318e-01 -7.35427492e-01 -5.22022207e-03 2.52573775e+02] [ 7.35405930e-01 6.77603426e-01 -5.63155761e-03 6.18050156e+01] [ 7.67884265e-03 -2.31327773e-05 9.99970517e-01 1.77877414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.59, Y:61.83, Z:1.78 [[ 6.75368880e-01 -7.37461616e-01 -5.21916963e-03 2.52591732e+02] [ 7.37440108e-01 6.75389045e-01 -5.63253282e-03 6.18258439e+01] [ 7.67874675e-03 -4.47876299e-05 9.99970517e-01 1.77912460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.61, Y:61.85, Z:1.78 [[ 6.71080820e-01 -7.41365837e-01 -5.21809244e-03 2.52608881e+02] [ 7.41344438e-01 6.71101101e-01 -5.63353057e-03 6.18469576e+01] [ 7.67837469e-03 -8.78494951e-05 9.99970517e-01 1.77910763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.315898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.63, Y:61.87, Z:1.78 [[ 6.68614286e-01 -7.43591098e-01 -5.21695063e-03 2.52627553e+02] [ 7.43569758e-01 6.68634629e-01 -5.63458775e-03 6.18674273e+01] [ 7.67806314e-03 -1.11800855e-04 9.99970517e-01 1.77708727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.65, Y:61.89, Z:1.78 [[ 6.66421006e-01 -7.45557401e-01 -5.21590474e-03 2.52645034e+02] [ 7.45536113e-01 6.66441404e-01 -5.63555575e-03 6.18880681e+01] [ 7.67772518e-03 -1.32992615e-04 9.99970517e-01 1.77545838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.375898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.66, Y:61.91, Z:1.78 [[ 6.63648384e-01 -7.48026489e-01 -5.21480208e-03 2.52661583e+02] [ 7.48005270e-01 6.63668853e-01 -5.63657591e-03 6.19105794e+01] [ 7.67720980e-03 -1.59994940e-04 9.99970517e-01 1.77511804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.68, Y:61.93, Z:1.78 [[ 6.63012384e-01 -7.48590272e-01 -5.21373755e-03 2.52678249e+02] [ 7.48569062e-01 6.63032863e-01 -5.63756041e-03 6.19314870e+01] [ 7.67710221e-03 -1.65070257e-04 9.99970517e-01 1.77585705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.69, Y:61.96, Z:1.78 [[ 6.62709252e-01 -7.48858649e-01 -5.21260931e-03 2.52692689e+02] [ 7.48837439e-01 6.62729730e-01 -5.63860341e-03 6.19562458e+01] [ 7.67706810e-03 -1.66642360e-04 9.99970517e-01 1.77584483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.71, Y:61.98, Z:1.77 [[ 6.62879965e-01 -7.48707548e-01 -5.21154457e-03 2.52708334e+02] [ 7.48686325e-01 6.62900431e-01 -5.63958734e-03 6.19790820e+01] [ 7.67713675e-03 -1.63442701e-04 9.99970517e-01 1.77493132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.72, Y:62.00, Z:1.78 [[ 6.63091108e-01 -7.48520561e-01 -5.21076656e-03 2.52724135e+02] [ 7.48499328e-01 6.63111562e-01 -5.64030610e-03 6.20021757e+01] [ 7.67720464e-03 -1.60218442e-04 9.99970517e-01 1.77533843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.74, Y:62.02, Z:1.77 [[ 6.63254970e-01 -7.48375376e-01 -5.20969783e-03 2.52739549e+02] [ 7.48354130e-01 6.63275412e-01 -5.64129306e-03 6.20243147e+01] [ 7.67726929e-03 -1.57083232e-04 9.99970517e-01 1.77492040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.75, Y:62.05, Z:1.78 [[ 6.62170339e-01 -7.49335248e-01 -5.20856701e-03 2.52753121e+02] [ 7.49314023e-01 6.62190802e-01 -5.64233695e-03 6.20480730e+01] [ 7.67706712e-03 -1.66664131e-04 9.99970517e-01 1.77627660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.77, Y:62.07, Z:1.78 [[ 6.60637841e-01 -7.50686702e-01 -5.20744143e-03 2.52769718e+02] [ 7.50665512e-01 6.60658340e-01 -5.64337558e-03 6.20702756e+01] [ 7.67674662e-03 -1.80819222e-04 9.99970517e-01 1.77786628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.79, Y:62.09, Z:1.78 [[ 6.58543667e-01 -7.52524506e-01 -5.20641003e-03 2.52786237e+02] [ 7.52503365e-01 6.58564217e-01 -5.64432696e-03 6.20920184e+01] [ 7.67624970e-03 -2.00805293e-04 9.99970517e-01 1.77896444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.80, Y:62.11, Z:1.78 [[ 6.54867307e-01 -7.55725952e-01 -5.20532020e-03 2.52802538e+02] [ 7.55704903e-01 6.54887952e-01 -5.64533184e-03 6.21148233e+01] [ 7.67522527e-03 -2.36742740e-04 9.99970517e-01 1.77786460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.82, Y:62.14, Z:1.78 [[ 6.53491371e-01 -7.56916074e-01 -5.20429220e-03 2.52820536e+02] [ 7.56895056e-01 6.53512046e-01 -5.64627937e-03 6.21362460e+01] [ 7.67482726e-03 -2.49308186e-04 9.99970517e-01 1.77719197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.84, Y:62.16, Z:1.78 [[ 6.51960049e-01 -7.58235465e-01 -5.20325682e-03 2.52837109e+02] [ 7.58214481e-01 6.51980759e-01 -5.64723335e-03 6.21589972e+01] [ 7.67435594e-03 -2.63414132e-04 9.99970517e-01 1.77663761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.85, Y:62.18, Z:1.78 [[ 6.51551849e-01 -7.58586267e-01 -5.20222267e-03 2.52853520e+02] [ 7.58565286e-01 6.51572563e-01 -5.64818585e-03 6.21804579e+01] [ 7.67426178e-03 -2.66139593e-04 9.99970517e-01 1.77714818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.87, Y:62.20, Z:1.78 [[ 6.51283496e-01 -7.58816679e-01 -5.20146597e-03 2.52870589e+02] [ 7.58795700e-01 6.51304211e-01 -5.64888262e-03 6.22028536e+01] [ 7.67420304e-03 -2.67825990e-04 9.99970517e-01 1.77831933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.89, Y:62.23, Z:1.78 [[ 6.52067687e-01 -7.58142920e-01 -5.20045104e-03 2.52887293e+02] [ 7.58121912e-01 6.52088373e-01 -5.64981682e-03 6.22252417e+01] [ 7.67452228e-03 -2.58512895e-04 9.99970517e-01 1.78173574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.825898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:252.91, Y:62.25, Z:1.78 [[ 6.52498765e-01 -7.57771950e-01 -5.19943705e-03 2.52905444e+02] [ 7.57750923e-01 6.52519431e-01 -5.65074983e-03 6.22468893e+01] [ 7.67471342e-03 -2.52770934e-04 9.99970517e-01 1.78136980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.92, Y:62.27, Z:1.78 [[ 6.52949245e-01 -7.57383826e-01 -5.19841852e-03 2.52924038e+02] [ 7.57362779e-01 6.52969892e-01 -5.65168667e-03 6.22670947e+01] [ 7.67490685e-03 -2.46824150e-04 9.99970517e-01 1.78166403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.94, Y:62.29, Z:1.78 [[ 6.52920414e-01 -7.57408686e-01 -5.19767154e-03 2.52942027e+02] [ 7.57387634e-01 6.52941056e-01 -5.65237356e-03 6.22878112e+01] [ 7.67492997e-03 -2.46102061e-04 9.99970517e-01 1.78089455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.96, Y:62.31, Z:1.78 [[ 6.52007095e-01 -7.58195056e-01 -5.19660695e-03 2.52961009e+02] [ 7.58174022e-01 6.52027754e-01 -5.65335214e-03 6.23080718e+01] [ 7.67467560e-03 -2.53906684e-04 9.99970517e-01 1.77715969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.98, Y:62.33, Z:1.78 [[ 6.51161986e-01 -7.58920993e-01 -5.19559304e-03 2.52979669e+02] [ 7.58899975e-01 6.51182661e-01 -5.65428380e-03 6.23278183e+01] [ 7.67443478e-03 -2.61080761e-04 9.99970517e-01 1.77649438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.00, Y:62.35, Z:1.78 [[ 6.50369339e-01 -7.59600382e-01 -5.19452122e-03 2.52999040e+02] [ 7.59579377e-01 6.50390028e-01 -5.65526829e-03 6.23483340e+01] [ 7.67420876e-03 -2.67638088e-04 9.99970517e-01 1.77625805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.02, Y:62.37, Z:1.78 [[ 6.49805753e-01 -7.60082568e-01 -5.19352754e-03 2.53017755e+02] [ 7.60061571e-01 6.49826451e-01 -5.65618070e-03 6.23696067e+01] [ 7.67405592e-03 -2.71981940e-04 9.99970517e-01 1.77639573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.04, Y:62.39, Z:1.78 [[ 6.49348915e-01 -7.60472895e-01 -5.19250868e-03 2.53035851e+02] [ 7.60451903e-01 6.49369617e-01 -5.65711588e-03 6.23905058e+01] [ 7.67394067e-03 -2.75211048e-04 9.99970517e-01 1.77694678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.05, Y:62.41, Z:1.78 [[ 6.48194962e-01 -7.61456722e-01 -5.19147131e-03 2.53052945e+02] [ 7.61435754e-01 6.48215688e-01 -5.65806770e-03 6.24114371e+01] [ 7.67356684e-03 -2.85440896e-04 9.99970517e-01 1.77717112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.07, Y:62.43, Z:1.78 [[ 6.47657079e-01 -7.61914276e-01 -5.19071384e-03 2.53071587e+02] [ 7.61893317e-01 6.47677815e-01 -5.65876252e-03 6.24322824e+01] [ 7.67340215e-03 -2.89832583e-04 9.99970517e-01 1.77814222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.09, Y:62.45, Z:1.78 [[ 6.47408182e-01 -7.62125785e-01 -5.18967419e-03 2.53090080e+02] [ 7.62104826e-01 6.47428917e-01 -5.65971583e-03 6.24532649e+01] [ 7.67336051e-03 -2.90929405e-04 9.99970517e-01 1.77732902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.11, Y:62.47, Z:1.78 [[ 6.47817975e-01 -7.61777493e-01 -5.18863594e-03 2.53107308e+02] [ 7.61756514e-01 6.47838691e-01 -5.66066750e-03 6.24740509e+01] [ 7.67356821e-03 -2.85395067e-04 9.99970517e-01 1.77947105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.12, Y:62.49, Z:1.78 [[ 6.47698733e-01 -7.61878886e-01 -5.18787553e-03 2.53124271e+02] [ 7.61857905e-01 6.47719446e-01 -5.66136431e-03 6.24946590e+01] [ 7.67356180e-03 -2.85565490e-04 9.99970517e-01 1.78063021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:253.14, Y:62.52, Z:1.78 [[ 6.46992509e-01 -7.62478715e-01 -5.18678471e-03 2.53141916e+02] [ 7.62457745e-01 6.47013234e-01 -5.66236351e-03 6.25163129e+01] [ 7.67335000e-03 -2.91197400e-04 9.99970517e-01 1.78228119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.16, Y:62.54, Z:1.78 [[ 6.44400900e-01 -7.64670248e-01 -5.18573755e-03 2.53157530e+02] [ 7.64649341e-01 6.44421688e-01 -5.66332237e-03 6.25387165e+01] [ 7.67237587e-03 -3.15820771e-04 9.99970517e-01 1.78417085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.17, Y:62.56, Z:1.78 [[ 6.42655596e-01 -7.66137652e-01 -5.18497427e-03 2.53174794e+02] [ 7.66116787e-01 6.42676426e-01 -5.66402110e-03 6.25603403e+01] [ 7.67168055e-03 -3.32280972e-04 9.99970517e-01 1.78349791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.19, Y:62.58, Z:1.78 [[ 6.39157999e-01 -7.69057982e-01 -5.18392874e-03 2.53191618e+02] [ 7.69037204e-01 6.39178916e-01 -5.66497784e-03 6.25821848e+01] [ 7.67015438e-03 -3.65818158e-04 9.99970517e-01 1.78090976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.335898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.21, Y:62.60, Z:1.78 [[ 6.37247193e-01 -7.70642039e-01 -5.18288628e-03 2.53209644e+02] [ 7.70621306e-01 6.37268154e-01 -5.66593143e-03 6.26024772e+01] [ 7.66929332e-03 -3.83443693e-04 9.99970517e-01 1.77822671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.23, Y:62.62, Z:1.78 [[ 6.35009933e-01 -7.72486591e-01 -5.18179418e-03 2.53229083e+02] [ 7.72465911e-01 6.35030946e-01 -5.66693003e-03 6.26231370e+01] [ 7.66822713e-03 -4.04202495e-04 9.99970517e-01 1.77743694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.25, Y:62.64, Z:1.78 [[ 6.30155472e-01 -7.76451699e-01 -5.18081031e-03 2.53248457e+02] [ 7.76431143e-01 6.30176607e-01 -5.66782937e-03 6.26426578e+01] [ 7.66562120e-03 -4.50928778e-04 9.99970517e-01 1.77619340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.27, Y:62.66, Z:1.78 [[ 6.27774075e-01 -7.78378365e-01 -5.17983019e-03 2.53267933e+02] [ 7.78357867e-01 6.27795266e-01 -5.66872495e-03 6.26626412e+01] [ 7.66428574e-03 -4.73083013e-04 9.99970517e-01 1.77614191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.29, Y:62.68, Z:1.78 [[ 6.25785439e-01 -7.79978053e-01 -5.17884845e-03 2.53287114e+02] [ 7.79957602e-01 6.25806675e-01 -5.66962171e-03 6.26825285e+01] [ 7.66313844e-03 -4.91315500e-04 9.99970517e-01 1.77590271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.31, Y:62.70, Z:1.78 [[ 6.25073629e-01 -7.80548620e-01 -5.17785474e-03 2.53306946e+02] [ 7.80528180e-01 6.25094877e-01 -5.67052908e-03 6.27010398e+01] [ 7.66277412e-03 -4.96963346e-04 9.99970517e-01 1.77593894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.515898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.33, Y:62.72, Z:1.78 [[ 6.26187138e-01 -7.79655609e-01 -5.17680505e-03 2.53325969e+02] [ 7.79635131e-01 6.26208349e-01 -5.67148721e-03 6.27214676e+01] [ 7.66356536e-03 -4.84606737e-04 9.99970517e-01 1.77932701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.34, Y:62.74, Z:1.78 [[ 6.29991532e-01 -7.76584754e-01 -5.17580548e-03 2.53343874e+02] [ 7.76564166e-01 6.30012635e-01 -5.67239928e-03 6.27429508e+01] [ 7.66592165e-03 -4.45781546e-04 9.99970517e-01 1.78497375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.575898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.36, Y:62.76, Z:1.79 [[ 6.32075605e-01 -7.74889442e-01 -5.17517813e-03 2.53361587e+02] [ 7.74868792e-01 6.32096648e-01 -5.67297158e-03 6.27643186e+01] [ 7.66713853e-03 -4.24337084e-04 9.99970517e-01 1.78576568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:253.38, Y:62.79, Z:1.78 [[ 6.34216567e-01 -7.73138134e-01 -5.17415839e-03 2.53378629e+02] [ 7.73117418e-01 6.34237546e-01 -5.67390150e-03 6.27851578e+01] [ 7.66835514e-03 -4.01749644e-04 9.99970517e-01 1.78492032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.40, Y:62.81, Z:1.78 [[ 6.36402185e-01 -7.71340066e-01 -5.17308194e-03 2.53396887e+02] [ 7.71319283e-01 6.36423097e-01 -5.67488277e-03 6.28066974e+01] [ 7.66953328e-03 -3.78590060e-04 9.99970517e-01 1.78394002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66589822699996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:253.41, Y:62.83, Z:1.78 [[ 6.39137324e-01 -7.69075244e-01 -5.17207070e-03 2.53413614e+02] [ 7.69054379e-01 6.39158155e-01 -5.67580426e-03 6.28281817e+01] [ 7.67089171e-03 -3.49985275e-04 9.99970517e-01 1.77877777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.43, Y:62.85, Z:1.78 [[ 6.38551672e-01 -7.69561576e-01 -5.17133049e-03 2.53431367e+02] [ 7.69540722e-01 6.38572513e-01 -5.67647860e-03 6.28499207e+01] [ 7.67066933e-03 -3.54824505e-04 9.99970517e-01 1.77707700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.45, Y:62.87, Z:1.77 [[ 6.37398689e-01 -7.70516826e-01 -5.17031434e-03 2.53449561e+02] [ 7.70495995e-01 6.37419554e-01 -5.67740399e-03 6.28698620e+01] [ 7.67019476e-03 -3.64936632e-04 9.99970517e-01 1.77465045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.47, Y:62.89, Z:1.78 [[ 6.36024007e-01 -7.71651956e-01 -5.16925496e-03 2.53469363e+02] [ 7.71631155e-01 6.36044901e-01 -5.67836838e-03 6.28902833e+01] [ 7.66960233e-03 -3.77179568e-04 9.99970517e-01 1.77573057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.49, Y:62.91, Z:1.78 [[ 6.35880189e-01 -7.71770480e-01 -5.16826055e-03 2.53488398e+02] [ 7.71749676e-01 6.35901080e-01 -5.67927332e-03 6.29114327e+01] [ 7.66959796e-03 -3.77266015e-04 9.99970517e-01 1.77594927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.51, Y:62.93, Z:1.77 [[ 6.34281572e-01 -7.73084852e-01 -5.16720195e-03 2.53507258e+02] [ 7.73064083e-01 6.34302498e-01 -5.68023631e-03 6.29304457e+01] [ 7.66887375e-03 -3.91709018e-04 9.99970517e-01 1.77421905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84589822699996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:253.53, Y:62.95, Z:1.78 [[ 6.30830230e-01 -7.75903687e-01 -5.16624834e-03 2.53527327e+02] [ 7.75883004e-01 6.30851241e-01 -5.68110350e-03 6.29498815e+01] [ 7.66712333e-03 -4.24592457e-04 9.99970517e-01 1.77612634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.55, Y:62.97, Z:1.78 [[ 6.28947757e-01 -7.77430408e-01 -5.16523544e-03 2.53547148e+02] [ 7.77409769e-01 6.28968811e-01 -5.68202427e-03 6.29693898e+01] [ 7.66615044e-03 -4.41808074e-04 9.99970517e-01 1.77752015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.57, Y:62.99, Z:1.78 [[ 6.25776130e-01 -7.79985619e-01 -5.16422652e-03 2.53566816e+02] [ 7.79965058e-01 6.25797261e-01 -5.68294110e-03 6.29872579e+01] [ 7.66437115e-03 -4.71667349e-04 9.99970517e-01 1.77896385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.59, Y:63.01, Z:1.78 [[ 6.24479070e-01 -7.81024475e-01 -5.16340871e-03 2.53586525e+02] [ 7.81003944e-01 6.24500229e-01 -5.68368406e-03 6.30075092e+01] [ 7.66364628e-03 -4.83300830e-04 9.99970517e-01 1.78049034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.60, Y:63.03, Z:1.78 [[ 6.23173507e-01 -7.82066577e-01 -5.16236970e-03 2.53604943e+02] [ 7.82046073e-01 6.23194693e-01 -5.68462761e-03 6.30266048e+01] [ 7.66291865e-03 -4.94701633e-04 9.99970517e-01 1.77896893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.62, Y:63.04, Z:1.78 [[ 6.21197422e-01 -7.83637113e-01 -5.16127001e-03 2.53623824e+02] [ 7.83616654e-01 6.21218651e-01 -5.68562588e-03 6.30444662e+01] [ 7.66174464e-03 -5.12560996e-04 9.99970517e-01 1.77610662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.64, Y:63.06, Z:1.78 [[ 6.20578603e-01 -7.84127267e-01 -5.16012340e-03 2.53642710e+02] [ 7.84106816e-01 6.20599841e-01 -5.68666632e-03 6.30640897e+01] [ 7.66144188e-03 -5.17064488e-04 9.99970517e-01 1.77612631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.66, Y:63.08, Z:1.78 [[ 6.20306335e-01 -7.84342677e-01 -5.15902755e-03 2.53660771e+02] [ 7.84322226e-01 6.20327572e-01 -5.68766032e-03 6.30829163e+01] [ 7.66136175e-03 -5.18248245e-04 9.99970517e-01 1.77609409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.68, Y:63.10, Z:1.78 [[ 6.20323405e-01 -7.84329184e-01 -5.15787867e-03 2.53680650e+02] [ 7.84308724e-01 6.20344633e-01 -5.68870199e-03 6.31033781e+01] [ 7.66147735e-03 -5.16534250e-04 9.99970517e-01 1.78217504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.70, Y:63.12, Z:1.78 [[ 6.20189479e-01 -7.84435094e-01 -5.15690548e-03 2.53699166e+02] [ 7.84414630e-01 6.20210704e-01 -5.68958407e-03 6.31230083e+01] [ 7.66147739e-03 -5.16531927e-04 9.99970517e-01 1.78236945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.72, Y:63.14, Z:1.78 [[ 6.18186057e-01 -7.86014894e-01 -5.15615341e-03 2.53719689e+02] [ 7.85994478e-01 6.18207328e-01 -5.69026555e-03 6.31415989e+01] [ 7.66020529e-03 -5.35065285e-04 9.99970517e-01 1.77910795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.74, Y:63.16, Z:1.77 [[ 6.17015394e-01 -7.86934195e-01 -5.15513272e-03 2.53739919e+02] [ 7.86913804e-01 6.17036689e-01 -5.69119010e-03 6.31596722e+01] [ 7.65949812e-03 -5.45093201e-04 9.99970517e-01 1.77489479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.76, Y:63.18, Z:1.78 [[ 6.15742348e-01 -7.87930706e-01 -5.15406321e-03 2.53761130e+02] [ 7.87910341e-01 6.15763667e-01 -5.69215850e-03 6.31786803e+01] [ 7.65871133e-03 -5.56036661e-04 9.99970517e-01 1.77628399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.78, Y:63.19, Z:1.78 [[ 6.14433738e-01 -7.88951600e-01 -5.15304527e-03 2.53784643e+02] [ 7.88931263e-01 6.14455084e-01 -5.69307989e-03 6.31934297e+01] [ 7.65787935e-03 -5.67378159e-04 9.99970517e-01 1.77832902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.80, Y:63.21, Z:1.78 [[ 6.14882371e-01 -7.88602008e-01 -5.15197029e-03 2.53804949e+02] [ 7.88581651e-01 6.14903697e-01 -5.69405253e-03 6.32112307e+01] [ 7.65830684e-03 -5.61576718e-04 9.99970517e-01 1.77967101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.83, Y:63.23, Z:1.78 [[ 6.18485269e-01 -7.85779511e-01 -5.15091816e-03 2.53827929e+02] [ 7.85759049e-01 6.18506495e-01 -5.69500414e-03 6.32286569e+01] [ 7.66089390e-03 -5.25104387e-04 9.99970517e-01 1.78174210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.85, Y:63.25, Z:1.78 [[ 6.21053141e-01 -7.83751537e-01 -5.15027417e-03 2.53847778e+02] [ 7.83731000e-01 6.21074295e-01 -5.69558647e-03 6.32473052e+01] [ 7.66262755e-03 -4.99167660e-04 9.99970517e-01 1.78120494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.87, Y:63.27, Z:1.78 [[ 6.23792250e-01 -7.81573229e-01 -5.14951436e-03 2.53867366e+02] [ 7.81552613e-01 6.23813326e-01 -5.69627335e-03 6.32663335e+01] [ 7.66439044e-03 -4.71325231e-04 9.99970517e-01 1.78135285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.89, Y:63.29, Z:1.78 [[ 6.29562538e-01 -7.76932754e-01 -5.14843751e-03 2.53886301e+02] [ 7.76911975e-01 6.29583453e-01 -5.69724647e-03 6.32866688e+01] [ 7.66774846e-03 -4.13109805e-04 9.99970517e-01 1.78397892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.90, Y:63.31, Z:1.78 [[ 6.31926354e-01 -7.75011347e-01 -5.14741429e-03 2.53904728e+02] [ 7.74990496e-01 6.31947198e-01 -5.69817079e-03 6.33082221e+01] [ 7.66904106e-03 -3.88372864e-04 9.99970517e-01 1.78483114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.92, Y:63.33, Z:1.78 [[ 6.33666499e-01 -7.73589221e-01 -5.14638682e-03 2.53923414e+02] [ 7.73568316e-01 6.33687289e-01 -5.69909861e-03 6.33295908e+01] [ 7.66996117e-03 -3.69753924e-04 9.99970517e-01 1.78496988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.94, Y:63.35, Z:1.78 [[ 6.34685941e-01 -7.72753054e-01 -5.14535043e-03 2.53942430e+02] [ 7.72732114e-01 6.34706696e-01 -5.70003415e-03 6.33490949e+01] [ 7.67050717e-03 -3.58245976e-04 9.99970517e-01 1.78167449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.96, Y:63.37, Z:1.78 [[ 6.33858971e-01 -7.73431536e-01 -5.14428602e-03 2.53961194e+02] [ 7.73410611e-01 6.33879741e-01 -5.70099462e-03 6.33690709e+01] [ 7.67018771e-03 -3.65018808e-04 9.99970517e-01 1.77943397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.98, Y:63.39, Z:1.78 [[ 6.31465673e-01 -7.75386775e-01 -5.14322883e-03 2.53980531e+02] [ 7.75365907e-01 6.31486499e-01 -5.70194822e-03 6.33897853e+01] [ 7.66909481e-03 -3.87299713e-04 9.99970517e-01 1.78190741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.00, Y:63.41, Z:1.78 [[ 6.29959660e-01 -7.76610832e-01 -5.14217679e-03 2.53999364e+02] [ 7.76589996e-01 6.29980519e-01 -5.70289681e-03 6.34087586e+01] [ 7.66840265e-03 -4.00768118e-04 9.99970517e-01 1.78390946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.02, Y:63.43, Z:1.79 [[ 6.28264812e-01 -7.77982580e-01 -5.14106875e-03 2.54018618e+02] [ 7.77961782e-01 6.28285709e-01 -5.70389552e-03 6.34272425e+01] [ 7.66759138e-03 -4.15998156e-04 9.99970517e-01 1.78549824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.04, Y:63.45, Z:1.78 [[ 6.24537826e-01 -7.80977644e-01 -5.14030709e-03 2.54040583e+02] [ 7.80956940e-01 6.24558817e-01 -5.70458184e-03 6.34453494e+01] [ 7.66557500e-03 -4.51631357e-04 9.99970517e-01 1.78304342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.06, Y:63.46, Z:1.78 [[ 6.22922449e-01 -7.82266713e-01 -5.13927371e-03 2.54061119e+02] [ 7.82246045e-01 6.22943474e-01 -5.70551267e-03 6.34649158e+01] [ 7.66470966e-03 -4.66084612e-04 9.99970517e-01 1.78106147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.685898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:254.08, Y:63.48, Z:1.78 [[ 6.21168442e-01 -7.83660236e-01 -5.13823697e-03 2.54082576e+02] [ 7.83639607e-01 6.21189506e-01 -5.70644618e-03 6.34835769e+01] [ 7.66373384e-03 -4.81861719e-04 9.99970517e-01 1.78183561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.10, Y:63.50, Z:1.78 [[ 6.21122704e-01 -7.83696494e-01 -5.13719981e-03 2.54101895e+02] [ 7.83675859e-01 6.21143762e-01 -5.70737972e-03 6.35027261e+01] [ 7.66379310e-03 -4.80916349e-04 9.99970517e-01 1.78424917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.12, Y:63.52, Z:1.79 [[ 6.21685753e-01 -7.83249924e-01 -5.13627922e-03 2.54120004e+02] [ 7.83229267e-01 6.21706790e-01 -5.70820807e-03 6.35226063e+01] [ 7.66421320e-03 -4.74172570e-04 9.99970517e-01 1.78779506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.14, Y:63.54, Z:1.80 [[ 6.24165014e-01 -7.81275665e-01 -5.13520576e-03 2.54138400e+02] [ 7.81254934e-01 6.24185977e-01 -5.70917361e-03 6.35445445e+01] [ 7.66576184e-03 -4.48438411e-04 9.99970517e-01 1.79509058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.16, Y:63.57, Z:1.80 [[ 6.25408002e-01 -7.80281020e-01 -5.13422935e-03 2.54155977e+02] [ 7.80260248e-01 6.25428925e-01 -5.71005156e-03 6.35660769e+01] [ 7.66654040e-03 -4.34923125e-04 9.99970517e-01 1.79515526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.17, Y:63.59, Z:1.79 [[ 6.26205162e-01 -7.79641421e-01 -5.13318643e-03 2.54173173e+02] [ 7.79620620e-01 6.26226057e-01 -5.71098896e-03 6.35872585e+01] [ 7.66705864e-03 -4.25687219e-04 9.99970517e-01 1.79408515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.19, Y:63.61, Z:1.79 [[ 6.26460489e-01 -7.79436282e-01 -5.13208415e-03 2.54189307e+02] [ 7.79415466e-01 6.26481368e-01 -5.71197934e-03 6.36078001e+01] [ 7.66727904e-03 -4.21696394e-04 9.99970517e-01 1.79332175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.895898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.20, Y:63.63, Z:1.79 [[ 6.25467485e-01 -7.80233362e-01 -5.13092130e-03 2.54204684e+02] [ 7.80212564e-01 6.25488382e-01 -5.71302370e-03 6.36292213e+01] [ 7.66682335e-03 -4.29898698e-04 9.99970517e-01 1.79179564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.22, Y:63.65, Z:1.79 [[ 6.23954053e-01 -7.81444192e-01 -5.12979422e-03 2.54222876e+02] [ 7.81423426e-01 6.23974982e-01 -5.71403554e-03 6.36500458e+01] [ 7.66606314e-03 -4.43245738e-04 9.99970517e-01 1.79128566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.24, Y:63.67, Z:1.79 [[ 6.18856202e-01 -7.85487553e-01 -5.12878257e-03 2.54243077e+02] [ 7.85466917e-01 6.18877259e-01 -5.71494343e-03 6.36700200e+01] [ 7.66310383e-03 -4.91760848e-04 9.99970517e-01 1.78944045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.26, Y:63.69, Z:1.79 [[ 6.15409999e-01 -7.88190484e-01 -5.12775825e-03 2.54261918e+02] [ 7.88169932e-01 6.15431139e-01 -5.71586235e-03 6.36893354e+01] [ 7.66097042e-03 -5.23946030e-04 9.99970517e-01 1.78864299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.28, Y:63.71, Z:1.79 [[ 6.12050569e-01 -7.90802009e-01 -5.12667494e-03 2.54280948e+02] [ 7.90781540e-01 6.12071788e-01 -5.71683383e-03 6.37083400e+01] [ 7.65877678e-03 -5.55088504e-04 9.99970517e-01 1.78823240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.30, Y:63.72, Z:1.79 [[ 6.07910456e-01 -7.93989047e-01 -5.12554082e-03 2.54302512e+02] [ 7.93968680e-01 6.07931773e-01 -5.71785048e-03 6.37240289e+01] [ 7.65588977e-03 -5.93577791e-04 9.99970517e-01 1.78580719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.075898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.32, Y:63.74, Z:1.79 [[ 6.07725156e-01 -7.94130892e-01 -5.12466190e-03 2.54322882e+02] [ 7.94110523e-01 6.07746472e-01 -5.71863810e-03 6.37420776e+01] [ 7.65584236e-03 -5.94187717e-04 9.99970517e-01 1.78749245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.34, Y:63.76, Z:1.79 [[ 6.09163072e-01 -7.93028437e-01 -5.12354195e-03 2.54342794e+02] [ 7.93008022e-01 6.09184343e-01 -5.71964133e-03 6.37609624e+01] [ 7.65701976e-03 -5.78815584e-04 9.99970517e-01 1.78866181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.36, Y:63.78, Z:1.79 [[ 6.16295666e-01 -7.87498198e-01 -5.12242310e-03 2.54361759e+02] [ 7.87477584e-01 6.16316744e-01 -5.72064318e-03 6.37806785e+01] [ 7.66203133e-03 -5.08185764e-04 9.99970517e-01 1.79101197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.38, Y:63.80, Z:1.79 [[ 6.20450234e-01 -7.84229099e-01 -5.12130498e-03 2.54379063e+02] [ 7.84208365e-01 6.20471195e-01 -5.72164398e-03 6.38000468e+01] [ 7.66470192e-03 -4.66174855e-04 9.99970517e-01 1.79117569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.40, Y:63.82, Z:1.79 [[ 6.24006936e-01 -7.81402027e-01 -5.12012958e-03 2.54397138e+02] [ 7.81381189e-01 6.24027794e-01 -5.72269562e-03 6.38201082e+01] [ 7.66682912e-03 -4.29771174e-04 9.99970517e-01 1.79058829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22589822699996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:254.42, Y:63.84, Z:1.79 [[ 6.28053055e-01 -7.78153684e-01 -5.11901604e-03 2.54417670e+02] [ 7.78132730e-01 6.28073796e-01 -5.72369152e-03 6.38397783e+01] [ 7.66903148e-03 -3.88491980e-04 9.99970517e-01 1.79213068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.44, Y:63.86, Z:1.79 [[ 6.28680781e-01 -7.77646631e-01 -5.11797229e-03 2.54437732e+02] [ 7.77625653e-01 6.28701497e-01 -5.72462466e-03 6.38582272e+01] [ 7.66941192e-03 -3.80905037e-04 9.99970517e-01 1.79256795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.46, Y:63.87, Z:1.79 [[ 6.29277499e-01 -7.77163848e-01 -5.11686697e-03 2.54461733e+02] [ 7.77142846e-01 6.29298191e-01 -5.72561247e-03 6.38746476e+01] [ 7.66977415e-03 -3.73537462e-04 9.99970517e-01 1.79452437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.48, Y:63.89, Z:1.79 [[ 6.29324182e-01 -7.77126053e-01 -5.11582959e-03 2.54481867e+02] [ 7.77105042e-01 6.29344866e-01 -5.72653921e-03 6.38920030e+01] [ 7.66986390e-03 -3.71687367e-04 9.99970517e-01 1.79369809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.50, Y:63.91, Z:1.80 [[ 6.30009007e-01 -7.76570983e-01 -5.11460017e-03 2.54502926e+02] [ 7.76549946e-01 6.30029663e-01 -5.72763704e-03 6.39110945e+01] [ 7.67026655e-03 -3.63279559e-04 9.99970517e-01 1.79519555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.52, Y:63.93, Z:1.79 [[ 6.35187857e-01 -7.72340752e-01 -5.11355479e-03 2.54522849e+02] [ 7.72319570e-01 6.35208364e-01 -5.72857019e-03 6.39279736e+01] [ 7.67258099e-03 -3.10580211e-04 9.99970517e-01 1.79457629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.54, Y:63.95, Z:1.80 [[ 6.39570206e-01 -7.68715690e-01 -5.11264049e-03 2.54541574e+02] [ 7.68694385e-01 6.39590586e-01 -5.72938608e-03 6.39474527e+01] [ 7.67426570e-03 -2.65713398e-04 9.99970517e-01 1.79545109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.435898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:254.56, Y:63.97, Z:1.80 [[ 6.44540799e-01 -7.64552831e-01 -5.11148143e-03 2.54559835e+02] [ 7.64531385e-01 6.44561031e-01 -5.73041995e-03 6.39667973e+01] [ 7.67587053e-03 -2.14398523e-04 9.99970517e-01 1.79632495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.58, Y:63.99, Z:1.80 [[ 6.54228584e-01 -7.56279608e-01 -5.11025940e-03 2.54577647e+02] [ 7.56257898e-01 6.54248532e-01 -5.73150952e-03 6.39859261e+01] [ 7.67800348e-03 -1.14956671e-04 9.99970517e-01 1.79787128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.59, Y:64.01, Z:1.80 [[ 6.58414864e-01 -7.52637871e-01 -5.10904650e-03 2.54594568e+02] [ 7.52616042e-01 6.58434682e-01 -5.73259049e-03 6.40052640e+01] [ 7.67853811e-03 -7.07275642e-05 9.99970517e-01 1.79878031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.61, Y:64.03, Z:1.80 [[ 6.63694114e-01 -7.47986651e-01 -5.10815333e-03 2.54613971e+02] [ 7.47964677e-01 6.63713771e-01 -5.73338626e-03 6.40254802e+01] [ 7.67884809e-03 -1.55035497e-05 9.99970517e-01 1.80104687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.63, Y:64.05, Z:1.80 [[ 6.64485372e-01 -7.47283821e-01 -5.10705768e-03 2.54632721e+02] [ 7.47261819e-01 6.64504997e-01 -5.73436205e-03 6.40450903e+01] [ 7.67886133e-03 -5.90951710e-06 9.99970517e-01 1.80032125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.585898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.65, Y:64.06, Z:1.80 [[ 6.64265509e-01 -7.47479273e-01 -5.10589816e-03 2.54651321e+02] [ 7.47457269e-01 6.64285132e-01 -5.73539430e-03 6.40644534e+01] [ 7.67886060e-03 -6.61607293e-06 9.99970517e-01 1.79974860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.67, Y:64.08, Z:1.80 [[ 6.62532251e-01 -7.49015993e-01 -5.10474087e-03 2.54671729e+02] [ 7.48994027e-01 6.62551916e-01 -5.73642416e-03 6.40840282e+01] [ 7.67882928e-03 -2.28544028e-05 9.99970517e-01 1.79789158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.69, Y:64.10, Z:1.80 [[ 6.62106561e-01 -7.49392324e-01 -5.10368485e-03 2.54691465e+02] [ 7.49370361e-01 6.62126230e-01 -5.73736354e-03 6.41040167e+01] [ 7.67881981e-03 -2.58041149e-05 9.99970517e-01 1.79890067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.71, Y:64.12, Z:1.80 [[ 6.61984463e-01 -7.49500190e-01 -5.10262348e-03 2.54711015e+02] [ 7.49478223e-01 6.62004128e-01 -5.73830733e-03 6.41238201e+01] [ 7.67882024e-03 -2.56348834e-05 9.99970517e-01 1.80106193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.705898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.73, Y:64.15, Z:1.80 [[ 6.61844466e-01 -7.49623823e-01 -5.10155473e-03 2.54729790e+02] [ 7.49601853e-01 6.61864127e-01 -5.73925733e-03 6.41452300e+01] [ 7.67882009e-03 -2.56391761e-05 9.99970517e-01 1.80128064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.75, Y:64.17, Z:1.81 [[ 6.62569532e-01 -7.48983044e-01 -5.10048260e-03 2.54749453e+02] [ 7.48961047e-01 6.62589163e-01 -5.74020998e-03 6.41651164e+01] [ 7.67884444e-03 -1.67745473e-05 9.99970517e-01 1.80583150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.765898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:254.77, Y:64.19, Z:1.81 [[ 6.63016414e-01 -7.48587491e-01 -5.09940680e-03 2.54767273e+02] [ 7.48565475e-01 6.63036024e-01 -5.74116552e-03 6.41855362e+01] [ 7.67885510e-03 -1.07528965e-05 9.99970517e-01 1.80684549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.79, Y:64.21, Z:1.81 [[ 6.64118238e-01 -7.47610172e-01 -5.09861754e-03 2.54786671e+02] [ 7.47588122e-01 6.64137810e-01 -5.74186636e-03 6.42060076e+01] [ 7.67886239e-03 1.61225573e-06 9.99970517e-01 1.80744015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.80, Y:64.23, Z:1.81 [[ 6.66686538e-01 -7.45320787e-01 -5.09754666e-03 2.54804253e+02] [ 7.45298662e-01 6.66706025e-01 -5.74281692e-03 6.42269163e+01] [ 7.67880590e-03 2.94640272e-05 9.99970517e-01 1.80780681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85589822699995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:254.82, Y:64.25, Z:1.81 [[ 6.67851408e-01 -7.44277182e-01 -5.09641686e-03 2.54821314e+02] [ 7.44255020e-01 6.67870852e-01 -5.74381937e-03 6.42494299e+01] [ 7.67874197e-03 4.29840246e-05 9.99970517e-01 1.80791426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.84, Y:64.27, Z:1.81 [[ 6.69261604e-01 -7.43009383e-01 -5.09535148e-03 2.54838310e+02] [ 7.42987177e-01 6.69280997e-01 -5.74476432e-03 6.42708366e+01] [ 7.67863571e-03 5.89693761e-05 9.99970517e-01 1.80729637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:254.85, Y:64.29, Z:1.80 [[ 6.71564304e-01 -7.40928765e-01 -5.09415032e-03 2.54854059e+02] [ 7.40906491e-01 6.71583619e-01 -5.74582925e-03 6.42933123e+01] [ 7.67839808e-03 8.44047841e-05 9.99970517e-01 1.80391775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.945898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:254.87, Y:64.31, Z:1.80 [[ 6.72629945e-01 -7.39961498e-01 -5.09302528e-03 2.54871234e+02] [ 7.39939188e-01 6.72649219e-01 -5.74682629e-03 6.43149777e+01] [ 7.67824967e-03 9.69584596e-05 9.99970517e-01 1.80313436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.89, Y:64.34, Z:1.80 [[ 6.74495586e-01 -7.38261317e-01 -5.09236226e-03 2.54885316e+02] [ 7.38238954e-01 6.74514799e-01 -5.74741375e-03 6.43368912e+01] [ 7.67796695e-03 1.17225023e-04 9.99970517e-01 1.80192847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.90, Y:64.36, Z:1.80 [[ 6.75091636e-01 -7.37716314e-01 -5.09143116e-03 2.54902194e+02] [ 7.37693930e-01 6.75110823e-01 -5.74823846e-03 6.43593341e+01] [ 7.67784957e-03 1.24669847e-04 9.99970517e-01 1.80133731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.92, Y:64.38, Z:1.80 [[ 6.75438472e-01 -7.37398779e-01 -5.09035621e-03 2.54919360e+02] [ 7.37376378e-01 6.75457640e-01 -5.74919022e-03 6.43817010e+01] [ 7.67776585e-03 1.29715831e-04 9.99970517e-01 1.80063024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.94, Y:64.40, Z:1.80 [[ 6.74857077e-01 -7.37930908e-01 -5.08928161e-03 2.54935009e+02] [ 7.37908515e-01 6.74876254e-01 -5.75014132e-03 6.44038452e+01] [ 7.67784232e-03 1.25099318e-04 9.99970517e-01 1.79967714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.95, Y:64.43, Z:1.80 [[ 6.74289059e-01 -7.38449982e-01 -5.08814271e-03 2.54952358e+02] [ 7.38427596e-01 6.74308246e-01 -5.75114893e-03 6.44260651e+01] [ 7.67791240e-03 1.20711815e-04 9.99970517e-01 1.79943435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.125898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:254.97, Y:64.45, Z:1.80 [[ 6.73459597e-01 -7.39206530e-01 -5.08706966e-03 2.54969340e+02] [ 7.39184158e-01 6.73478800e-01 -5.75209792e-03 6.44481152e+01] [ 7.67802191e-03 1.13524238e-04 9.99970517e-01 1.79877657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.99, Y:64.47, Z:1.80 [[ 6.72904993e-01 -7.39711432e-01 -5.08598934e-03 2.54987720e+02] [ 7.39689068e-01 6.72924205e-01 -5.75305297e-03 6.44681925e+01] [ 7.67808438e-03 1.09207354e-04 9.99970517e-01 1.79749605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.01, Y:64.49, Z:1.80 [[ 6.72926261e-01 -7.39692092e-01 -5.08484661e-03 2.55007230e+02] [ 7.39669720e-01 6.72945463e-01 -5.75406279e-03 6.44882016e+01] [ 7.67805921e-03 1.10952889e-04 9.99970517e-01 1.80054174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.03, Y:64.51, Z:1.80 [[ 6.73512113e-01 -7.39158704e-01 -5.08376787e-03 2.55025182e+02] [ 7.39136309e-01 6.73531289e-01 -5.75501572e-03 6.45082749e+01] [ 7.67794668e-03 1.18475383e-04 9.99970517e-01 1.80276916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.04, Y:64.53, Z:1.80 [[ 6.75310038e-01 -7.37516454e-01 -5.08262494e-03 2.55043653e+02] [ 7.37494005e-01 6.75329150e-01 -5.75602493e-03 6.45277953e+01] [ 7.67760788e-03 1.38695991e-04 9.99970517e-01 1.80292304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.06, Y:64.55, Z:1.80 [[ 6.76395260e-01 -7.36521304e-01 -5.08149236e-03 2.55061734e+02] [ 7.36498819e-01 6.76414330e-01 -5.75702462e-03 6.45471889e+01] [ 7.67736553e-03 1.51511045e-04 9.99970517e-01 1.80088450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.30589822699994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:255.08, Y:64.57, Z:1.80 [[ 6.78919409e-01 -7.34195224e-01 -5.08024844e-03 2.55079947e+02] [ 7.34172666e-01 6.78938393e-01 -5.75812210e-03 6.45674586e+01] [ 7.67676145e-03 1.79521311e-04 9.99970517e-01 1.79895759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.335898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.10, Y:64.59, Z:1.80 [[ 6.80386340e-01 -7.32836020e-01 -5.07907875e-03 2.55096914e+02] [ 7.32813416e-01 6.80405269e-01 -5.75915367e-03 6.45869476e+01] [ 7.67634719e-03 1.96432438e-04 9.99970517e-01 1.80055187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.11, Y:64.61, Z:1.80 [[ 6.81711395e-01 -7.31603574e-01 -5.07785562e-03 2.55114896e+02] [ 7.31580928e-01 6.81730273e-01 -5.76023189e-03 6.46078662e+01] [ 7.67593414e-03 2.11953387e-04 9.99970517e-01 1.80345396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.13, Y:64.63, Z:1.81 [[ 6.84311803e-01 -7.29171847e-01 -5.07680886e-03 2.55133152e+02] [ 7.29149127e-01 6.84330592e-01 -5.76115432e-03 6.46291118e+01] [ 7.67508715e-03 2.40675151e-04 9.99970517e-01 1.80833291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.42589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:255.15, Y:64.65, Z:1.81 [[ 6.85167937e-01 -7.28367445e-01 -5.07576341e-03 2.55150010e+02] [ 7.28344696e-01 6.85186692e-01 -5.76207525e-03 6.46497739e+01] [ 7.67475356e-03 2.51083857e-04 9.99970517e-01 1.80857402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.17, Y:64.67, Z:1.81 [[ 6.85847685e-01 -7.27727422e-01 -5.07465816e-03 2.55168538e+02] [ 7.27704649e-01 6.85866409e-01 -5.76304847e-03 6.46706923e+01] [ 7.67446598e-03 2.59721115e-04 9.99970517e-01 1.80693539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.19, Y:64.69, Z:1.80 [[ 6.86500918e-01 -7.27111235e-01 -5.07362611e-03 2.55185027e+02] [ 7.27088438e-01 6.86519614e-01 -5.76395692e-03 6.46908691e+01] [ 7.67418167e-03 2.67986836e-04 9.99970517e-01 1.80316418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.20, Y:64.71, Z:1.80 [[ 6.86856268e-01 -7.26775574e-01 -5.07272729e-03 2.55202651e+02] [ 7.26752762e-01 6.86874945e-01 -5.76474784e-03 6.47122475e+01] [ 7.67400720e-03 2.72934613e-04 9.99970517e-01 1.80356072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.22, Y:64.73, Z:1.80 [[ 6.87583752e-01 -7.26087366e-01 -5.07164496e-03 2.55219835e+02] [ 7.26064528e-01 6.87602398e-01 -5.76569989e-03 6.47326995e+01] [ 7.67367708e-03 2.82060053e-04 9.99970517e-01 1.80319225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.24, Y:64.76, Z:1.80 [[ 6.89766393e-01 -7.24014236e-01 -5.07049933e-03 2.55235995e+02] [ 7.23991334e-01 6.89784961e-01 -5.76670721e-03 6.47563751e+01] [ 7.67273229e-03 3.06683253e-04 9.99970517e-01 1.80462547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.25, Y:64.78, Z:1.80 [[ 6.90959434e-01 -7.22875758e-01 -5.06941468e-03 2.55252183e+02] [ 7.22852819e-01 6.90977956e-01 -5.76766054e-03 6.47786899e+01] [ 7.67215578e-03 3.20778772e-04 9.99970517e-01 1.80471004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.635898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.27, Y:64.80, Z:1.81 [[ 6.91993669e-01 -7.21885777e-01 -5.06826475e-03 2.55269221e+02] [ 7.21862804e-01 6.92012149e-01 -5.76867085e-03 6.48011540e+01] [ 7.67162222e-03 3.33291901e-04 9.99970517e-01 1.80532222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.28, Y:64.82, Z:1.81 [[ 6.92897562e-01 -7.21018233e-01 -5.06720280e-03 2.55284839e+02] [ 7.20995230e-01 6.92916005e-01 -5.76960352e-03 6.48236097e+01] [ 7.67113525e-03 3.44315165e-04 9.99970517e-01 1.80647271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.30, Y:64.84, Z:1.81 [[ 6.92710582e-01 -7.21197882e-01 -5.06608492e-03 2.55302281e+02] [ 7.21174877e-01 6.92729022e-01 -5.77058493e-03 6.48445991e+01] [ 7.67115767e-03 3.43812080e-04 9.99970517e-01 1.80660849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.32, Y:64.87, Z:1.81 [[ 6.91679968e-01 -7.22186380e-01 -5.06497454e-03 2.55319991e+02] [ 7.22163395e-01 6.91698432e-01 -5.77155937e-03 6.48664441e+01] [ 7.67157651e-03 3.34332791e-04 9.99970517e-01 1.80665943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.755898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:255.34, Y:64.89, Z:1.80 [[ 6.89247144e-01 -7.24508614e-01 -5.06390719e-03 2.55337136e+02] [ 7.24485684e-01 6.89265676e-01 -5.77249569e-03 6.48887353e+01] [ 7.67260027e-03 3.09947906e-04 9.99970517e-01 1.80480225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.36, Y:64.91, Z:1.81 [[ 6.87918228e-01 -7.25770542e-01 -5.06284044e-03 2.55355426e+02] [ 7.25747639e-01 6.87936794e-01 -5.77343115e-03 6.49097891e+01] [ 7.67310048e-03 2.97304024e-04 9.99970517e-01 1.80529987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.815898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:255.37, Y:64.93, Z:1.80 [[ 6.86867342e-01 -7.26765185e-01 -5.06172043e-03 2.55373359e+02] [ 7.26742302e-01 6.86885932e-01 -5.77441293e-03 6.49299920e+01] [ 7.67346683e-03 2.87689300e-04 9.99970517e-01 1.80493881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.39, Y:64.95, Z:1.81 [[ 6.85184515e-01 -7.28351954e-01 -5.06071376e-03 2.55394342e+02] [ 7.28329108e-01 6.85203150e-01 -5.77529504e-03 6.49492130e+01] [ 7.67406444e-03 2.71277601e-04 9.99970517e-01 1.80589171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.41, Y:64.97, Z:1.81 [[ 6.84882833e-01 -7.28635646e-01 -5.05962438e-03 2.55413243e+02] [ 7.28612800e-01 6.84901469e-01 -5.77624927e-03 6.49679922e+01] [ 7.67412529e-03 2.69546878e-04 9.99970517e-01 1.80720202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.43, Y:64.99, Z:1.81 [[ 6.85051909e-01 -7.28476694e-01 -5.05847377e-03 2.55432710e+02] [ 7.28453837e-01 6.85070530e-01 -5.77725673e-03 6.49881846e+01] [ 7.67400819e-03 2.72856122e-04 9.99970517e-01 1.80879687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.45, Y:65.01, Z:1.81 [[ 6.87614206e-01 -7.26058625e-01 -5.05736320e-03 2.55451728e+02] [ 7.26035695e-01 6.87632738e-01 -5.77822874e-03 6.50068575e+01] [ 7.67294132e-03 3.01365962e-04 9.99970517e-01 1.80935960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.47, Y:65.03, Z:1.81 [[ 6.89593517e-01 -7.24178995e-01 -5.05618733e-03 2.55470747e+02] [ 7.24156006e-01 6.89611977e-01 -5.77925749e-03 6.50276107e+01] [ 7.67202422e-03 3.23870071e-04 9.99970517e-01 1.80875279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.49, Y:65.05, Z:1.81 [[ 6.91629238e-01 -7.22235033e-01 -5.05510616e-03 2.55488793e+02] [ 7.22211986e-01 6.91647625e-01 -5.78020304e-03 6.50486448e+01] [ 7.67101730e-03 3.46899174e-04 9.99970517e-01 1.80858489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.50, Y:65.07, Z:1.81 [[ 6.95439528e-01 -7.18566852e-01 -5.05402330e-03 2.55503937e+02] [ 7.18543701e-01 6.95457783e-01 -5.78114970e-03 6.50713527e+01] [ 7.66900238e-03 3.88903413e-04 9.99970517e-01 1.80821162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.52, Y:65.09, Z:1.81 [[ 6.97040148e-01 -7.17014295e-01 -5.05288414e-03 2.55520310e+02] [ 7.16991097e-01 6.97058343e-01 -5.78214519e-03 6.50938722e+01] [ 7.66803581e-03 4.07514395e-04 9.99970517e-01 1.80770222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.085898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.54, Y:65.12, Z:1.81 [[ 6.98491294e-01 -7.15600721e-01 -5.05181449e-03 2.55536195e+02] [ 7.15577479e-01 6.98509433e-01 -5.78307958e-03 6.51162733e+01] [ 7.66711599e-03 4.24466058e-04 9.99970517e-01 1.80635398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.55, Y:65.14, Z:1.80 [[ 6.99464405e-01 -7.14649590e-01 -5.05068397e-03 2.55552389e+02] [ 7.14626316e-01 6.99482504e-01 -5.78406676e-03 6.51382178e+01] [ 7.66644601e-03 4.36397143e-04 9.99970517e-01 1.80486843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.57, Y:65.16, Z:1.80 [[ 6.98925791e-01 -7.15176369e-01 -5.04961719e-03 2.55568269e+02] [ 7.15153102e-01 6.98943899e-01 -5.78499793e-03 6.51618593e+01] [ 7.66669295e-03 4.32034854e-04 9.99970517e-01 1.80362540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.59, Y:65.18, Z:1.81 [[ 6.97428405e-01 -7.16636681e-01 -5.04857416e-03 2.55585253e+02] [ 7.16613445e-01 6.97446552e-01 -5.78590804e-03 6.51846275e+01] [ 7.66750458e-03 4.17380491e-04 9.99970517e-01 1.80643165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.205898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:255.60, Y:65.21, Z:1.81 [[ 6.93296608e-01 -7.20634676e-01 -5.04749616e-03 2.55599823e+02] [ 7.20611538e-01 6.93314881e-01 -5.78684831e-03 6.52075896e+01] [ 7.66970775e-03 3.74718334e-04 9.99970517e-01 1.80999171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.62, Y:65.23, Z:1.81 [[ 6.91026159e-01 -7.22812131e-01 -5.04679825e-03 2.55617612e+02] [ 7.22789047e-01 6.91044499e-01 -5.78745690e-03 6.52296741e+01] [ 7.67080623e-03 3.51513617e-04 9.99970517e-01 1.81013013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.265898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.63, Y:65.25, Z:1.81 [[ 6.89094064e-01 -7.24654339e-01 -5.04570111e-03 2.55634350e+02] [ 7.24631297e-01 6.89112457e-01 -5.78841327e-03 6.52509277e+01] [ 7.67165428e-03 3.32488286e-04 9.99970517e-01 1.80889750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.65, Y:65.27, Z:1.81 [[ 6.86993023e-01 -7.26646502e-01 -5.04454650e-03 2.55649547e+02] [ 7.26623505e-01 6.87011473e-01 -5.78941932e-03 6.52732749e+01] [ 7.67252262e-03 3.11804621e-04 9.99970517e-01 1.80581515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.67, Y:65.30, Z:1.81 [[ 6.86681118e-01 -7.26941265e-01 -5.04374440e-03 2.55666623e+02] [ 7.26918271e-01 6.86699571e-01 -5.79011803e-03 6.52954759e+01] [ 7.67261285e-03 3.09574765e-04 9.99970517e-01 1.80694079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.68, Y:65.32, Z:1.81 [[ 6.86813110e-01 -7.26816568e-01 -5.04266774e-03 2.55683571e+02] [ 7.26793564e-01 6.86831551e-01 -5.79105555e-03 6.53177540e+01] [ 7.67249843e-03 3.12394416e-04 9.99970517e-01 1.80881655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.70, Y:65.34, Z:1.81 [[ 6.87905789e-01 -7.25782479e-01 -5.04158786e-03 2.55697591e+02] [ 7.25759441e-01 6.87924187e-01 -5.79199552e-03 6.53414793e+01] [ 7.67195910e-03 3.25367265e-04 9.99970517e-01 1.81368263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.71, Y:65.36, Z:1.81 [[ 6.88762681e-01 -7.24969353e-01 -5.04044435e-03 2.55712957e+02] [ 7.24946286e-01 6.88781042e-01 -5.79299049e-03 6.53637327e+01] [ 7.67150308e-03 3.35944245e-04 9.99970517e-01 1.81486694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.73, Y:65.39, Z:1.82 [[ 6.89793459e-01 -7.23988666e-01 -5.03938579e-03 2.55729170e+02] [ 7.23965566e-01 6.89811778e-01 -5.79391120e-03 6.53873216e+01] [ 7.67095371e-03 3.48260259e-04 9.99970517e-01 1.81513532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.74, Y:65.41, Z:1.81 [[ 6.92478813e-01 -7.21420618e-01 -5.03830090e-03 2.55743083e+02] [ 7.21397443e-01 6.92497039e-01 -5.79485445e-03 6.54110197e+01] [ 7.66953593e-03 3.78196545e-04 9.99970517e-01 1.80916043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.505898227 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:255.76, Y:65.43, Z:1.81 [[ 6.93148029e-01 -7.20777661e-01 -5.03720656e-03 2.55759453e+02] [ 7.20754462e-01 6.93166224e-01 -5.79580555e-03 6.54337636e+01] [ 7.66910862e-03 3.86762093e-04 9.99970517e-01 1.80781321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.78, Y:65.46, Z:1.81 [[ 6.93743089e-01 -7.20204946e-01 -5.03613387e-03 2.55776963e+02] [ 7.20181726e-01 6.93761256e-01 -5.79673749e-03 6.54556446e+01] [ 7.66871357e-03 3.94514984e-04 9.99970517e-01 1.80744661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.79, Y:65.48, Z:1.81 [[ 6.93894202e-01 -7.20059362e-01 -5.03504225e-03 2.55792280e+02] [ 7.20036130e-01 6.93912356e-01 -5.79768551e-03 6.54790434e+01] [ 7.66855576e-03 3.97568022e-04 9.99970517e-01 1.80997992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.81, Y:65.50, Z:1.81 [[ 6.93765267e-01 -7.20183597e-01 -5.03406996e-03 2.55810787e+02] [ 7.20160363e-01 6.93783417e-01 -5.79852962e-03 6.55006683e+01] [ 7.66856017e-03 3.97480804e-04 9.99970517e-01 1.81019862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.83, Y:65.52, Z:1.81 [[ 6.93417990e-01 -7.20517980e-01 -5.03303155e-03 2.55826800e+02] [ 7.20494748e-01 6.93436143e-01 -5.79943080e-03 6.55233703e+01] [ 7.66868015e-03 3.95156850e-04 9.99970517e-01 1.81381478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.84, Y:65.55, Z:1.82 [[ 6.92685660e-01 -7.21222057e-01 -5.03194555e-03 2.55841787e+02] [ 7.21198837e-01 6.92703828e-01 -5.80037293e-03 6.55471280e+01] [ 7.66900484e-03 3.88801866e-04 9.99970517e-01 1.81618332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.86, Y:65.57, Z:1.82 [[ 6.92167456e-01 -7.21719408e-01 -5.03087358e-03 2.55858796e+02] [ 7.21696194e-01 6.92185631e-01 -5.80130254e-03 6.55694491e+01] [ 7.66921104e-03 3.84710497e-04 9.99970517e-01 1.81615561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.88, Y:65.59, Z:1.81 [[ 6.92111088e-01 -7.21773471e-01 -5.02975906e-03 2.55875105e+02] [ 7.21750252e-01 6.92129257e-01 -5.80226868e-03 6.55907649e+01] [ 7.66916700e-03 3.85584620e-04 9.99970517e-01 1.81494813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.89, Y:65.61, Z:1.82 [[ 6.92455477e-01 -7.21443083e-01 -5.02899833e-03 2.55892223e+02] [ 7.21419850e-01 6.92473629e-01 -5.80292794e-03 6.56134543e+01] [ 7.66893095e-03 3.90250016e-04 9.99970517e-01 1.81669838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77589822699997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:255.91, Y:65.64, Z:1.82 [[ 6.93963428e-01 -7.19992694e-01 -5.02790653e-03 2.55906373e+02] [ 7.19969417e-01 6.93981523e-01 -5.80387378e-03 6.56362078e+01] [ 7.66802095e-03 4.07737211e-04 9.99970517e-01 1.81847446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.92, Y:65.66, Z:1.82 [[ 6.94519637e-01 -7.19456184e-01 -5.02719785e-03 2.55922809e+02] [ 7.19432889e-01 6.94537707e-01 -5.80448755e-03 6.56576661e+01] [ 7.66765294e-03 4.14599115e-04 9.99970517e-01 1.81881748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.94, Y:65.68, Z:1.82 [[ 6.95047238e-01 -7.18946504e-01 -5.02606276e-03 2.55939629e+02] [ 7.18923188e-01 6.95065282e-01 -5.80547025e-03 6.56791311e+01] [ 7.66726427e-03 4.21722999e-04 9.99970517e-01 1.81782497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.96, Y:65.70, Z:1.81 [[ 6.95786602e-01 -7.18230990e-01 -5.02493442e-03 2.55955644e+02] [ 7.18207648e-01 6.95804613e-01 -5.80644673e-03 6.57004791e+01] [ 7.66674253e-03 4.31101502e-04 9.99970517e-01 1.81358942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.97, Y:65.72, Z:1.81 [[ 6.96025211e-01 -7.17999768e-01 -5.02386247e-03 2.55973044e+02] [ 7.17976413e-01 6.96043206e-01 -5.80737405e-03 6.57220784e+01] [ 7.66651856e-03 4.35063993e-04 9.99970517e-01 1.81356407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.99, Y:65.74, Z:1.81 [[ 6.96724625e-01 -7.17321105e-01 -5.02278209e-03 2.55989627e+02] [ 7.17297727e-01 6.96742589e-01 -5.80830832e-03 6.57432442e+01] [ 7.66600834e-03 4.43961259e-04 9.99970517e-01 1.81388632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.01, Y:65.76, Z:1.82 [[ 6.97045929e-01 -7.17008894e-01 -5.02180634e-03 2.56007131e+02] [ 7.16985501e-01 6.97063874e-01 -5.80915183e-03 6.57645498e+01] [ 7.66573331e-03 4.48683299e-04 9.99970517e-01 1.81624919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.02, Y:65.79, Z:1.82 [[ 6.97367672e-01 -7.16695976e-01 -5.02075746e-03 2.56024989e+02] [ 7.16672568e-01 6.97385598e-01 -5.81005821e-03 6.57856721e+01] [ 7.66544928e-03 4.53507622e-04 9.99970517e-01 1.81815838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.04, Y:65.81, Z:1.82 [[ 6.98207517e-01 -7.15877829e-01 -5.01970090e-03 2.56042599e+02] [ 7.15854394e-01 6.98225407e-01 -5.81097090e-03 6.58067052e+01] [ 7.66482794e-03 4.63888616e-04 9.99970517e-01 1.81962961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.06, Y:65.83, Z:1.82 [[ 6.99021876e-01 -7.15082674e-01 -5.01858357e-03 2.56060128e+02] [ 7.15059212e-01 6.99039730e-01 -5.81193571e-03 6.58275737e+01] [ 7.66420384e-03 4.74085787e-04 9.99970517e-01 1.81876853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.08, Y:65.85, Z:1.82 [[ 6.99766383e-01 -7.14354138e-01 -5.01748487e-03 2.56077570e+02] [ 7.14330651e-01 6.99784204e-01 -5.81288407e-03 6.58489387e+01] [ 7.66361444e-03 4.83517633e-04 9.99970517e-01 1.81717706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.09, Y:65.87, Z:1.81 [[ 7.02248295e-01 -7.11914438e-01 -5.01645311e-03 2.56093753e+02] [ 7.11890883e-01 7.02266026e-01 -5.81377433e-03 6.58722680e+01] [ 7.66179448e-03 5.11545877e-04 9.99970517e-01 1.81478376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.11, Y:65.90, Z:1.81 [[ 7.03172749e-01 -7.11001358e-01 -5.01542832e-03 2.56110249e+02] [ 7.10977773e-01 7.03190441e-01 -5.81465827e-03 6.58954780e+01] [ 7.66103117e-03 5.22851181e-04 9.99970517e-01 1.81336940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.13, Y:65.92, Z:1.81 [[ 7.03820368e-01 -7.10360293e-01 -5.01440749e-03 2.56126063e+02] [ 7.10336686e-01 7.03838030e-01 -5.81553847e-03 6.59181919e+01] [ 7.66045830e-03 5.31176822e-04 9.99970517e-01 1.81209019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.14, Y:65.94, Z:1.81 [[ 7.03928167e-01 -7.10253477e-01 -5.01339233e-03 2.56142645e+02] [ 7.10229861e-01 7.03945818e-01 -5.81641348e-03 6.59413299e+01] [ 7.66028445e-03 5.33676344e-04 9.99970517e-01 1.81089600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.16, Y:65.97, Z:1.81 [[ 7.03177382e-01 -7.10996797e-01 -5.01237968e-03 2.56156018e+02] [ 7.10973194e-01 7.03195049e-01 -5.81728601e-03 6.59659397e+01] [ 7.66075229e-03 5.26916350e-04 9.99970517e-01 1.80708571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.17, Y:65.99, Z:1.81 [[ 7.02663675e-01 -7.11504495e-01 -5.01135678e-03 2.56171710e+02] [ 7.11480898e-01 7.02681351e-01 -5.81816706e-03 6.59897994e+01] [ 7.66103897e-03 5.22730030e-04 9.99970517e-01 1.80739371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.19, Y:66.01, Z:1.80 [[ 7.01734803e-01 -7.12420637e-01 -5.01029997e-03 2.56186921e+02] [ 7.12397056e-01 7.01752501e-01 -5.81907699e-03 6.60129275e+01] [ 7.66162107e-03 5.14125896e-04 9.99970517e-01 1.80449406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.20, Y:66.04, Z:1.81 [[ 6.97816042e-01 -7.16259505e-01 -5.00933685e-03 2.56200676e+02] [ 7.16236016e-01 6.97833861e-01 -5.81990597e-03 6.60367733e+01] [ 7.66424784e-03 4.73356277e-04 9.99970517e-01 1.80919139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.22, Y:66.06, Z:1.81 [[ 6.94658732e-01 -7.19322014e-01 -5.00871173e-03 2.56217568e+02] [ 7.19298600e-01 6.94676649e-01 -5.82044391e-03 6.60589894e+01] [ 7.66620851e-03 4.40462845e-04 9.99970517e-01 1.81298803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.24, Y:66.08, Z:1.82 [[ 6.91060333e-01 -7.22779730e-01 -5.00775861e-03 2.56235069e+02] [ 7.22756400e-01 6.91078360e-01 -5.82126384e-03 6.60810410e+01] [ 7.66824511e-03 4.03454946e-04 9.99970517e-01 1.81591608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.25, Y:66.10, Z:1.81 [[ 6.84898602e-01 -7.28621190e-01 -5.00667983e-03 2.56254400e+02] [ 7.28598007e-01 6.84916817e-01 -5.82219151e-03 6.61019896e+01] [ 7.67133132e-03 3.39753880e-04 9.99970517e-01 1.81238472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.27, Y:66.12, Z:1.81 [[ 6.82370247e-01 -7.30989596e-01 -5.00562486e-03 2.56273422e+02] [ 7.30966470e-01 6.82388534e-01 -5.82309838e-03 6.61214815e+01] [ 7.67240534e-03 3.14565142e-04 9.99970517e-01 1.80801911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.30, Y:66.14, Z:1.81 [[ 6.78642877e-01 -7.34451360e-01 -5.00448698e-03 2.56295070e+02] [ 7.34428320e-01 6.78661272e-01 -5.82407613e-03 6.61398781e+01] [ 7.67385214e-03 2.77030812e-04 9.99970517e-01 1.81408116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.31, Y:66.16, Z:1.82 [[ 6.77717737e-01 -7.35305130e-01 -5.00342839e-03 2.56314241e+02] [ 7.35282106e-01 6.77736153e-01 -5.82498542e-03 6.61589067e+01] [ 7.67414597e-03 2.68764577e-04 9.99970517e-01 1.81647800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.33, Y:66.18, Z:1.82 [[ 6.77843024e-01 -7.35189643e-01 -5.00243684e-03 2.56333831e+02] [ 7.35166610e-01 6.77861428e-01 -5.82583683e-03 6.61776893e+01] [ 7.67405387e-03 2.71378320e-04 9.99970517e-01 1.82185344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.35, Y:66.20, Z:1.83 [[ 6.78814278e-01 -7.34292968e-01 -5.00130642e-03 2.56353561e+02] [ 7.34269904e-01 6.78832643e-01 -5.82680710e-03 6.61973225e+01] [ 7.67363353e-03 2.83011064e-04 9.99970517e-01 1.82523813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.37, Y:66.22, Z:1.83 [[ 6.82676771e-01 -7.30703376e-01 -5.00023548e-03 2.56373898e+02] [ 7.30680209e-01 6.82695005e-01 -5.82772597e-03 6.62171456e+01] [ 7.67197483e-03 3.24880041e-04 9.99970517e-01 1.82734729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.39, Y:66.24, Z:1.83 [[ 6.85173406e-01 -7.28362830e-01 -4.99914017e-03 2.56391759e+02] [ 7.28339593e-01 6.85191553e-01 -5.82866540e-03 6.62370814e+01] [ 7.67075184e-03 3.52574813e-04 9.99970517e-01 1.82572539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.41, Y:66.26, Z:1.82 [[ 6.89751170e-01 -7.24029240e-01 -4.99833889e-03 2.56411661e+02] [ 7.24005884e-01 6.89769163e-01 -5.82935245e-03 6.62567946e+01] [ 7.66832166e-03 4.01975912e-04 9.99970517e-01 1.81916488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67589822699995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:256.43, Y:66.28, Z:1.82 [[ 6.91357678e-01 -7.22495390e-01 -4.99726809e-03 2.56430689e+02] [ 7.22471988e-01 6.91375610e-01 -5.83027026e-03 6.62771605e+01] [ 7.66733266e-03 4.20415897e-04 9.99970517e-01 1.81807897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.45, Y:66.30, Z:1.82 [[ 6.93004285e-01 -7.20916153e-01 -4.99617075e-03 2.56450666e+02] [ 7.20892703e-01 6.93022155e-01 -5.83121046e-03 6.62957549e+01] [ 7.66627083e-03 4.39350795e-04 9.99970517e-01 1.81753182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.47, Y:66.31, Z:1.82 [[ 6.94472161e-01 -7.19502235e-01 -4.99516845e-03 2.56472897e+02] [ 7.19478743e-01 6.94489975e-01 -5.83206893e-03 6.63123978e+01] [ 7.66528104e-03 4.56291999e-04 9.99970517e-01 1.81903590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.49, Y:66.33, Z:1.82 [[ 6.94076423e-01 -7.19884003e-01 -4.99404822e-03 2.56493320e+02] [ 7.19860514e-01 6.94094241e-01 -5.83302804e-03 6.63308455e+01] [ 7.66544368e-03 4.53549117e-04 9.99970517e-01 1.82058403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.51, Y:66.35, Z:1.82 [[ 6.92965575e-01 -7.20953385e-01 -4.99293417e-03 2.56513012e+02] [ 7.20929916e-01 6.92983420e-01 -5.83398148e-03 6.63494103e+01] [ 7.66604929e-03 4.43192717e-04 9.99970517e-01 1.82204771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.53, Y:66.37, Z:1.82 [[ 6.91694260e-01 -7.22173201e-01 -4.99182393e-03 2.56533024e+02] [ 7.22149757e-01 6.91712138e-01 -5.83493129e-03 6.63688546e+01] [ 7.66673621e-03 4.31144044e-04 9.99970517e-01 1.82309402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.56, Y:66.39, Z:1.82 [[ 6.90222990e-01 -7.23579516e-01 -4.99078562e-03 2.56555894e+02] [ 7.23556103e-01 6.90240907e-01 -5.83581925e-03 6.63860784e+01] [ 7.66752367e-03 4.16903217e-04 9.99970517e-01 1.81996433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.58, Y:66.40, Z:1.82 [[ 6.89879125e-01 -7.23907381e-01 -4.98974981e-03 2.56576292e+02] [ 7.23883969e-01 6.89897045e-01 -5.83670476e-03 6.64049449e+01] [ 7.66764730e-03 4.14620873e-04 9.99970517e-01 1.81773603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.60, Y:66.42, Z:1.82 [[ 6.90526042e-01 -7.23290328e-01 -4.98871663e-03 2.56600316e+02] [ 7.23266894e-01 6.90543932e-01 -5.83758770e-03 6.64212771e+01] [ 7.66719872e-03 4.22832749e-04 9.99970517e-01 1.81701320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.62, Y:66.44, Z:1.82 [[ 6.91062706e-01 -7.22777601e-01 -4.98761732e-03 2.56621110e+02] [ 7.22754147e-01 6.91080570e-01 -5.83852680e-03 6.64403145e+01] [ 7.66680181e-03 4.29967027e-04 9.99970517e-01 1.81785535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.64, Y:66.46, Z:1.82 [[ 6.91808250e-01 -7.22064041e-01 -4.98650056e-03 2.56641949e+02] [ 7.22040562e-01 6.91826082e-01 -5.83948043e-03 6.64585847e+01] [ 7.66626998e-03 4.39345069e-04 9.99970517e-01 1.81632453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.67, Y:66.47, Z:1.82 [[ 6.92056164e-01 -7.21826439e-01 -4.98579040e-03 2.56665757e+02] [ 7.21802949e-01 6.92073982e-01 -5.84008671e-03 6.64735100e+01] [ 7.66606481e-03 4.42909796e-04 9.99970517e-01 1.81813702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.69, Y:66.49, Z:1.82 [[ 6.91810904e-01 -7.22061511e-01 -4.98470860e-03 2.56687608e+02] [ 7.22038021e-01 6.91828721e-01 -5.84100991e-03 6.64921008e+01] [ 7.66613302e-03 4.41725215e-04 9.99970517e-01 1.82046886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.71, Y:66.51, Z:1.82 [[ 6.91933989e-01 -7.21943570e-01 -4.98361392e-03 2.56708529e+02] [ 7.21920070e-01 6.91951793e-01 -5.84194376e-03 6.65098759e+01] [ 7.66597432e-03 4.44468539e-04 9.99970517e-01 1.82081876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.73, Y:66.53, Z:1.82 [[ 6.93169756e-01 -7.20757146e-01 -4.98246240e-03 2.56731260e+02] [ 7.20733609e-01 6.93187511e-01 -5.84292570e-03 6.65253443e+01] [ 7.66511116e-03 4.59111279e-04 9.99970517e-01 1.82172833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.75, Y:66.55, Z:1.82 [[ 6.94115219e-01 -7.19846684e-01 -4.98134724e-03 2.56751165e+02] [ 7.19823117e-01 6.94132934e-01 -5.84387627e-03 6.65452170e+01] [ 7.66441213e-03 4.70634568e-04 9.99970517e-01 1.82364829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.77, Y:66.57, Z:1.82 [[ 6.95339679e-01 -7.18663988e-01 -4.98027862e-03 2.56770782e+02] [ 7.18640384e-01 6.95357345e-01 -5.84478683e-03 6.65653602e+01] [ 7.66351113e-03 4.85082864e-04 9.99970517e-01 1.82297021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.185898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:256.79, Y:66.58, Z:1.82 [[ 6.99227966e-01 -7.14881430e-01 -4.97921009e-03 2.56791540e+02] [ 7.14857724e-01 6.99245495e-01 -5.84569697e-03 6.65849186e+01] [ 7.66067043e-03 5.28048010e-04 9.99970517e-01 1.82275974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.81, Y:66.61, Z:1.82 [[ 7.01733246e-01 -7.12422395e-01 -4.97814393e-03 2.56810758e+02] [ 7.12398621e-01 7.01750683e-01 -5.84660476e-03 6.66053895e+01] [ 7.65866807e-03 5.56334071e-04 9.99970517e-01 1.82354240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.83, Y:66.63, Z:1.82 [[ 7.04551225e-01 -7.09635681e-01 -4.97707591e-03 2.56828902e+02] [ 7.09611832e-01 7.04568559e-01 -5.84751380e-03 6.66258308e+01] [ 7.65629564e-03 5.88081056e-04 9.99970517e-01 1.82296497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.85, Y:66.65, Z:1.82 [[ 7.07305160e-01 -7.06890833e-01 -4.97596012e-03 2.56846248e+02] [ 7.06866910e-01 7.07322392e-01 -5.84846313e-03 6.66476550e+01] [ 7.65383299e-03 6.19306596e-04 9.99970517e-01 1.82267334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.86, Y:66.67, Z:1.82 [[ 7.13255438e-01 -7.00886531e-01 -4.97491319e-03 2.56859577e+02] [ 7.00862458e-01 7.13272459e-01 -5.84935355e-03 6.66714266e+01] [ 7.64820169e-03 6.85353343e-04 9.99970517e-01 1.82226575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.87, Y:66.69, Z:1.82 [[ 7.16190552e-01 -6.97887064e-01 -4.97380724e-03 2.56874218e+02] [ 6.97862913e-01 7.16207462e-01 -5.85029381e-03 6.66943810e+01] [ 7.64512223e-03 7.18889551e-04 9.99970517e-01 1.82272555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.89, Y:66.72, Z:1.82 [[ 7.18472952e-01 -6.95537123e-01 -4.97273089e-03 2.56889398e+02] [ 6.95512910e-01 7.18489774e-01 -5.85120856e-03 6.67183874e+01] [ 7.64258906e-03 7.45336551e-04 9.99970517e-01 1.82260274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.90, Y:66.74, Z:1.82 [[ 7.20018972e-01 -6.93936569e-01 -4.97171065e-03 2.56903674e+02] [ 6.93912313e-01 7.20035732e-01 -5.85207532e-03 6.67415473e+01] [ 7.64077839e-03 7.63674014e-04 9.99970517e-01 1.82139252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.91, Y:66.77, Z:1.82 [[ 7.20225966e-01 -6.93721739e-01 -4.97063743e-03 2.56914260e+02] [ 6.93697472e-01 7.20242709e-01 -5.85298675e-03 6.67693515e+01] [ 7.64040952e-03 7.67354412e-04 9.99970517e-01 1.82155966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.93, Y:66.79, Z:1.82 [[ 7.19160086e-01 -6.94826650e-01 -4.96962698e-03 2.56928011e+02] [ 6.94802403e-01 7.19176858e-01 -5.85384458e-03 6.67945193e+01] [ 7.64144793e-03 7.56942603e-04 9.99970517e-01 1.82249960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.94, Y:66.82, Z:1.82 [[ 7.16518695e-01 -6.97550194e-01 -4.96862419e-03 2.56936573e+02] [ 6.97526005e-01 7.16535551e-01 -5.85469560e-03 6.68227136e+01] [ 7.64413992e-03 7.29254270e-04 9.99970517e-01 1.82193306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.95, Y:66.84, Z:1.82 [[ 7.16398910e-01 -6.97673220e-01 -4.96788205e-03 2.56954843e+02] [ 6.97649030e-01 7.16415764e-01 -5.85532526e-03 6.68445398e+01] [ 7.64417264e-03 7.28910542e-04 9.99970517e-01 1.82215173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.97, Y:66.87, Z:1.82 [[ 7.14893541e-01 -6.99215672e-01 -4.96687647e-03 2.56968064e+02] [ 6.99191512e-01 7.14910438e-01 -5.85617813e-03 6.68698656e+01] [ 7.64560336e-03 7.13746053e-04 9.99970517e-01 1.82255912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.98, Y:66.90, Z:1.82 [[ 7.13072555e-01 -7.01072658e-01 -4.96582993e-03 2.56981121e+02] [ 7.01048536e-01 7.13089507e-01 -5.85706543e-03 6.68950481e+01] [ 7.64730964e-03 6.95224808e-04 9.99970517e-01 1.82358751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.99, Y:66.92, Z:1.83 [[ 7.09025893e-01 -7.05164970e-01 -4.96472079e-03 2.56990250e+02] [ 7.05140940e-01 7.09042974e-01 -5.85800544e-03 6.69238172e+01] [ 7.65106062e-03 6.52649652e-04 9.99970517e-01 1.82583910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.635898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:257.00, Y:66.95, Z:1.83 [[ 7.06774353e-01 -7.07421639e-01 -4.96375227e-03 2.57004111e+02] [ 7.07397658e-01 7.06791503e-01 -5.85882599e-03 6.69482165e+01] [ 7.65299821e-03 6.29521222e-04 9.99970517e-01 1.82615015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.02, Y:66.97, Z:1.83 [[ 7.02514075e-01 -7.11652543e-01 -4.96305004e-03 2.57016056e+02] [ 7.11628661e-01 7.02531363e-01 -5.85942079e-03 6.69742676e+01] [ 7.65657002e-03 5.84476921e-04 9.99970517e-01 1.82745976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.03, Y:67.00, Z:1.83 [[ 7.00169302e-01 -7.13959609e-01 -4.96234887e-03 2.57031216e+02] [ 7.13935780e-01 7.00186663e-01 -5.86001455e-03 6.69980085e+01] [ 7.65838420e-03 5.60203885e-04 9.99970517e-01 1.82823363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.05, Y:67.02, Z:1.83 [[ 6.97899600e-01 -7.16178423e-01 -4.96123332e-03 2.57046375e+02] [ 7.16154643e-01 6.97917027e-01 -5.86095885e-03 6.70210188e+01] [ 7.66002148e-03 5.37350563e-04 9.99970517e-01 1.82639424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.06, Y:67.04, Z:1.83 [[ 6.95676146e-01 -7.18338427e-01 -4.96027985e-03 2.57062303e+02] [ 7.18314695e-01 6.95693639e-01 -5.86176569e-03 6.70435507e+01] [ 7.66156668e-03 5.14848656e-04 9.99970517e-01 1.82717681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.08, Y:67.06, Z:1.83 [[ 6.93771752e-01 -7.20177869e-01 -4.95916478e-03 2.57078283e+02] [ 7.20154177e-01 6.93789298e-01 -5.86270891e-03 6.70649637e+01] [ 7.66280866e-03 4.96018605e-04 9.99970517e-01 1.82824503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.815898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:257.09, Y:67.09, Z:1.83 [[ 6.90939698e-01 -7.22895394e-01 -4.95814888e-03 2.57094530e+02] [ 7.22871764e-01 6.90957329e-01 -5.86356794e-03 6.70877521e+01] [ 7.66461556e-03 4.67266035e-04 9.99970517e-01 1.83024677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.11, Y:67.11, Z:1.83 [[ 6.90129349e-01 -7.23669061e-01 -4.95705405e-03 2.57111207e+02] [ 7.23645444e-01 6.90146998e-01 -5.86449336e-03 6.71088712e+01] [ 7.66504837e-03 4.60109399e-04 9.99970517e-01 1.82919732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.13, Y:67.13, Z:1.83 [[ 6.89459251e-01 -7.24307516e-01 -4.95608205e-03 2.57128474e+02] [ 7.24283910e-01 6.89476914e-01 -5.86531469e-03 6.71310385e+01] [ 7.66539567e-03 4.54284985e-04 9.99970517e-01 1.82675424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.15, Y:67.15, Z:1.82 [[ 6.88559191e-01 -7.25163215e-01 -4.95501366e-03 2.57146623e+02] [ 7.25139624e-01 6.88576875e-01 -5.86621712e-03 6.71528392e+01] [ 7.66587269e-03 4.46160969e-04 9.99970517e-01 1.82420640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.17, Y:67.17, Z:1.82 [[ 6.87805966e-01 -7.25877684e-01 -4.95392554e-03 2.57165162e+02] [ 7.25854105e-01 6.87823665e-01 -5.86713587e-03 6.71728820e+01] [ 7.66625022e-03 4.39623864e-04 9.99970517e-01 1.82431349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.18, Y:67.19, Z:1.83 [[ 6.86499061e-01 -7.27113819e-01 -4.95316761e-03 2.57183805e+02] [ 7.27090267e-01 6.86516797e-01 -5.86777567e-03 6.71928297e+01] [ 7.66697354e-03 4.26822523e-04 9.99970517e-01 1.82505419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.20, Y:67.21, Z:1.83 [[ 6.83745648e-01 -7.29703615e-01 -4.95216660e-03 2.57203598e+02] [ 7.29680124e-01 6.83763465e-01 -5.86862036e-03 6.72126066e+01] [ 7.66846408e-03 3.99146085e-04 9.99970517e-01 1.82738503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.22, Y:67.23, Z:1.83 [[ 6.82369800e-01 -7.30990386e-01 -4.95102109e-03 2.57222445e+02] [ 7.30966922e-01 6.82387652e-01 -5.86958660e-03 6.72325638e+01] [ 7.66912703e-03 3.86195983e-04 9.99970517e-01 1.82610702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.24, Y:67.25, Z:1.83 [[ 6.81200844e-01 -7.32079851e-01 -4.94998029e-03 2.57242464e+02] [ 7.32056409e-01 6.81218725e-01 -5.87046420e-03 6.72528184e+01] [ 7.66966782e-03 3.75300373e-04 9.99970517e-01 1.82651026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.26, Y:67.27, Z:1.83 [[ 6.80288303e-01 -7.32927918e-01 -4.94889701e-03 2.57262428e+02] [ 7.32904492e-01 6.80306205e-01 -5.87137729e-03 6.72726033e+01] [ 7.67006167e-03 3.67160448e-04 9.99970517e-01 1.82786551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.28, Y:67.29, Z:1.83 [[ 6.79806368e-01 -7.33374953e-01 -4.94779087e-03 2.57281456e+02] [ 7.33351532e-01 6.79824276e-01 -5.87230927e-03 6.72915843e+01] [ 7.67023289e-03 3.63563218e-04 9.99970517e-01 1.82867193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.30, Y:67.31, Z:1.83 [[ 6.79271523e-01 -7.33870377e-01 -4.94661944e-03 2.57302352e+02] [ 7.33846962e-01 6.79289438e-01 -5.87329588e-03 6.73100297e+01] [ 7.67042420e-03 3.59500991e-04 9.99970517e-01 1.83124618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.32, Y:67.33, Z:1.83 [[ 6.79040750e-01 -7.34083921e-01 -4.94550272e-03 2.57320941e+02] [ 7.34060505e-01 6.79058664e-01 -5.87423605e-03 6.73294393e+01] [ 7.67046870e-03 3.58547430e-04 9.99970517e-01 1.83183606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.34, Y:67.35, Z:1.83 [[ 6.79263888e-01 -7.33877456e-01 -4.94468506e-03 2.57342101e+02] [ 7.33854029e-01 6.79281789e-01 -5.87492424e-03 6.73475367e+01] [ 7.67030897e-03 3.61946826e-04 9.99970517e-01 1.83437427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.36, Y:67.37, Z:1.84 [[ 6.79727802e-01 -7.33447801e-01 -4.94357353e-03 2.57361579e+02] [ 7.33424356e-01 6.79745679e-01 -5.87585941e-03 6.73667505e+01] [ 7.67000890e-03 3.68247768e-04 9.99970517e-01 1.83617967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.38, Y:67.39, Z:1.84 [[ 6.80697665e-01 -7.32547787e-01 -4.94240119e-03 2.57380752e+02] [ 7.32524312e-01 6.80715502e-01 -5.87684534e-03 6.73853606e+01] [ 7.66943916e-03 3.79925877e-04 9.99970517e-01 1.83680616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.40, Y:67.40, Z:1.84 [[ 6.81799090e-01 -7.31522785e-01 -4.94124586e-03 2.57400474e+02] [ 7.31499276e-01 6.81816882e-01 -5.87781658e-03 6.74048781e+01] [ 7.66878160e-03 3.92972228e-04 9.99970517e-01 1.83791966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.42, Y:67.42, Z:1.83 [[ 6.83996890e-01 -7.29468196e-01 -4.94015157e-03 2.57421796e+02] [ 7.29444627e-01 6.84014603e-01 -5.87873615e-03 6.74226625e+01] [ 7.66748687e-03 4.17470226e-04 9.99970517e-01 1.83412152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.44, Y:67.44, Z:1.83 [[ 6.84695446e-01 -7.28812561e-01 -4.93935398e-03 2.57440982e+02] [ 7.28788970e-01 6.84713129e-01 -5.87940622e-03 6.74422200e+01] [ 7.66702563e-03 4.25855964e-04 9.99970517e-01 1.83159605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.46, Y:67.46, Z:1.83 [[ 6.85376683e-01 -7.28171969e-01 -4.93824904e-03 2.57460859e+02] [ 7.28148355e-01 6.85394336e-01 -5.88033414e-03 6.74624903e+01] [ 7.66654241e-03 4.34466001e-04 9.99970517e-01 1.83090403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.48, Y:67.48, Z:1.83 [[ 6.86113614e-01 -7.27477651e-01 -4.93717827e-03 2.57481202e+02] [ 7.27454013e-01 6.86131234e-01 -5.88123303e-03 6.74825185e+01] [ 7.66601781e-03 4.43623905e-04 9.99970517e-01 1.83139782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.50, Y:67.50, Z:1.83 [[ 6.88151963e-01 -7.25549799e-01 -4.93610876e-03 2.57502319e+02] [ 7.25526105e-01 6.88169508e-01 -5.88213053e-03 6.75003872e+01] [ 7.66465816e-03 4.66523902e-04 9.99970517e-01 1.83404325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.52, Y:67.52, Z:1.84 [[ 6.89474234e-01 -7.24293398e-01 -4.93497892e-03 2.57520964e+02] [ 7.24269665e-01 6.89491727e-01 -5.88307829e-03 6.75209937e+01] [ 7.66370190e-03 4.81975363e-04 9.99970517e-01 1.83540336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.505898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:257.54, Y:67.54, Z:1.84 [[ 6.91301763e-01 -7.22549326e-01 -4.93390296e-03 2.57539445e+02] [ 7.22525543e-01 6.91319187e-01 -5.88398051e-03 6.75424707e+01] [ 7.66236794e-03 5.02735183e-04 9.99970517e-01 1.83588109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.56, Y:67.56, Z:1.84 [[ 6.94749723e-01 -7.19234655e-01 -4.93283389e-03 2.57557655e+02] [ 7.19210783e-01 6.94767024e-01 -5.88487663e-03 6.75621126e+01] [ 7.65977754e-03 5.40769089e-04 9.99970517e-01 1.83624100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.565898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:257.58, Y:67.58, Z:1.84 [[ 6.96695253e-01 -7.17350265e-01 -4.93170644e-03 2.57575513e+02] [ 7.17326339e-01 6.96712480e-01 -5.88582132e-03 6.75834875e+01] [ 7.65817691e-03 5.62980844e-04 9.99970517e-01 1.83756810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.59, Y:67.61, Z:1.84 [[ 6.98284165e-01 -7.15803684e-01 -4.93062981e-03 2.57593093e+02] [ 7.15779713e-01 6.98301331e-01 -5.88672309e-03 6.76050579e+01] [ 7.65680343e-03 5.81360729e-04 9.99970517e-01 1.83928950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.61, Y:67.63, Z:1.84 [[ 6.99354699e-01 -7.14757794e-01 -4.92957236e-03 2.57610249e+02] [ 7.14733792e-01 6.99371820e-01 -5.88760847e-03 6.76267570e+01] [ 7.65581804e-03 5.94194709e-04 9.99970517e-01 1.84083418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.63, Y:67.65, Z:1.84 [[ 7.00978338e-01 -7.13165535e-01 -4.92845172e-03 2.57627419e+02] [ 7.13141488e-01 7.00995395e-01 -5.88854639e-03 6.76477416e+01] [ 7.65433030e-03 6.13060067e-04 9.99970517e-01 1.83904381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.65, Y:67.67, Z:1.84 [[ 7.01556286e-01 -7.12597008e-01 -4.92770495e-03 2.57645366e+02] [ 7.12572942e-01 7.01573318e-01 -5.88917124e-03 6.76689885e+01] [ 7.65375212e-03 6.20235891e-04 9.99970517e-01 1.84265332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.66, Y:67.69, Z:1.84 [[ 7.02351602e-01 -7.11813146e-01 -4.92663437e-03 2.57662400e+02] [ 7.11789055e-01 7.02368598e-01 -5.89006671e-03 6.76896625e+01] [ 7.65294020e-03 6.30173371e-04 9.99970517e-01 1.84379425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.68, Y:67.71, Z:1.84 [[ 7.03031867e-01 -7.11141288e-01 -4.92564926e-03 2.57679413e+02] [ 7.11117175e-01 7.03048832e-01 -5.89089041e-03 6.77110321e+01] [ 7.65222736e-03 6.38769895e-04 9.99970517e-01 1.84485636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.70, Y:67.73, Z:1.85 [[ 7.04037143e-01 -7.10146076e-01 -4.92456601e-03 2.57698241e+02] [ 7.10121933e-01 7.04054065e-01 -5.89179583e-03 6.77317460e+01] [ 7.65119641e-03 6.51000777e-04 9.99970517e-01 1.84659994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.72, Y:67.75, Z:1.85 [[ 7.03651698e-01 -7.10528006e-01 -4.92348770e-03 2.57717524e+02] [ 7.10503866e-01 7.03668624e-01 -5.89269679e-03 6.77512732e+01] [ 7.65142991e-03 6.48249059e-04 9.99970517e-01 1.84547583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.74, Y:67.77, Z:1.84 [[ 7.02617803e-01 -7.11550414e-01 -4.92252237e-03 2.57737248e+02] [ 7.11526293e-01 7.02634756e-01 -5.89350307e-03 6.77707405e+01] [ 7.65225986e-03 6.38376084e-04 9.99970517e-01 1.84410832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.76, Y:67.79, Z:1.84 [[ 7.00055321e-01 -7.14071654e-01 -4.92144246e-03 2.57759548e+02] [ 7.14047588e-01 7.00072352e-01 -5.89440472e-03 6.77873935e+01] [ 7.65439313e-03 6.12265272e-04 9.99970517e-01 1.83937592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.78, Y:67.81, Z:1.84 [[ 6.98801370e-01 -7.15298841e-01 -4.92068664e-03 2.57779790e+02] [ 7.15274800e-01 6.98818437e-01 -5.89503562e-03 6.78058270e+01] [ 7.65537870e-03 5.99815808e-04 9.99970517e-01 1.83851739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.80, Y:67.83, Z:1.84 [[ 6.97880729e-01 -7.16197100e-01 -4.91955591e-03 2.57800645e+02] [ 7.16173075e-01 6.97897818e-01 -5.89597910e-03 6.78250411e+01] [ 7.65603046e-03 5.91436713e-04 9.99970517e-01 1.84050898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.82, Y:67.84, Z:1.84 [[ 6.97772987e-01 -7.16302078e-01 -4.91848127e-03 2.57823048e+02] [ 7.16278050e-01 6.97790071e-01 -5.89687543e-03 6.78429306e+01] [ 7.65601152e-03 5.91680217e-04 9.99970517e-01 1.84149346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.84, Y:67.86, Z:1.84 [[ 6.98557583e-01 -7.15536947e-01 -4.91738069e-03 2.57841515e+02] [ 7.15512894e-01 6.98574631e-01 -5.89779305e-03 6.78623120e+01] [ 7.65524624e-03 6.01498771e-04 9.99970517e-01 1.83969450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.86, Y:67.88, Z:1.84 [[ 6.99691939e-01 -7.14427755e-01 -4.91662861e-03 2.57860300e+02] [ 7.14403670e-01 6.99708943e-01 -5.89841995e-03 6.78828408e+01] [ 7.65420393e-03 6.14619365e-04 9.99970517e-01 1.84011447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.88, Y:67.90, Z:1.84 [[ 7.00474850e-01 -7.13660158e-01 -4.91556762e-03 2.57877830e+02] [ 7.13636048e-01 7.00491819e-01 -5.89930401e-03 6.79040215e+01] [ 7.65341314e-03 6.24387840e-04 9.99970517e-01 1.84015720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.075898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:257.89, Y:67.93, Z:1.84 [[ 7.00680441e-01 -7.13458315e-01 -4.91448208e-03 2.57894127e+02] [ 7.13434194e-01 7.00697395e-01 -5.90020820e-03 6.79251094e+01] [ 7.65311739e-03 6.28000931e-04 9.99970517e-01 1.83904114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.91, Y:67.95, Z:1.84 [[ 6.99544290e-01 -7.14572350e-01 -4.91354288e-03 2.57910959e+02] [ 7.14548250e-01 6.99561274e-01 -5.90099024e-03 6.79457353e+01] [ 7.65400878e-03 6.17040563e-04 9.99970517e-01 1.83929058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.135898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:257.93, Y:67.97, Z:1.84 [[ 6.97672724e-01 -7.16399776e-01 -4.91243843e-03 2.57928825e+02] [ 7.16375714e-01 6.97689762e-01 -5.90190953e-03 6.79666943e+01] [ 7.65548466e-03 5.98449711e-04 9.99970517e-01 1.83980094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.95, Y:67.99, Z:1.84 [[ 6.95069328e-01 -7.18925940e-01 -4.91140779e-03 2.57947164e+02] [ 7.18901935e-01 6.95086445e-01 -5.90276707e-03 6.79873129e+01] [ 7.65750534e-03 5.72011779e-04 9.99970517e-01 1.84028387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.97, Y:68.01, Z:1.84 [[ 6.88432011e-01 -7.25284258e-01 -4.91037646e-03 2.57967064e+02] [ 7.25260405e-01 6.88449339e-01 -5.90362489e-03 6.80064709e+01] [ 7.66235162e-03 5.02942731e-04 9.99970517e-01 1.84205756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.99, Y:68.03, Z:1.84 [[ 6.84089980e-01 -7.29381107e-01 -4.90923800e-03 2.57985315e+02] [ 7.29357351e-01 6.84107441e-01 -5.90457144e-03 6.80259190e+01] [ 7.66512909e-03 4.58669330e-04 9.99970517e-01 1.84310430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.01, Y:68.04, Z:1.85 [[ 6.75114199e-01 -7.37696908e-01 -4.90810090e-03 2.58006270e+02] [ 7.37673361e-01 6.75131941e-01 -5.90551648e-03 6.80445760e+01] [ 7.67009694e-03 3.66322739e-04 9.99970517e-01 1.84687094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.03, Y:68.06, Z:1.85 [[ 6.71160885e-01 -7.41295478e-01 -4.90712473e-03 2.58025741e+02] [ 7.41272020e-01 6.71178745e-01 -5.90632751e-03 6.80633511e+01] [ 7.67189169e-03 3.26581743e-04 9.99970517e-01 1.84793619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.05, Y:68.08, Z:1.85 [[ 6.67658490e-01 -7.44451524e-01 -4.90596419e-03 2.58045957e+02] [ 7.44428144e-01 6.67676451e-01 -5.90729133e-03 6.80824690e+01] [ 7.67328879e-03 2.91915391e-04 9.99970517e-01 1.84942173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.07, Y:68.10, Z:1.85 [[ 6.64806275e-01 -7.46999705e-01 -4.90485592e-03 2.58065991e+02] [ 7.46976387e-01 6.64824316e-01 -5.90821139e-03 6.81004744e+01] [ 7.67429965e-03 2.64004453e-04 9.99970517e-01 1.84706212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.09, Y:68.12, Z:1.85 [[ 6.62438757e-01 -7.49100025e-01 -4.90367988e-03 2.58086377e+02] [ 7.49076756e-01 6.62456862e-01 -5.90918731e-03 6.81200428e+01] [ 7.67504875e-03 2.41242076e-04 9.99970517e-01 1.84879514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.10, Y:68.14, Z:1.85 [[ 6.62298756e-01 -7.49223813e-01 -4.90257459e-03 2.58104408e+02] [ 7.49200541e-01 6.62316858e-01 -5.91010418e-03 6.81420796e+01] [ 7.67504859e-03 2.41243118e-04 9.99970517e-01 1.84901385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.13, Y:68.16, Z:1.85 [[ 6.59680176e-01 -7.51530466e-01 -4.90146992e-03 2.58126666e+02] [ 7.51507250e-01 6.59698350e-01 -5.91102018e-03 6.81587285e+01] [ 7.67580337e-03 2.15892649e-04 9.99970517e-01 1.84742912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.15, Y:68.18, Z:1.85 [[ 6.58767675e-01 -7.52330471e-01 -4.90030228e-03 2.58146784e+02] [ 7.52307271e-01 6.58785867e-01 -5.91198801e-03 6.81767525e+01] [ 7.67601861e-03 2.08093559e-04 9.99970517e-01 1.84965314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.17, Y:68.20, Z:1.85 [[ 6.57778189e-01 -7.53195760e-01 -4.89910589e-03 2.58168278e+02] [ 7.53172576e-01 6.57796403e-01 -5.91297926e-03 6.81957155e+01] [ 7.67624514e-03 1.99556587e-04 9.99970517e-01 1.85153260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.19, Y:68.21, Z:1.85 [[ 6.57002917e-01 -7.53872122e-01 -4.89798182e-03 2.58188523e+02] [ 7.53848950e-01 6.57021146e-01 -5.91391024e-03 6.82134894e+01] [ 7.67640968e-03 1.93117827e-04 9.99970517e-01 1.85225701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.21, Y:68.23, Z:1.85 [[ 6.54226369e-01 -7.56283021e-01 -4.88361567e-03 2.58212877e+02] [ 7.56259828e-01 6.54244571e-01 -5.92580214e-03 6.82299979e+01] [ 7.67666259e-03 1.83533679e-04 9.99970517e-01 1.85351563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.23, Y:68.25, Z:1.85 [[ 6.52697899e-01 -7.57602459e-01 -4.89565962e-03 2.58232570e+02] [ 7.57579376e-01 6.52716241e-01 -5.91583515e-03 6.82473774e+01] [ 7.67732780e-03 1.52402413e-04 9.99970517e-01 1.85378726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.25, Y:68.27, Z:1.85 [[ 6.50995184e-01 -7.59066079e-01 -4.89469184e-03 2.58253533e+02] [ 7.59043032e-01 6.51013571e-01 -5.91663578e-03 6.82658364e+01] [ 7.67762833e-03 1.36419666e-04 9.99970517e-01 1.85286760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.27, Y:68.28, Z:1.85 [[ 6.48963856e-01 -7.60803501e-01 -4.89345013e-03 2.58273495e+02] [ 7.60780496e-01 6.48982295e-01 -5.91766257e-03 6.82834967e+01] [ 7.67794090e-03 1.17507706e-04 9.99970517e-01 1.85129260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.29, Y:68.30, Z:1.85 [[ 6.47159312e-01 -7.62339092e-01 -4.89214545e-03 2.58293395e+02] [ 7.62316122e-01 6.47177795e-01 -5.91874096e-03 6.83019412e+01] [ 7.67817551e-03 1.01006975e-04 9.99970517e-01 1.85211510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.32, Y:68.32, Z:1.85 [[ 6.45448913e-01 -7.63787785e-01 -4.89089709e-03 2.58316339e+02] [ 7.63764849e-01 6.45467437e-01 -5.91977235e-03 6.83173028e+01] [ 7.67836462e-03 8.54153490e-05 9.99970517e-01 1.85333697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.34, Y:68.34, Z:1.85 [[ 6.45433295e-01 -7.63800991e-01 -4.88958730e-03 2.58336975e+02] [ 7.63778047e-01 6.45451810e-01 -5.92085400e-03 6.83354227e+01] [ 7.67834713e-03 8.69568676e-05 9.99970517e-01 1.85322987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.36, Y:68.35, Z:1.85 [[ 6.45686489e-01 -7.63586971e-01 -4.88835177e-03 2.58357136e+02] [ 7.63564013e-01 6.45704986e-01 -5.92187391e-03 6.83540776e+01] [ 7.67829887e-03 9.11044775e-05 9.99970517e-01 1.85108973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.38, Y:68.37, Z:1.85 [[ 6.45983327e-01 -7.63335874e-01 -4.88711929e-03 2.58375894e+02] [ 7.63312902e-01 6.46001806e-01 -5.92289085e-03 6.83723322e+01] [ 7.67824296e-03 9.56875317e-05 9.99970517e-01 1.84813800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.825898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:258.40, Y:68.39, Z:1.85 [[ 6.46604823e-01 -7.62809499e-01 -4.88582449e-03 2.58396718e+02] [ 7.62786503e-01 6.46623274e-01 -5.92395875e-03 6.83898531e+01] [ 7.67813983e-03 1.03619324e-04 9.99970517e-01 1.84806058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.42, Y:68.41, Z:1.85 [[ 6.46763189e-01 -7.62675238e-01 -4.88460579e-03 2.58416425e+02] [ 7.62652230e-01 6.46781625e-01 -5.92496346e-03 6.84080709e+01] [ 7.67809618e-03 1.06792761e-04 9.99970517e-01 1.84930953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.44, Y:68.43, Z:1.85 [[ 6.46559162e-01 -7.62848228e-01 -4.88172635e-03 2.58437117e+02] [ 7.62825208e-01 6.46577582e-01 -5.92733641e-03 6.84270797e+01] [ 7.67807289e-03 1.08469743e-04 9.99970517e-01 1.85194658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.46, Y:68.45, Z:1.85 [[ 6.46056545e-01 -7.63273938e-01 -4.88224997e-03 2.58456386e+02] [ 7.63250933e-01 6.46074984e-01 -5.92690508e-03 6.84450107e+01] [ 7.67815175e-03 1.02733978e-04 9.99970517e-01 1.85146666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.945898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:258.48, Y:68.46, Z:1.85 [[ 6.44737813e-01 -7.64388206e-01 -4.88094948e-03 2.58477895e+02] [ 7.64365224e-01 6.44756282e-01 -5.92797586e-03 6.84613029e+01] [ 7.67829767e-03 9.11621481e-05 9.99970517e-01 1.84818577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.50, Y:68.48, Z:1.85 [[ 6.44457218e-01 -7.64624797e-01 -4.88002115e-03 2.58497457e+02] [ 7.64601817e-01 6.44475688e-01 -5.92873999e-03 6.84804325e+01] [ 7.67831659e-03 8.95462411e-05 9.99970517e-01 1.84928566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.52, Y:68.50, Z:1.85 [[ 6.45098811e-01 -7.64083583e-01 -4.87878199e-03 2.58518070e+02] [ 7.64060579e-01 6.45117252e-01 -5.92975952e-03 6.84972424e+01] [ 7.67821833e-03 9.75958280e-05 9.99970517e-01 1.85182016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.54, Y:68.52, Z:1.85 [[ 6.46285418e-01 -7.63080185e-01 -4.87747419e-03 2.58536068e+02] [ 7.63057145e-01 6.46303813e-01 -5.93083505e-03 6.85171299e+01] [ 7.67803287e-03 1.11220677e-04 9.99970517e-01 1.85221825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.55, Y:68.54, Z:1.85 [[ 6.48100531e-01 -7.61539181e-01 -4.87625022e-03 2.58553868e+02] [ 7.61516089e-01 6.48118862e-01 -5.93184120e-03 6.85382999e+01] [ 7.67771924e-03 1.31086436e-04 9.99970517e-01 1.85217327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.57, Y:68.56, Z:1.85 [[ 6.50537354e-01 -7.59458613e-01 -4.87504972e-03 2.58569959e+02] [ 7.59435456e-01 6.50555601e-01 -5.93282767e-03 6.85586610e+01] [ 7.67722797e-03 1.57240406e-04 9.99970517e-01 1.85195635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.59, Y:68.58, Z:1.86 [[ 6.57140954e-01 -7.53751958e-01 -4.87371327e-03 2.58586952e+02] [ 7.53728634e-01 6.57158988e-01 -5.93392534e-03 6.85804071e+01] [ 7.67551232e-03 2.25968113e-04 9.99970517e-01 1.85526968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:258.60, Y:68.60, Z:1.86 [[ 6.59734556e-01 -7.51482917e-01 -4.87247587e-03 2.58603217e+02] [ 7.51459524e-01 6.59752499e-01 -5.93494122e-03 6.86027806e+01] [ 7.67463507e-03 2.54017412e-04 9.99970517e-01 1.85570556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.62, Y:68.62, Z:1.86 [[ 6.61458577e-01 -7.49965880e-01 -4.87123364e-03 2.58618670e+02] [ 7.49942438e-01 6.61476457e-01 -5.93596063e-03 6.86239579e+01] [ 7.67397431e-03 2.73247234e-04 9.99970517e-01 1.85522651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.63, Y:68.65, Z:1.86 [[ 6.62117233e-01 -7.49384450e-01 -4.86993117e-03 2.58634250e+02] [ 7.49360984e-01 6.62135082e-01 -5.93702899e-03 6.86458827e+01] [ 7.67366948e-03 2.81672791e-04 9.99970517e-01 1.85550680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.65, Y:68.67, Z:1.85 [[ 6.61949399e-01 -7.49532714e-01 -4.86869837e-03 2.58649459e+02] [ 7.49509245e-01 6.61967244e-01 -5.93803979e-03 6.86684836e+01] [ 7.67367392e-03 2.81547435e-04 9.99970517e-01 1.85349082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27589822699997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:258.66, Y:68.69, Z:1.85 [[ 6.60576542e-01 -7.50742926e-01 -4.86745990e-03 2.58664969e+02] [ 7.50719482e-01 6.60594419e-01 -5.93905480e-03 6.86891467e+01] [ 7.67412022e-03 2.69103308e-04 9.99970517e-01 1.85301127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.68, Y:68.71, Z:1.85 [[ 6.58674527e-01 -7.52412246e-01 -4.86615881e-03 2.58681981e+02] [ 7.52388840e-01 6.58692454e-01 -5.94012065e-03 6.87104101e+01] [ 7.67472161e-03 2.51362577e-04 9.99970517e-01 1.85439337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.70, Y:68.73, Z:1.86 [[ 6.53689664e-01 -7.56747088e-01 -4.86495714e-03 2.58699526e+02] [ 7.56723794e-01 6.53707736e-01 -5.94110466e-03 6.87325582e+01] [ 7.67617377e-03 2.02209887e-04 9.99970517e-01 1.85561585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.36589822699995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:258.72, Y:68.75, Z:1.85 [[ 6.51053620e-01 -7.59016157e-01 -4.86382257e-03 2.58715708e+02] [ 7.58992918e-01 6.51071764e-01 -5.94203336e-03 6.87533452e+01] [ 7.67679687e-03 1.76975445e-04 9.99970517e-01 1.85437617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.73, Y:68.77, Z:1.85 [[ 6.48669657e-01 -7.61054553e-01 -4.86247575e-03 2.58733253e+02] [ 7.61031363e-01 6.48687863e-01 -5.94313528e-03 6.87745469e+01] [ 7.67727917e-03 1.54634979e-04 9.99970517e-01 1.85377318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.75, Y:68.80, Z:1.85 [[ 6.46270119e-01 -7.63093246e-01 -4.86122960e-03 2.58749888e+02] [ 7.63070105e-01 6.46288389e-01 -5.94415441e-03 6.87950131e+01] [ 7.67770032e-03 1.32070397e-04 9.99970517e-01 1.85403713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.77, Y:68.82, Z:1.86 [[ 6.42641589e-01 -7.66151531e-01 -4.85991723e-03 2.58765636e+02] [ 7.66128470e-01 6.42659958e-01 -5.94522720e-03 6.88162362e+01] [ 7.67821913e-03 9.73293083e-05 9.99970517e-01 1.85603115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.78, Y:68.84, Z:1.86 [[ 6.41327670e-01 -7.67251727e-01 -4.85869008e-03 2.58782319e+02] [ 7.67228690e-01 6.41346069e-01 -5.94622991e-03 6.88376516e+01] [ 7.67835695e-03 8.57553557e-05 9.99970517e-01 1.85856812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.80, Y:68.86, Z:1.86 [[ 6.40432909e-01 -7.67998760e-01 -4.85745166e-03 2.58798540e+02] [ 7.67975736e-01 6.40451325e-01 -5.94724140e-03 6.88580610e+01] [ 7.67843537e-03 7.84040948e-05 9.99970517e-01 1.85850222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.81, Y:68.88, Z:1.86 [[ 6.39135823e-01 -7.69078551e-01 -4.85615084e-03 2.58814882e+02] [ 7.69055550e-01 6.39154268e-01 -5.94830338e-03 6.88793617e+01] [ 7.67854208e-03 6.71240195e-05 9.99970517e-01 1.85784256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.575898227 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:258.83, Y:68.90, Z:1.86 [[ 6.38335920e-01 -7.69742608e-01 -4.85490205e-03 2.58829997e+02] [ 7.69719619e-01 6.38354379e-01 -5.94932244e-03 6.89003528e+01] [ 7.67859496e-03 6.07528565e-05 9.99970517e-01 1.85752209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:258.85, Y:68.92, Z:1.86 [[ 6.37201441e-01 -7.70682014e-01 -4.85358737e-03 2.58845838e+02] [ 7.70659044e-01 6.37219923e-01 -5.95039479e-03 6.89207212e+01] [ 7.67866482e-03 5.11391269e-05 9.99970517e-01 1.85785571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.86, Y:68.94, Z:1.86 [[ 6.35461564e-01 -7.72117255e-01 -4.85228610e-03 2.58862747e+02] [ 7.72094319e-01 6.35480088e-01 -5.95145573e-03 6.89417355e+01] [ 7.67875287e-03 3.54988381e-05 9.99970517e-01 1.85999705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.88, Y:68.96, Z:1.86 [[ 6.32953874e-01 -7.74174309e-01 -4.85103709e-03 2.58879865e+02] [ 7.74151425e-01 6.32972463e-01 -5.95247363e-03 6.89632488e+01] [ 7.67882505e-03 1.22039659e-05 9.99970517e-01 1.86235043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.90, Y:68.98, Z:1.87 [[ 6.27951270e-01 -7.78237549e-01 -4.84975239e-03 2.58895985e+02] [ 7.78214777e-01 6.27969996e-01 -5.95352014e-03 6.89837398e+01] [ 7.67875192e-03 -3.56284463e-05 9.99970517e-01 1.86527062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.91, Y:69.00, Z:1.87 [[ 6.25209533e-01 -7.80441883e-01 -4.84840568e-03 2.58912022e+02] [ 7.80419169e-01 6.25228329e-01 -5.95461668e-03 6.90042888e+01] [ 7.67859283e-03 -6.09056188e-05 9.99970517e-01 1.86574036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.93, Y:69.03, Z:1.87 [[ 6.20358863e-01 -7.84303122e-01 -4.84707181e-03 2.58928178e+02] [ 7.84280516e-01 6.20377789e-01 -5.95570225e-03 6.90257296e+01] [ 7.67809156e-03 -1.06791306e-04 9.99970517e-01 1.86530775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78589822699996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:258.94, Y:69.05, Z:1.87 [[ 6.18228336e-01 -7.85983614e-01 -4.84582966e-03 2.58944575e+02] [ 7.85961052e-01 6.18247315e-01 -5.95671275e-03 6.90470432e+01] [ 7.67779979e-03 -1.26024759e-04 9.99970517e-01 1.86536646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.96, Y:69.07, Z:1.87 [[ 6.16694848e-01 -7.87187395e-01 -4.84458576e-03 2.58961848e+02] [ 7.87164862e-01 6.16713861e-01 -5.95772424e-03 6.90680581e+01] [ 7.67756861e-03 -1.39389833e-04 9.99970517e-01 1.86618985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.98, Y:69.09, Z:1.87 [[ 6.15410446e-01 -7.88191935e-01 -4.84328322e-03 2.58977950e+02] [ 7.88169424e-01 6.15429486e-01 -5.95878294e-03 6.90885114e+01] [ 7.67736395e-03 -1.50230486e-04 9.99970517e-01 1.86501945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.99, Y:69.11, Z:1.86 [[ 6.14467085e-01 -7.88927599e-01 -4.84191819e-03 2.58993675e+02] [ 7.88905103e-01 6.14486142e-01 -5.95989192e-03 6.91083139e+01] [ 7.67721485e-03 -1.57656551e-04 9.99970517e-01 1.86359102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.01, Y:69.13, Z:1.86 [[ 6.13683242e-01 -7.89537490e-01 -4.84050424e-03 2.59010899e+02] [ 7.89515004e-01 6.13702310e-01 -5.96104007e-03 6.91291542e+01] [ 7.67709325e-03 -1.63460325e-04 9.99970517e-01 1.86250371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.03, Y:69.15, Z:1.86 [[ 6.13081851e-01 -7.90004573e-01 -4.83928410e-03 2.59026986e+02] [ 7.89982093e-01 6.13100927e-01 -5.96203044e-03 6.91487583e+01] [ 7.67700088e-03 -1.67735118e-04 9.99970517e-01 1.86186433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.04, Y:69.17, Z:1.86 [[ 6.12572586e-01 -7.90399533e-01 -4.83786527e-03 2.59044191e+02] [ 7.90377057e-01 6.12591666e-01 -5.96318153e-03 6.91695064e+01] [ 7.67693184e-03 -1.70856184e-04 9.99970517e-01 1.86219281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99589822699994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:259.06, Y:69.19, Z:1.86 [[ 6.12230935e-01 -7.90664207e-01 -4.83663957e-03 2.59060516e+02] [ 7.90641731e-01 6.12250015e-01 -5.96417550e-03 6.91902439e+01] [ 7.67689275e-03 -1.72596340e-04 9.99970517e-01 1.86200277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.08, Y:69.21, Z:1.86 [[ 6.13632751e-01 -7.89576764e-01 -4.83535649e-03 2.59078207e+02] [ 7.89554246e-01 6.13651781e-01 -5.96521556e-03 6.92102108e+01] [ 7.67722072e-03 -1.57324618e-04 9.99970517e-01 1.86101653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.10, Y:69.23, Z:1.86 [[ 6.14817921e-01 -7.88654269e-01 -4.83404406e-03 2.59096062e+02] [ 7.88631714e-01 6.14836907e-01 -5.96627893e-03 6.92308621e+01] [ 7.67748005e-03 -1.44105248e-04 9.99970517e-01 1.86052338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.11, Y:69.25, Z:1.86 [[ 6.16230339e-01 -7.87551150e-01 -4.83279749e-03 2.59112933e+02] [ 7.87528553e-01 6.16249276e-01 -5.96728850e-03 6.92504577e+01] [ 7.67775287e-03 -1.28741803e-04 9.99970517e-01 1.86002196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.13, Y:69.27, Z:1.86 [[ 6.18012947e-01 -7.86153073e-01 -4.83148931e-03 2.59130340e+02] [ 7.86130425e-01 6.18031823e-01 -5.96834750e-03 6.92707701e+01] [ 7.67804887e-03 -1.09664714e-04 9.99970517e-01 1.86074109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.15, Y:69.29, Z:1.86 [[ 6.22848732e-01 -7.82327378e-01 -4.83023227e-03 2.59146486e+02] [ 7.82304606e-01 6.22867458e-01 -5.96936465e-03 6.92908145e+01] [ 7.67859189e-03 -6.07017505e-05 9.99970517e-01 1.86180506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.16, Y:69.31, Z:1.86 [[ 6.25728597e-01 -7.80025900e-01 -4.82890728e-03 2.59163648e+02] [ 7.80003051e-01 6.25747228e-01 -5.97043631e-03 6.93123234e+01] [ 7.67877031e-03 -3.06896825e-05 9.99970517e-01 1.86201923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.18, Y:69.33, Z:1.86 [[ 6.28554259e-01 -7.77750755e-01 -4.82764303e-03 2.59180189e+02] [ 7.77727831e-01 6.28572798e-01 -5.97145840e-03 6.93336675e+01] [ 7.67883137e-03 -1.20673662e-06 9.99970517e-01 1.86284052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.20, Y:69.36, Z:1.86 [[ 6.30919169e-01 -7.75833558e-01 -4.82633361e-03 2.59197273e+02] [ 7.75810569e-01 6.30937628e-01 -5.97251653e-03 6.93553484e+01] [ 7.67879423e-03 2.38545338e-05 9.99970517e-01 1.86315970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.21, Y:69.38, Z:1.86 [[ 6.34406693e-01 -7.72984390e-01 -4.82502542e-03 2.59214261e+02] [ 7.72961310e-01 6.34425038e-01 -5.97357319e-03 6.93761466e+01] [ 7.67859577e-03 6.01168419e-05 9.99970517e-01 1.86448721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.23, Y:69.40, Z:1.87 [[ 6.34841869e-01 -7.72627033e-01 -4.82373120e-03 2.59230831e+02] [ 7.72603935e-01 6.34860192e-01 -5.97461811e-03 6.93969370e+01] [ 7.67854638e-03 6.61040213e-05 9.99970517e-01 1.86588510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.25, Y:69.42, Z:1.87 [[ 6.34675533e-01 -7.72763685e-01 -4.82237006e-03 2.59248017e+02] [ 7.72740582e-01 6.34693850e-01 -5.97571654e-03 6.94186075e+01] [ 7.67854535e-03 6.62000359e-05 9.99970517e-01 1.86609740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:69.44, Z:1.87 [[ 6.34758754e-01 -7.72695335e-01 -4.82108342e-03 2.59263568e+02] [ 7.72672223e-01 6.34777059e-01 -5.97675439e-03 6.94390668e+01] [ 7.67852339e-03 6.86799341e-05 9.99970517e-01 1.86727574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.385898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:259.28, Y:69.46, Z:1.87 [[ 6.34827649e-01 -7.72638742e-01 -4.81973243e-03 2.59278530e+02] [ 7.72615620e-01 6.34845941e-01 -5.97784365e-03 6.94602469e+01] [ 7.67850117e-03 7.10998740e-05 9.99970517e-01 1.86838551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.29, Y:69.48, Z:1.87 [[ 6.35322770e-01 -7.72231675e-01 -4.81839625e-03 2.59292819e+02] [ 7.72208533e-01 6.35341037e-01 -5.97892047e-03 6.94837527e+01] [ 7.67843665e-03 7.77376126e-05 9.99970517e-01 1.87005884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.31, Y:69.51, Z:1.87 [[ 6.35724388e-01 -7.71901093e-01 -4.81712748e-03 2.59309159e+02] [ 7.71877934e-01 6.35742633e-01 -5.97994253e-03 6.95056922e+01] [ 7.67837748e-03 8.33609037e-05 9.99970517e-01 1.86947790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.33, Y:69.53, Z:1.87 [[ 6.36306424e-01 -7.71421378e-01 -4.81586144e-03 2.59325330e+02] [ 7.71398197e-01 6.36324642e-01 -5.98096194e-03 6.95265696e+01] [ 7.67829321e-03 9.07776759e-05 9.99970517e-01 1.86931582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.34, Y:69.55, Z:1.87 [[ 6.38424058e-01 -7.69669762e-01 -4.81453387e-03 2.59341636e+02] [ 7.69646524e-01 6.38442201e-01 -5.98203041e-03 6.95481700e+01] [ 7.67798953e-03 1.13582868e-04 9.99970517e-01 1.86989594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.36, Y:69.57, Z:1.87 [[ 6.39389883e-01 -7.68867616e-01 -4.81327823e-03 2.59357557e+02] [ 7.68844347e-01 6.39407987e-01 -5.98304056e-03 6.95686386e+01] [ 7.67781467e-03 1.24833844e-04 9.99970517e-01 1.86992913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.37, Y:69.59, Z:1.87 [[ 6.40154753e-01 -7.68230914e-01 -4.81196567e-03 2.59374752e+02] [ 7.68207619e-01 6.40172824e-01 -5.98409602e-03 6.95902337e+01] [ 7.67765721e-03 1.34158817e-04 9.99970517e-01 1.87039904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.39, Y:69.61, Z:1.87 [[ 6.40901556e-01 -7.67608007e-01 -4.81072703e-03 2.59391742e+02] [ 7.67584687e-01 6.40919594e-01 -5.98509162e-03 6.96113216e+01] [ 7.67749347e-03 1.43214123e-04 9.99970517e-01 1.87124506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.41, Y:69.63, Z:1.87 [[ 6.42829143e-01 -7.65994492e-01 -4.80948971e-03 2.59407879e+02] [ 7.65971119e-01 6.42847113e-01 -5.98608574e-03 6.96322182e+01] [ 7.67707528e-03 1.64100155e-04 9.99970517e-01 1.86994216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65589822699997 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:259.42, Y:69.65, Z:1.87 [[ 6.44128107e-01 -7.64902519e-01 -4.80818659e-03 2.59424932e+02] [ 7.64879108e-01 6.44146027e-01 -5.98713226e-03 6.96536302e+01] [ 7.67674684e-03 1.78798697e-04 9.99970517e-01 1.86844106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.44, Y:69.67, Z:1.87 [[ 6.45502053e-01 -7.63743408e-01 -4.80694470e-03 2.59442622e+02] [ 7.63719957e-01 6.45519922e-01 -5.98812918e-03 6.96747740e+01] [ 7.67637275e-03 1.94190085e-04 9.99970517e-01 1.86802068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.46, Y:69.70, Z:1.87 [[ 6.48469184e-01 -7.61225737e-01 -4.80570761e-03 2.59460832e+02] [ 7.61202210e-01 6.48486951e-01 -5.98912183e-03 6.96953077e+01] [ 7.67551236e-03 2.25645688e-04 9.99970517e-01 1.86836323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.48, Y:69.72, Z:1.87 [[ 6.49462358e-01 -7.60378565e-01 -4.80446967e-03 2.59476937e+02] [ 7.60355008e-01 6.49480085e-01 -5.99011474e-03 6.97153679e+01] [ 7.67516222e-03 2.37251475e-04 9.99970517e-01 1.86842350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.49, Y:69.74, Z:1.87 [[ 6.50581952e-01 -7.59420867e-01 -4.80317136e-03 2.59493511e+02] [ 7.59397275e-01 6.50599635e-01 -5.99115561e-03 6.97360505e+01] [ 7.67475012e-03 2.50222474e-04 9.99970517e-01 1.86883170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.51, Y:69.76, Z:1.87 [[ 6.53214658e-01 -7.57157548e-01 -4.80188714e-03 2.59509376e+02] [ 7.57133888e-01 6.53232248e-01 -5.99218473e-03 6.97566612e+01] [ 7.67377543e-03 2.78511415e-04 9.99970517e-01 1.86718262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.53, Y:69.78, Z:1.87 [[ 6.54581067e-01 -7.55976574e-01 -4.80062426e-03 2.59525678e+02] [ 7.55952875e-01 6.54598604e-01 -5.99319631e-03 6.97778127e+01] [ 7.67319796e-03 2.93987128e-04 9.99970517e-01 1.86620462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.54, Y:69.80, Z:1.86 [[ 6.55791422e-01 -7.54926869e-01 -4.79936381e-03 2.59541338e+02] [ 7.54903134e-01 6.55808911e-01 -5.99420552e-03 6.97993696e+01] [ 7.67265235e-03 3.07893781e-04 9.99970517e-01 1.86379357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.56, Y:69.82, Z:1.86 [[ 6.56864061e-01 -7.53993756e-01 -4.79804063e-03 2.59557005e+02] [ 7.53969988e-01 6.56881507e-01 -5.99526446e-03 6.98221204e+01] [ 7.67213612e-03 3.20495128e-04 9.99970517e-01 1.86433739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.57, Y:69.85, Z:1.87 [[ 6.58730556e-01 -7.52363639e-01 -4.79680834e-03 2.59569404e+02] [ 7.52339821e-01 6.58747933e-01 -5.99625025e-03 6.98459023e+01] [ 7.67124824e-03 3.41083336e-04 9.99970517e-01 1.86535795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.955898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:259.58, Y:69.87, Z:1.87 [[ 6.59209110e-01 -7.51944381e-01 -4.79551096e-03 2.59583719e+02] [ 7.51920545e-01 6.59226461e-01 -5.99728765e-03 6.98675386e+01] [ 7.67095447e-03 3.47623438e-04 9.99970517e-01 1.86565653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.60, Y:69.89, Z:1.87 [[ 6.59597647e-01 -7.51603590e-01 -4.79458131e-03 2.59599947e+02] [ 7.51579739e-01 6.59614978e-01 -5.99803078e-03 6.98898162e+01] [ 7.67071911e-03 3.52776817e-04 9.99970517e-01 1.86662291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.61, Y:69.91, Z:1.87 [[ 6.59264289e-01 -7.51896017e-01 -4.79338498e-03 2.59614884e+02] [ 7.51872167e-01 6.59281622e-01 -5.99898668e-03 6.99137594e+01] [ 7.67080482e-03 3.50904941e-04 9.99970517e-01 1.86834257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.63, Y:69.94, Z:1.87 [[ 6.58646427e-01 -7.52437318e-01 -4.79226933e-03 2.59629859e+02] [ 7.52413476e-01 6.58663770e-01 -5.99987778e-03 6.99359246e+01] [ 7.67102614e-03 3.46030035e-04 9.99970517e-01 1.86843362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.64, Y:69.96, Z:1.87 [[ 6.57819559e-01 -7.53160324e-01 -4.79109043e-03 2.59644484e+02] [ 7.53136494e-01 6.57836919e-01 -6.00081903e-03 6.99572194e+01] [ 7.67133497e-03 3.39111078e-04 9.99970517e-01 1.86938556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.66, Y:69.98, Z:1.87 [[ 6.56487252e-01 -7.54321911e-01 -4.78980215e-03 2.59659766e+02] [ 7.54298105e-01 6.56504644e-01 -6.00184715e-03 6.99784329e+01] [ 7.67185216e-03 3.27197457e-04 9.99970517e-01 1.87126621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.68, Y:70.00, Z:1.87 [[ 6.54959283e-01 -7.55648997e-01 -4.78858905e-03 2.59675922e+02] [ 7.55625219e-01 6.54976713e-01 -6.00281487e-03 6.99996968e+01] [ 7.67243535e-03 3.13220678e-04 9.99970517e-01 1.87328356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.69, Y:70.02, Z:1.87 [[ 6.52305045e-01 -7.57941429e-01 -4.78738606e-03 2.59692011e+02] [ 7.57917704e-01 6.52322549e-01 -6.00377413e-03 7.00197880e+01] [ 7.67342901e-03 2.87847502e-04 9.99970517e-01 1.87404702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.71, Y:70.04, Z:1.88 [[ 6.51116339e-01 -7.58962849e-01 -4.78612073e-03 2.59708825e+02] [ 7.58939145e-01 6.51133871e-01 -6.00478266e-03 7.00413930e+01] [ 7.67381227e-03 2.77437731e-04 9.99970517e-01 1.87550076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.73, Y:70.06, Z:1.88 [[ 6.50311884e-01 -7.59652261e-01 -4.78493469e-03 2.59725265e+02] [ 7.59628569e-01 6.50329431e-01 -6.00572761e-03 7.00624020e+01] [ 7.67404841e-03 2.70822944e-04 9.99970517e-01 1.87566393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.74, Y:70.08, Z:1.88 [[ 6.50372992e-01 -7.59599952e-01 -4.78374689e-03 2.59741692e+02] [ 7.59576251e-01 6.50390528e-01 -6.00667358e-03 7.00838504e+01] [ 7.67397263e-03 2.72957744e-04 9.99970517e-01 1.87871027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.76, Y:70.11, Z:1.88 [[ 6.51222180e-01 -7.58872058e-01 -4.78247245e-03 2.59757366e+02] [ 7.58848330e-01 6.51239679e-01 -6.00768811e-03 7.01053987e+01] [ 7.67360246e-03 2.83168516e-04 9.99970517e-01 1.88086125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.77, Y:70.13, Z:1.88 [[ 6.52555755e-01 -7.57725628e-01 -4.78113800e-03 2.59772730e+02] [ 7.57701861e-01 6.52573202e-01 -6.00874992e-03 7.01271532e+01] [ 7.67302634e-03 2.98367179e-04 9.99970517e-01 1.88056697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.79, Y:70.15, Z:1.87 [[ 6.56685591e-01 -7.54149314e-01 -4.77982097e-03 2.59786272e+02] [ 7.54125445e-01 6.56702897e-01 -6.00979741e-03 7.01496692e+01] [ 7.67120687e-03 3.41962748e-04 9.99970517e-01 1.87384468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.80, Y:70.17, Z:1.87 [[ 6.58638259e-01 -7.52444556e-01 -4.77859308e-03 2.59802196e+02] [ 7.52420635e-01 6.58655493e-01 -6.01077358e-03 7.01723279e+01] [ 7.67022044e-03 3.63413402e-04 9.99970517e-01 1.87271151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.82, Y:70.19, Z:1.87 [[ 6.60045053e-01 -7.51210824e-01 -4.77772827e-03 2.59817728e+02] [ 7.51186866e-01 6.60062236e-01 -6.01146091e-03 7.01935054e+01] [ 7.66947251e-03 3.78868315e-04 9.99970517e-01 1.87202962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.83, Y:70.22, Z:1.87 [[ 6.60465904e-01 -7.50840843e-01 -4.77676379e-03 2.59834027e+02] [ 7.50816870e-01 6.60483066e-01 -6.01222720e-03 7.02150938e+01] [ 7.66919733e-03 3.84396241e-04 9.99970517e-01 1.87236365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.85, Y:70.24, Z:1.87 [[ 6.60374432e-01 -7.50921304e-01 -4.77552106e-03 2.59850228e+02] [ 7.50897326e-01 6.60391586e-01 -6.01321414e-03 7.02355514e+01] [ 7.66916453e-03 3.85046871e-04 9.99970517e-01 1.87167679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.87, Y:70.26, Z:1.87 [[ 6.59204579e-01 -7.51948489e-01 -4.77421501e-03 2.59868008e+02] [ 7.51924530e-01 6.59221761e-01 -6.01425090e-03 7.02557172e+01] [ 7.66967330e-03 3.74772358e-04 9.99970517e-01 1.87027669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.89, Y:70.28, Z:1.87 [[ 6.58449695e-01 -7.52609604e-01 -4.77308238e-03 2.59885466e+02] [ 7.52585657e-01 6.58466892e-01 -6.01514966e-03 7.02766472e+01] [ 7.66997612e-03 3.68520125e-04 9.99970517e-01 1.86936301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.90, Y:70.30, Z:1.87 [[ 6.58190184e-01 -7.52836577e-01 -4.77186449e-03 2.59904639e+02] [ 7.52812628e-01 6.58207379e-01 -6.01611567e-03 7.02976097e+01] [ 7.67002834e-03 3.67428431e-04 9.99970517e-01 1.86723923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.92, Y:70.32, Z:1.87 [[ 6.58259925e-01 -7.52775605e-01 -4.77074048e-03 2.59922290e+02] [ 7.52751648e-01 6.58277109e-01 -6.01700686e-03 7.03182499e+01] [ 7.66992523e-03 3.69571726e-04 9.99970517e-01 1.86763127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.94, Y:70.34, Z:1.87 [[ 6.58715373e-01 -7.52377105e-01 -4.76955297e-03 2.59940633e+02] [ 7.52353131e-01 6.58732533e-01 -6.01794803e-03 7.03390121e+01] [ 7.66962603e-03 3.75726779e-04 9.99970517e-01 1.86982304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:70.36, Z:1.87 [[ 6.59241759e-01 -7.51915930e-01 -4.76843360e-03 2.59958131e+02] [ 7.51891937e-01 6.59258893e-01 -6.01883486e-03 7.03584154e+01] [ 7.66929006e-03 3.82520499e-04 9.99970517e-01 1.86742924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.98, Y:70.38, Z:1.87 [[ 6.60709110e-01 -7.50626900e-01 -4.76746026e-03 2.59977329e+02] [ 7.50602869e-01 6.60726190e-01 -6.01960573e-03 7.03784353e+01] [ 7.66846384e-03 3.98738993e-04 9.99970517e-01 1.86689773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.99, Y:70.40, Z:1.87 [[ 6.61722238e-01 -7.49733928e-01 -4.76632156e-03 2.59993773e+02] [ 7.49709867e-01 6.61739276e-01 -6.02050722e-03 7.03984879e+01] [ 7.66784070e-03 4.10545210e-04 9.99970517e-01 1.86610787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.01, Y:70.42, Z:1.87 [[ 6.62701833e-01 -7.48868196e-01 -4.76504905e-03 2.60010166e+02] [ 7.48844106e-01 6.62718830e-01 -6.02151420e-03 7.04198447e+01] [ 7.66720820e-03 4.22189610e-04 9.99970517e-01 1.86709029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.765898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:260.03, Y:70.44, Z:1.87 [[ 6.63337383e-01 -7.48305300e-01 -4.76387195e-03 2.60026942e+02] [ 7.48281189e-01 6.63354349e-01 -6.02244531e-03 7.04419936e+01] [ 7.66676292e-03 4.30197343e-04 9.99970517e-01 1.87089690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.04, Y:70.46, Z:1.88 [[ 6.64131954e-01 -7.47600203e-01 -4.76277183e-03 2.60043455e+02] [ 7.47576067e-01 6.64148886e-01 -6.02331520e-03 7.04640369e+01] [ 7.66622127e-03 4.39741865e-04 9.99970517e-01 1.87596717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.06, Y:70.49, Z:1.88 [[ 6.64029544e-01 -7.47691174e-01 -4.76166619e-03 2.60059259e+02] [ 7.47667034e-01 6.64046470e-01 -6.02418912e-03 7.04857317e+01] [ 7.66620067e-03 4.40098716e-04 9.99970517e-01 1.87607529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.08, Y:70.51, Z:1.88 [[ 6.63677054e-01 -7.48004079e-01 -4.76085775e-03 2.60075707e+02] [ 7.47979943e-01 6.63693986e-01 -6.02482796e-03 7.05087818e+01] [ 7.66634854e-03 4.37513969e-04 9.99970517e-01 1.87657171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.09, Y:70.53, Z:1.88 [[ 6.62685767e-01 -7.48882446e-01 -4.75975395e-03 2.60090584e+02] [ 7.48858327e-01 6.62702722e-01 -6.02569986e-03 7.05301251e+01] [ 7.66684275e-03 4.28764162e-04 9.99970517e-01 1.87617717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.11, Y:70.55, Z:1.88 [[ 6.61584398e-01 -7.49855614e-01 -4.75844793e-03 2.60107707e+02] [ 7.49831511e-01 6.61601378e-01 -6.02673104e-03 7.05513298e+01] [ 7.66737381e-03 4.19157025e-04 9.99970517e-01 1.87715468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:70.57, Z:1.88 [[ 6.59956913e-01 -7.51288388e-01 -4.75723726e-03 2.60124774e+02] [ 7.51264316e-01 6.59973935e-01 -6.02768654e-03 7.05718514e+01] [ 7.66818350e-03 4.04070804e-04 9.99970517e-01 1.87739712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.14, Y:70.59, Z:1.88 [[ 6.55319207e-01 -7.55337089e-01 -4.75600304e-03 2.60142803e+02] [ 7.55313115e-01 6.55336367e-01 -6.02866021e-03 7.05930149e+01] [ 7.67045241e-03 3.58425352e-04 9.99970517e-01 1.87699299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.16, Y:70.61, Z:1.88 [[ 6.52904963e-01 -7.57424913e-01 -4.75495925e-03 2.60160370e+02] [ 7.57400988e-01 6.52922192e-01 -6.02948336e-03 7.06133980e+01] [ 7.67149933e-03 3.35268777e-04 9.99970517e-01 1.87649654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.18, Y:70.63, Z:1.88 [[ 6.50800284e-01 -7.59234083e-01 -4.75369771e-03 2.60178568e+02] [ 7.59210198e-01 6.50817569e-01 -6.03047781e-03 7.06324161e+01] [ 7.67233427e-03 3.15580898e-04 9.99970517e-01 1.87608371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.065898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:260.20, Y:70.65, Z:1.88 [[ 6.48808724e-01 -7.60936695e-01 -4.75237567e-03 2.60200089e+02] [ 7.60912849e-01 6.48826061e-01 -6.03151947e-03 7.06500355e+01] [ 7.67306968e-03 2.97158745e-04 9.99970517e-01 1.87635835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.22, Y:70.67, Z:1.88 [[ 6.48806906e-01 -7.60938254e-01 -4.75113115e-03 2.60218996e+02] [ 7.60914400e-01 6.48824233e-01 -6.03249964e-03 7.06701055e+01] [ 7.67300877e-03 2.98723318e-04 9.99970517e-01 1.87604962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.24, Y:70.69, Z:1.88 [[ 6.49286344e-01 -7.60529212e-01 -4.74988315e-03 2.60237549e+02] [ 7.60505340e-01 6.49303646e-01 -6.03348214e-03 7.06904525e+01] [ 7.67275586e-03 3.05146064e-04 9.99970517e-01 1.87576021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.26, Y:70.71, Z:1.88 [[ 6.51816746e-01 -7.58361642e-01 -4.74862900e-03 2.60258704e+02] [ 7.58337705e-01 6.51833959e-01 -6.03446905e-03 7.07067031e+01] [ 7.67162750e-03 3.32303562e-04 9.99970517e-01 1.87742327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:70.73, Z:1.88 [[ 6.53378839e-01 -7.57016219e-01 -4.74731512e-03 2.60278252e+02] [ 7.56992240e-01 6.53395992e-01 -6.03550250e-03 7.07252428e+01] [ 7.67084995e-03 3.49788910e-04 9.99970517e-01 1.87893998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:70.75, Z:1.88 [[ 6.53224308e-01 -7.57149573e-01 -4.74635435e-03 2.60295169e+02] [ 7.57125592e-01 6.53241458e-01 -6.03625796e-03 7.07471255e+01] [ 7.67086557e-03 3.49444078e-04 9.99970517e-01 1.87915230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24589822699994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:260.31, Y:70.77, Z:1.88 [[ 6.54852570e-01 -7.55741752e-01 -4.74512203e-03 2.60314351e+02] [ 7.55717727e-01 6.54869658e-01 -6.03722654e-03 7.07662999e+01] [ 7.67002060e-03 3.67520476e-04 9.99970517e-01 1.87940908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.33, Y:70.78, Z:1.88 [[ 6.58609084e-01 -7.52470312e-01 -4.74388887e-03 2.60334965e+02] [ 7.52446195e-01 6.58626043e-01 -6.03819537e-03 7.07842475e+01] [ 7.66801150e-03 4.07289195e-04 9.99970517e-01 1.87897308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:70.80, Z:1.88 [[ 6.60150311e-01 -7.51118549e-01 -4.74266273e-03 2.60353503e+02] [ 7.51094391e-01 6.60167210e-01 -6.03915827e-03 7.08043207e+01] [ 7.66707422e-03 4.24564834e-04 9.99970517e-01 1.87819580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:70.82, Z:1.88 [[ 6.61467205e-01 -7.49959103e-01 -4.74142574e-03 2.60371545e+02] [ 7.49934908e-01 6.61484052e-01 -6.04012929e-03 7.08232578e+01] [ 7.66622746e-03 4.39586765e-04 9.99970517e-01 1.87674206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.39, Y:70.84, Z:1.88 [[ 6.62563550e-01 -7.48990701e-01 -4.74046923e-03 2.60390375e+02] [ 7.48966476e-01 6.62580354e-01 -6.04087991e-03 7.08430500e+01] [ 7.66550465e-03 4.52014301e-04 9.99970517e-01 1.87570549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.41, Y:70.86, Z:1.87 [[ 6.64400865e-01 -7.47361378e-01 -4.73925944e-03 2.60410088e+02] [ 7.47337106e-01 6.64417600e-01 -6.04182887e-03 7.08614835e+01] [ 7.66427694e-03 4.72371901e-04 9.99970517e-01 1.87338005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.42589822699995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:260.43, Y:70.88, Z:1.87 [[ 6.65176825e-01 -7.46670840e-01 -4.73805498e-03 2.60428174e+02] [ 7.46646543e-01 6.65193525e-01 -6.04277327e-03 7.08824526e+01] [ 7.66368608e-03 4.81860367e-04 9.99970517e-01 1.87398557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.45, Y:70.90, Z:1.87 [[ 6.66164081e-01 -7.45790171e-01 -4.73690983e-03 2.60446589e+02] [ 7.45765846e-01 6.66180739e-01 -6.04367082e-03 7.09020809e+01] [ 7.66294838e-03 4.93450855e-04 9.99970517e-01 1.87292984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.47, Y:70.92, Z:1.88 [[ 6.66138749e-01 -7.45812805e-01 -4.73570143e-03 2.60467937e+02] [ 7.45788474e-01 6.66155398e-01 -6.04461755e-03 7.09194002e+01] [ 7.66286624e-03 4.94722423e-04 9.99970517e-01 1.87629939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.49, Y:70.94, Z:1.88 [[ 6.65050959e-01 -7.46782971e-01 -4.73448156e-03 2.60486623e+02] [ 7.46758657e-01 6.65067635e-01 -6.04557286e-03 7.09377505e+01] [ 7.66348132e-03 4.85098939e-04 9.99970517e-01 1.87696861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.51, Y:70.96, Z:1.88 [[ 6.63808054e-01 -7.47888002e-01 -4.73320005e-03 2.60505554e+02] [ 7.47863709e-01 6.63824760e-01 -6.04657602e-03 7.09574799e+01] [ 7.66417705e-03 4.73977320e-04 9.99970517e-01 1.87855256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.52, Y:70.98, Z:1.88 [[ 6.62897941e-01 -7.48694817e-01 -4.73197454e-03 2.60524718e+02] [ 7.48670537e-01 6.62914666e-01 -6.04753494e-03 7.09778754e+01] [ 7.66465338e-03 4.66208541e-04 9.99970517e-01 1.87948796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.54, Y:71.00, Z:1.88 [[ 6.63185842e-01 -7.48439816e-01 -4.73085563e-03 2.60544035e+02] [ 7.48415524e-01 6.63202549e-01 -6.04841011e-03 7.09969738e+01] [ 7.66438646e-03 4.70574157e-04 9.99970517e-01 1.87769548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.56, Y:71.02, Z:1.88 [[ 6.63644339e-01 -7.48033302e-01 -4.72967567e-03 2.60561035e+02] [ 7.48008993e-01 6.63661022e-01 -6.04933266e-03 7.10172143e+01] [ 7.66400367e-03 4.76765436e-04 9.99970517e-01 1.87599970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.58, Y:71.04, Z:1.88 [[ 6.64108247e-01 -7.47621481e-01 -4.72839008e-03 2.60577813e+02] [ 7.47597155e-01 6.64124904e-01 -6.05033737e-03 7.10382395e+01] [ 7.66360379e-03 4.83147971e-04 9.99970517e-01 1.87535204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.59, Y:71.06, Z:1.88 [[ 6.65622423e-01 -7.46273706e-01 -4.72719465e-03 2.60594643e+02] [ 7.46249339e-01 6.65639021e-01 -6.05127122e-03 7.10596381e+01] [ 7.66250982e-03 5.00195927e-04 9.99970517e-01 1.87606080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.61, Y:71.08, Z:1.88 [[ 6.66252121e-01 -7.45711591e-01 -4.72597071e-03 2.60611248e+02] [ 7.45687203e-01 6.66268689e-01 -6.05222695e-03 7.10814878e+01] [ 7.66198209e-03 5.08213166e-04 9.99970517e-01 1.87631892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.63, Y:71.10, Z:1.88 [[ 6.66652525e-01 -7.45353666e-01 -4.72473341e-03 2.60628343e+02] [ 7.45329264e-01 6.66669069e-01 -6.05319271e-03 7.11037757e+01] [ 7.66160300e-03 5.13894135e-04 9.99970517e-01 1.87615767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.64, Y:71.12, Z:1.87 [[ 6.66201422e-01 -7.45756899e-01 -4.72362344e-03 2.60644934e+02] [ 7.45732500e-01 6.66217972e-01 -6.05405875e-03 7.11235927e+01] [ 7.66181891e-03 5.10663032e-04 9.99970517e-01 1.87400577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.66, Y:71.15, Z:1.88 [[ 6.65053297e-01 -7.46780966e-01 -4.72230807e-03 2.60662824e+02] [ 7.46756586e-01 6.65069874e-01 -6.05508460e-03 7.11457148e+01] [ 7.66248676e-03 5.00539327e-04 9.99970517e-01 1.87555556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84589822699996 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:260.68, Y:71.17, Z:1.88 [[ 6.63282490e-01 -7.48354227e-01 -4.72119617e-03 2.60680354e+02] [ 7.48329880e-01 6.63299116e-01 -6.05595143e-03 7.11677814e+01] [ 7.66356210e-03 4.83794386e-04 9.99970517e-01 1.87651646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.70, Y:71.19, Z:1.88 [[ 6.61670266e-01 -7.49780088e-01 -4.72004890e-03 2.60697842e+02] [ 7.49755770e-01 6.61686935e-01 -6.05684549e-03 7.11889470e+01] [ 7.66449683e-03 4.68750670e-04 9.99970517e-01 1.87650643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.71, Y:71.21, Z:1.88 [[ 6.60008436e-01 -7.51243368e-01 -4.71883130e-03 2.60714312e+02] [ 7.51219080e-01 6.60025149e-01 -6.05779396e-03 7.12101083e+01] [ 7.66542487e-03 4.53319002e-04 9.99970517e-01 1.87983842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.73, Y:71.23, Z:1.88 [[ 6.58333937e-01 -7.52711214e-01 -4.71758985e-03 2.60730285e+02] [ 7.52686957e-01 6.58350694e-01 -6.05876061e-03 7.12314784e+01] [ 7.66632560e-03 4.37819378e-04 9.99970517e-01 1.88232818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.75, Y:71.25, Z:1.88 [[ 6.58333422e-01 -7.52711672e-01 -4.71634473e-03 2.60745856e+02] [ 7.52687408e-01 6.58350169e-01 -6.05972969e-03 7.12523567e+01] [ 7.66623562e-03 4.39389298e-04 9.99970517e-01 1.88255581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.76, Y:71.27, Z:1.88 [[ 6.58779238e-01 -7.52321530e-01 -4.71503567e-03 2.60761722e+02] [ 7.52297249e-01 6.58795960e-01 -6.06074809e-03 7.12741871e+01] [ 7.66587773e-03 4.45586647e-04 9.99970517e-01 1.88340714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.78, Y:71.30, Z:1.88 [[ 6.60528247e-01 -7.50786397e-01 -4.71379296e-03 2.60777073e+02] [ 7.50762070e-01 6.60544903e-01 -6.06171446e-03 7.12966065e+01] [ 7.66472468e-03 4.64996665e-04 9.99970517e-01 1.88292104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.79, Y:71.32, Z:1.88 [[ 6.61153917e-01 -7.50235489e-01 -4.71255501e-03 2.60792756e+02] [ 7.50211142e-01 6.61170543e-01 -6.06267673e-03 7.13189916e+01] [ 7.66423780e-03 4.72951196e-04 9.99970517e-01 1.88208775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.81, Y:71.34, Z:1.88 [[ 6.61577093e-01 -7.49862356e-01 -4.71131944e-03 2.60807671e+02] [ 7.49837992e-01 6.61593695e-01 -6.06363674e-03 7.13406680e+01] [ 7.66387217e-03 4.78836864e-04 9.99970517e-01 1.88052764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.82, Y:71.36, Z:1.88 [[ 6.62241624e-01 -7.49275549e-01 -4.71002572e-03 2.60822821e+02] [ 7.49251163e-01 6.62258194e-01 -6.06464149e-03 7.13619612e+01] [ 7.66334071e-03 4.87265777e-04 9.99970517e-01 1.87897697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.84, Y:71.39, Z:1.88 [[ 6.63791936e-01 -7.47902463e-01 -4.70873687e-03 2.60838350e+02] [ 7.47878036e-01 6.63808445e-01 -6.06564202e-03 7.13854502e+01] [ 7.66220791e-03 5.04763376e-04 9.99970517e-01 1.88205557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.85, Y:71.41, Z:1.88 [[ 6.64486867e-01 -7.47285114e-01 -4.70767022e-03 2.60853142e+02] [ 7.47260666e-01 6.64503345e-01 -6.06646976e-03 7.14077144e+01] [ 7.66164515e-03 5.13232705e-04 9.99970517e-01 1.88367296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.87, Y:71.43, Z:1.88 [[ 6.64934461e-01 -7.46886881e-01 -4.70638230e-03 2.60867086e+02] [ 7.46862416e-01 6.64950914e-01 -6.06746877e-03 7.14299360e+01] [ 7.66122603e-03 5.19449018e-04 9.99970517e-01 1.88366940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.88, Y:71.46, Z:1.88 [[ 6.65595764e-01 -7.46297622e-01 -4.70510074e-03 2.60880304e+02] [ 7.46273136e-01 6.65612185e-01 -6.06846241e-03 7.14551154e+01] [ 7.66065145e-03 5.27852592e-04 9.99970517e-01 1.88136386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.90, Y:71.48, Z:1.88 [[ 6.65310802e-01 -7.46551679e-01 -4.70399903e-03 2.60896323e+02] [ 7.46527193e-01 6.65327223e-01 -6.06931628e-03 7.14782358e+01] [ 7.66075687e-03 5.26318495e-04 9.99970517e-01 1.88121981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.91, Y:71.50, Z:1.88 [[ 6.64741230e-01 -7.47058886e-01 -4.70288006e-03 2.60912394e+02] [ 7.47034407e-01 6.64757661e-01 -6.07018320e-03 7.15008837e+01] [ 7.66105986e-03 5.21887834e-04 9.99970517e-01 1.88249144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.93, Y:71.52, Z:1.89 [[ 6.63432633e-01 -7.48221247e-01 -4.70176164e-03 2.60928096e+02] [ 7.48196790e-01 6.63449098e-01 -6.07104937e-03 7.15225794e+01] [ 7.66186765e-03 5.09889297e-04 9.99970517e-01 1.88741360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.94, Y:71.54, Z:1.89 [[ 6.62783934e-01 -7.48795939e-01 -4.70094673e-03 2.60943800e+02] [ 7.48771492e-01 6.62800413e-01 -6.07168031e-03 7.15444012e+01] [ 7.66223899e-03 5.04277268e-04 9.99970517e-01 1.89026681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.385898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:260.96, Y:71.57, Z:1.89 [[ 6.62724792e-01 -7.48848291e-01 -4.69970155e-03 2.60960106e+02] [ 7.48823839e-01 6.62741263e-01 -6.07264397e-03 7.15669001e+01] [ 7.66217520e-03 5.05243153e-04 9.99970517e-01 1.89042683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.98, Y:71.59, Z:1.89 [[ 6.62796517e-01 -7.48784816e-01 -4.69859690e-03 2.60976950e+02] [ 7.48760356e-01 6.62812977e-01 -6.07349855e-03 7.15890032e+01] [ 7.66203449e-03 5.07370600e-04 9.99970517e-01 1.88987420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.99, Y:71.61, Z:1.89 [[ 6.63109502e-01 -7.48507663e-01 -4.69749722e-03 2.60993542e+02] [ 7.48483190e-01 6.63125943e-01 -6.07434897e-03 7.16120929e+01] [ 7.66172903e-03 5.11960814e-04 9.99970517e-01 1.88610753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.01, Y:71.63, Z:1.88 [[ 6.63331568e-01 -7.48310881e-01 -4.69638046e-03 2.61009626e+02] [ 7.48286398e-01 6.63347992e-01 -6.07521228e-03 7.16342591e+01] [ 7.66148200e-03 5.15642468e-04 9.99970517e-01 1.88496269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.03, Y:71.66, Z:1.89 [[ 6.63998245e-01 -7.47719390e-01 -4.69520108e-03 2.61026151e+02] [ 7.47694885e-01 6.64014638e-01 -6.07612361e-03 7.16562164e+01] [ 7.66091769e-03 5.23957583e-04 9.99970517e-01 1.88552253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.04, Y:71.68, Z:1.89 [[ 6.65270627e-01 -7.46587543e-01 -4.69397549e-03 2.61042086e+02] [ 7.46563004e-01 6.65286968e-01 -6.07707027e-03 7.16775464e+01] [ 7.65990569e-03 5.38547902e-04 9.99970517e-01 1.88553069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.06, Y:71.70, Z:1.89 [[ 6.65092174e-01 -7.46746529e-01 -4.69269104e-03 2.61058315e+02] [ 7.46721986e-01 6.65108512e-01 -6.07806196e-03 7.16988867e+01] [ 7.65992042e-03 5.38335873e-04 9.99970517e-01 1.88673698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.08, Y:71.72, Z:1.89 [[ 6.63223695e-01 -7.48406521e-01 -4.69147132e-03 2.61075132e+02] [ 7.48382013e-01 6.63240084e-01 -6.07900328e-03 7.17194472e+01] [ 7.66113752e-03 5.20726267e-04 9.99970517e-01 1.88770385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.09, Y:71.74, Z:1.89 [[ 6.61492014e-01 -7.49937542e-01 -4.69019167e-03 2.61092524e+02] [ 7.49913065e-01 6.61508449e-01 -6.07999042e-03 7.17403729e+01] [ 7.66221449e-03 5.04629096e-04 9.99970517e-01 1.88885094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.11, Y:71.76, Z:1.89 [[ 6.59250629e-01 -7.51908652e-01 -4.68895939e-03 2.61110311e+02] [ 7.51884218e-01 6.59267127e-01 -6.08094062e-03 7.17613749e+01] [ 7.66358865e-03 4.83309366e-04 9.99970517e-01 1.89012742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.13, Y:71.78, Z:1.89 [[ 6.57286006e-01 -7.53626650e-01 -4.68814194e-03 2.61128261e+02] [ 7.53602254e-01 6.57302561e-01 -6.08157077e-03 7.17810818e+01] [ 7.66476151e-03 4.64337033e-04 9.99970517e-01 1.89061911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.15, Y:71.80, Z:1.89 [[ 6.55053737e-01 -7.55567757e-01 -4.68682358e-03 2.61148069e+02] [ 7.55543404e-01 6.55070353e-01 -6.08258661e-03 7.17995143e+01] [ 7.66600550e-03 4.43322447e-04 9.99970517e-01 1.89253772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.17, Y:71.82, Z:1.89 [[ 6.55029374e-01 -7.55588886e-01 -4.68561509e-03 2.61166243e+02] [ 7.55564526e-01 6.55045982e-01 -6.08351740e-03 7.18193871e+01] [ 7.66593147e-03 4.44598053e-04 9.99970517e-01 1.89373551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.18, Y:71.84, Z:1.89 [[ 6.55517266e-01 -7.55165658e-01 -4.68437031e-03 2.61184123e+02] [ 7.55141280e-01 6.55533848e-01 -6.08447574e-03 7.18389657e+01] [ 7.66555042e-03 4.51117511e-04 9.99970517e-01 1.89371168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.20, Y:71.86, Z:1.89 [[ 6.57161956e-01 -7.53734853e-01 -4.68340427e-03 2.61204039e+02] [ 7.53710435e-01 6.57178477e-01 -6.08521925e-03 7.18582197e+01] [ 7.66447432e-03 4.69043916e-04 9.99970517e-01 1.89229046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.22, Y:71.88, Z:1.89 [[ 6.57903894e-01 -7.53087341e-01 -4.68214867e-03 2.61220451e+02] [ 7.53062900e-01 6.57920381e-01 -6.08618519e-03 7.18782141e+01] [ 7.66391006e-03 4.78172478e-04 9.99970517e-01 1.89074376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.24, Y:71.90, Z:1.89 [[ 6.58428761e-01 -7.52628496e-01 -4.68117900e-03 2.61237459e+02] [ 7.52604038e-01 6.58445223e-01 -6.08693092e-03 7.18976345e+01] [ 7.66349761e-03 4.84736170e-04 9.99970517e-01 1.88952144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.26, Y:71.92, Z:1.89 [[ 6.57726903e-01 -7.53241939e-01 -4.67991225e-03 2.61256922e+02] [ 7.53217489e-01 6.57743378e-01 -6.08790469e-03 7.19156003e+01] [ 7.66384643e-03 4.79186942e-04 9.99970517e-01 1.88899569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.28, Y:71.94, Z:1.89 [[ 6.57054350e-01 -7.53828688e-01 -4.67865582e-03 2.61275871e+02] [ 7.53804246e-01 6.57070836e-01 -6.08887013e-03 7.19361017e+01] [ 7.66417328e-03 4.73927979e-04 9.99970517e-01 1.89056083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.29, Y:71.96, Z:1.89 [[ 6.56154790e-01 -7.54611829e-01 -4.67752846e-03 2.61293864e+02] [ 7.54587400e-01 6.56171297e-01 -6.08973606e-03 7.19557600e+01] [ 7.66464678e-03 4.66205446e-04 9.99970517e-01 1.89052425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.31, Y:71.98, Z:1.89 [[ 6.55548488e-01 -7.55138606e-01 -4.67619720e-03 2.61311604e+02] [ 7.55114183e-01 6.55565003e-01 -6.09075814e-03 7.19764117e+01] [ 7.66491784e-03 4.61724455e-04 9.99970517e-01 1.89155274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.33, Y:72.00, Z:1.89 [[ 6.55511606e-01 -7.55170630e-01 -4.67496486e-03 2.61327818e+02] [ 7.55146201e-01 6.55528112e-01 -6.09170388e-03 7.19964116e+01] [ 7.66484674e-03 4.62900636e-04 9.99970517e-01 1.89092360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.34, Y:72.02, Z:1.89 [[ 6.55864722e-01 -7.54863977e-01 -4.67367048e-03 2.61343851e+02] [ 7.54839534e-01 6.55881207e-01 -6.09269678e-03 7.20184712e+01] [ 7.66452996e-03 4.68113634e-04 9.99970517e-01 1.89102307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.36, Y:72.04, Z:1.89 [[ 6.56207674e-01 -7.54565873e-01 -4.67241291e-03 2.61359562e+02] [ 7.54541416e-01 6.56224138e-01 -6.09366105e-03 7.20406832e+01] [ 7.66421880e-03 4.73178089e-04 9.99970517e-01 1.89076447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.38, Y:72.06, Z:1.89 [[ 6.56480011e-01 -7.54328957e-01 -4.67115843e-03 2.61375706e+02] [ 7.54304487e-01 6.56496456e-01 -6.09462253e-03 7.20628816e+01] [ 7.66394921e-03 4.77522102e-04 9.99970518e-01 1.88960066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.39, Y:72.08, Z:1.89 [[ 6.56324109e-01 -7.54464616e-01 -4.66990485e-03 2.61392363e+02] [ 7.54440142e-01 6.56340549e-01 -6.09558291e-03 7.20849773e+01] [ 7.66394953e-03 4.77514343e-04 9.99970518e-01 1.88981296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.41, Y:72.11, Z:1.89 [[ 6.55956205e-01 -7.54784513e-01 -4.66864491e-03 2.61407265e+02] [ 7.54760041e-01 6.55972646e-01 -6.09654776e-03 7.21061494e+01] [ 7.66408319e-03 4.75361706e-04 9.99970518e-01 1.88731702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.42, Y:72.13, Z:1.89 [[ 6.55396248e-01 -7.55270793e-01 -4.66766934e-03 2.61422879e+02] [ 7.55246328e-01 6.55412700e-01 -6.09729458e-03 7.21278694e+01] [ 7.66435828e-03 4.70903864e-04 9.99970518e-01 1.88671818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.44, Y:72.15, Z:1.89 [[ 6.54371271e-01 -7.56159020e-01 -4.66642153e-03 2.61437132e+02] [ 7.56134571e-01 6.54387746e-01 -6.09824941e-03 7.21515903e+01] [ 7.66489537e-03 4.62076577e-04 9.99970518e-01 1.88546199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.45, Y:72.17, Z:1.88 [[ 6.54385944e-01 -7.56146330e-01 -4.66517245e-03 2.61451541e+02] [ 7.56121873e-01 6.54402409e-01 -6.09920482e-03 7.21732769e+01] [ 7.66479143e-03 4.63794976e-04 9.99970518e-01 1.88482630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.47, Y:72.20, Z:1.89 [[ 6.54557525e-01 -7.55997812e-01 -4.66420323e-03 2.61466415e+02] [ 7.55973346e-01 6.54573976e-01 -6.09994591e-03 7.21961768e+01] [ 7.66461182e-03 4.66752179e-04 9.99970518e-01 1.88578537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.48, Y:72.22, Z:1.88 [[ 6.54972341e-01 -7.55638465e-01 -4.66293549e-03 2.61481049e+02] [ 7.55613983e-01 6.54988769e-01 -6.10091485e-03 7.22183900e+01] [ 7.66425630e-03 4.72551222e-04 9.99970518e-01 1.88478941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.49, Y:72.24, Z:1.88 [[ 6.56283071e-01 -7.54500364e-01 -4.66160272e-03 2.61493527e+02] [ 7.54475847e-01 6.56299446e-01 -6.10193302e-03 7.22423494e+01] [ 7.66331797e-03 4.87528681e-04 9.99970518e-01 1.88121476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.51, Y:72.27, Z:1.88 [[ 6.56925822e-01 -7.53940811e-01 -4.66031147e-03 2.61508485e+02] [ 7.53916273e-01 6.56942165e-01 -6.10291905e-03 7.22656326e+01] [ 7.66279484e-03 4.95680460e-04 9.99970518e-01 1.88216169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.52, Y:72.29, Z:1.88 [[ 6.57433292e-01 -7.53498347e-01 -4.65910242e-03 2.61523782e+02] [ 7.53473792e-01 6.57449609e-01 -6.10384193e-03 7.22886587e+01] [ 7.66235986e-03 5.02357328e-04 9.99970518e-01 1.88391604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.54, Y:72.31, Z:1.89 [[ 6.57834777e-01 -7.53147868e-01 -4.65785888e-03 2.61537820e+02] [ 7.53123297e-01 6.57851070e-01 -6.10479072e-03 7.23133059e+01] [ 7.66198757e-03 5.08001601e-04 9.99970518e-01 1.88796188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.55, Y:72.34, Z:1.89 [[ 6.57498016e-01 -7.53441885e-01 -4.65674856e-03 2.61552760e+02] [ 7.53417316e-01 6.57514311e-01 -6.10563756e-03 7.23365083e+01] [ 7.66212190e-03 5.05969576e-04 9.99970518e-01 1.88927924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.57, Y:72.36, Z:1.89 [[ 6.56632820e-01 -7.54196040e-01 -4.65549448e-03 2.61567286e+02] [ 7.54171482e-01 6.56649134e-01 -6.10659364e-03 7.23581194e+01] [ 7.66259515e-03 4.98748630e-04 9.99970518e-01 1.88830634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.58, Y:72.38, Z:1.89 [[ 6.54764830e-01 -7.55818335e-01 -4.65417849e-03 2.61582680e+02] [ 7.55793811e-01 6.54781195e-01 -6.10759646e-03 7.23805483e+01] [ 7.66370194e-03 4.81440057e-04 9.99970518e-01 1.88914543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.60, Y:72.40, Z:1.89 [[ 6.53924496e-01 -7.56545507e-01 -4.65293527e-03 2.61598096e+02] [ 7.56520994e-01 6.53940877e-01 -6.10854343e-03 7.24019871e+01] [ 7.66413566e-03 4.74482964e-04 9.99970518e-01 1.88909513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.61, Y:72.42, Z:1.89 [[ 6.53827650e-01 -7.56629214e-01 -4.65162411e-03 2.61614336e+02] [ 7.56604696e-01 6.53844024e-01 -6.10954171e-03 7.24242245e+01] [ 7.66409437e-03 4.75146655e-04 9.99970518e-01 1.89138424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.63, Y:72.45, Z:1.89 [[ 6.55061461e-01 -7.55561286e-01 -4.65040924e-03 2.61630012e+02] [ 7.55536735e-01 6.55077785e-01 -6.11046630e-03 7.24452386e+01] [ 7.66321156e-03 4.89175961e-04 9.99970518e-01 1.89224563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.65, Y:72.47, Z:1.89 [[ 6.55724353e-01 -7.54986063e-01 -4.64946842e-03 2.61645648e+02] [ 7.54961493e-01 6.55740648e-01 -6.11118209e-03 7.24664301e+01] [ 7.66270274e-03 4.97081302e-04 9.99970518e-01 1.89331588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.66, Y:72.49, Z:1.90 [[ 6.56317668e-01 -7.54470352e-01 -4.64821032e-03 2.61661051e+02] [ 7.54445763e-01 6.56333934e-01 -6.11213886e-03 7.24881870e+01] [ 7.66220572e-03 5.04682148e-04 9.99970518e-01 1.89609298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.68, Y:72.51, Z:1.90 [[ 6.57035227e-01 -7.53845552e-01 -4.64691004e-03 2.61675736e+02] [ 7.53820940e-01 6.57051459e-01 -6.11312727e-03 7.25093640e+01] [ 7.66161282e-03 5.13601869e-04 9.99970518e-01 1.89695287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.69, Y:72.53, Z:1.90 [[ 6.59901191e-01 -7.51338031e-01 -4.64561619e-03 2.61691977e+02] [ 7.51313351e-01 6.59917318e-01 -6.11411036e-03 7.25326580e+01] [ 7.65948622e-03 5.44395234e-04 9.99970518e-01 1.89568594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.71, Y:72.55, Z:1.89 [[ 6.61627905e-01 -7.49817941e-01 -4.64448535e-03 2.61708240e+02] [ 7.49793218e-01 6.61643966e-01 -6.11496926e-03 7.25543742e+01] [ 7.65810937e-03 5.63430680e-04 9.99970518e-01 1.89271099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79589822699995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:261.72, Y:72.58, Z:1.89 [[ 6.65026366e-01 -7.46805443e-01 -4.64365847e-03 2.61723775e+02] [ 7.46780642e-01 6.65042308e-01 -6.11559712e-03 7.25775552e+01] [ 7.65539057e-03 5.99239070e-04 9.99970518e-01 1.89188673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.74, Y:72.60, Z:1.89 [[ 6.65943718e-01 -7.45987541e-01 -4.64250890e-03 2.61739889e+02] [ 7.45962715e-01 6.65959621e-01 -6.11646967e-03 7.25992233e+01] [ 7.65453363e-03 6.10086013e-04 9.99970518e-01 1.89263598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.76, Y:72.62, Z:1.89 [[ 6.65849392e-01 -7.46071740e-01 -4.64167308e-03 2.61756446e+02] [ 7.46046912e-01 6.65865291e-01 -6.11710389e-03 7.26210412e+01] [ 7.65452734e-03 6.10164033e-04 9.99970518e-01 1.89494379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.885898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:261.77, Y:72.64, Z:1.90 [[ 6.63032305e-01 -7.48576401e-01 -4.64044029e-03 2.61773451e+02] [ 7.48551627e-01 6.63048288e-01 -6.11803894e-03 7.26434808e+01] [ 7.65665556e-03 5.82848340e-04 9.99970518e-01 1.89602280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.79, Y:72.67, Z:1.89 [[ 6.60418407e-01 -7.50883483e-01 -4.63931287e-03 2.61789287e+02] [ 7.50858758e-01 6.60434467e-01 -6.11889374e-03 7.26652918e+01] [ 7.65853837e-03 5.57561357e-04 9.99970518e-01 1.89441542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.81, Y:72.69, Z:1.89 [[ 6.57263656e-01 -7.53646451e-01 -4.63812527e-03 2.61805548e+02] [ 7.53621788e-01 6.57279810e-01 -6.11979381e-03 7.26869419e+01] [ 7.66070699e-03 5.26925798e-04 9.99970518e-01 1.89195178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.82, Y:72.71, Z:1.89 [[ 6.48971339e-01 -7.60798725e-01 -4.63694309e-03 2.61824620e+02] [ 7.60774234e-01 6.48987752e-01 -6.12068942e-03 7.27074679e+01] [ 7.66593198e-03 4.44485174e-04 9.99970518e-01 1.89165574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.84, Y:72.73, Z:1.89 [[ 6.44120418e-01 -7.64910057e-01 -4.63588354e-03 2.61842644e+02] [ 7.64885665e-01 6.44136978e-01 -6.12149183e-03 7.27277452e+01] [ 7.66853468e-03 3.97057019e-04 9.99970518e-01 1.89375008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.86, Y:72.75, Z:1.89 [[ 6.38923390e-01 -7.69256408e-01 -4.63460569e-03 2.61859964e+02] [ 7.69232122e-01 6.38940105e-01 -6.12245914e-03 7.27469076e+01] [ 7.67097638e-03 3.46694783e-04 9.99970518e-01 1.89478484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.88, Y:72.77, Z:1.89 [[ 6.29234760e-01 -7.77201486e-01 -4.63325780e-03 2.61881363e+02] [ 7.77177404e-01 6.29251767e-01 -6.12347901e-03 7.27654213e+01] [ 7.67466264e-03 2.52242571e-04 9.99970518e-01 1.89321669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.90, Y:72.78, Z:1.89 [[ 6.24949943e-01 -7.80651081e-01 -4.63239061e-03 2.61900517e+02] [ 7.80627087e-01 6.24967076e-01 -6.12413496e-03 7.27847471e+01] [ 7.67590419e-03 2.11108206e-04 9.99970518e-01 1.89319460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.92, Y:72.80, Z:1.89 [[ 6.21515061e-01 -7.83388525e-01 -4.63118004e-03 2.61919556e+02] [ 7.83364600e-01 6.21532290e-01 -6.12505028e-03 7.28031613e+01] [ 7.67672204e-03 1.78908496e-04 9.99970518e-01 1.89319684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.94, Y:72.82, Z:1.89 [[ 6.19228024e-01 -7.85197567e-01 -4.62982655e-03 2.61938465e+02] [ 7.85173685e-01 6.19245312e-01 -6.12607319e-03 7.28217684e+01] [ 7.67717615e-03 1.58218225e-04 9.99970518e-01 1.89386525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.96, Y:72.84, Z:1.89 [[ 6.17838276e-01 -7.86291576e-01 -4.62848475e-03 2.61960570e+02] [ 7.86267717e-01 6.17855595e-01 -6.12708680e-03 7.28388871e+01] [ 7.67741194e-03 1.46320607e-04 9.99970518e-01 1.89332853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.98, Y:72.86, Z:1.89 [[ 6.18497775e-01 -7.85772926e-01 -4.62721318e-03 2.61977902e+02] [ 7.85749045e-01 6.18515065e-01 -6.12804695e-03 7.28575146e+01] [ 7.67725444e-03 1.54355070e-04 9.99970518e-01 1.89342913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.00, Y:72.88, Z:1.89 [[ 6.20011149e-01 -7.84579364e-01 -4.62573540e-03 2.61995448e+02] [ 7.84555442e-01 6.20028380e-01 -6.12916225e-03 7.28768879e+01] [ 7.67690144e-03 1.71003046e-04 9.99970518e-01 1.89354899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.01, Y:72.90, Z:1.89 [[ 6.22078994e-01 -7.82940828e-01 -4.62433686e-03 2.62012151e+02] [ 7.82916853e-01 6.22096152e-01 -6.13021724e-03 7.28966823e+01] [ 7.67637953e-03 1.93008114e-04 9.99970518e-01 1.89423224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.03, Y:72.92, Z:1.89 [[ 6.26645241e-01 -7.79290940e-01 -4.62294294e-03 2.62028608e+02] [ 7.79266857e-01 6.26662248e-01 -6.13126825e-03 7.29154529e+01] [ 7.67506561e-03 2.39623857e-04 9.99970518e-01 1.89381159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.05, Y:72.94, Z:1.89 [[ 6.28631884e-01 -7.77689267e-01 -4.62149139e-03 2.62045167e+02] [ 7.77665132e-01 6.28648818e-01 -6.13236216e-03 7.29362258e+01] [ 7.67436734e-03 2.61025667e-04 9.99970518e-01 1.89281720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.06, Y:72.96, Z:1.89 [[ 6.31637798e-01 -7.75249860e-01 -4.62012821e-03 2.62062060e+02] [ 7.75225653e-01 6.31654627e-01 -6.13338901e-03 7.29558075e+01] [ 7.67323434e-03 2.92438421e-04 9.99970518e-01 1.89054263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.08, Y:72.98, Z:1.89 [[ 6.32028790e-01 -7.74931143e-01 -4.61870196e-03 2.62078552e+02] [ 7.74906919e-01 6.32045596e-01 -6.13446285e-03 7.29766888e+01] [ 7.67301654e-03 2.98093025e-04 9.99970518e-01 1.88924882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.09, Y:73.00, Z:1.89 [[ 6.31957351e-01 -7.74989410e-01 -4.61735165e-03 2.62094138e+02] [ 7.74965181e-01 6.31974148e-01 -6.13547905e-03 7.29966535e+01] [ 7.67297817e-03 2.99074337e-04 9.99970518e-01 1.88814882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.11, Y:73.02, Z:1.89 [[ 6.31370885e-01 -7.75467277e-01 -4.61593993e-03 2.62110516e+02] [ 7.75443053e-01 6.31387690e-01 -6.13654096e-03 7.30182369e+01] [ 7.67313435e-03 2.95034746e-04 9.99970518e-01 1.88869050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.13, Y:73.04, Z:1.89 [[ 6.30985179e-01 -7.75781161e-01 -4.61465803e-03 2.62125728e+02] [ 7.75756938e-01 6.31001985e-01 -6.13750479e-03 7.30398024e+01] [ 7.67321896e-03 2.92821574e-04 9.99970518e-01 1.88669519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.14, Y:73.06, Z:1.89 [[ 6.30510508e-01 -7.76167003e-01 -4.61331349e-03 2.62140728e+02] [ 7.76142783e-01 6.30527319e-01 -6.13851526e-03 7.30613190e+01] [ 7.67333317e-03 2.89808408e-04 9.99970518e-01 1.88722095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.16, Y:73.08, Z:1.89 [[ 6.30113618e-01 -7.76489251e-01 -4.61199444e-03 2.62156720e+02] [ 7.76465032e-01 6.30130431e-01 -6.13950612e-03 7.30837339e+01] [ 7.67341856e-03 2.87534005e-04 9.99970518e-01 1.88942786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.17, Y:73.11, Z:1.89 [[ 6.29773258e-01 -7.76765334e-01 -4.61078493e-03 2.62173440e+02] [ 7.76741116e-01 6.29790072e-01 -6.14041434e-03 7.31055570e+01] [ 7.67348757e-03 2.85682510e-04 9.99970518e-01 1.89283914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.19, Y:73.13, Z:1.89 [[ 6.29506781e-01 -7.76981314e-01 -4.60994648e-03 2.62189685e+02] [ 7.76957097e-01 6.29523596e-01 -6.14104375e-03 7.31263496e+01] [ 7.67354632e-03 2.84098048e-04 9.99970518e-01 1.89409978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.21, Y:73.15, Z:1.89 [[ 6.29262128e-01 -7.77179474e-01 -4.60860259e-03 2.62207061e+02] [ 7.77155255e-01 6.29278940e-01 -6.14205212e-03 7.31468398e+01] [ 7.67357339e-03 2.83361065e-04 9.99970518e-01 1.89422595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.22, Y:73.17, Z:1.89 [[ 6.29819043e-01 -7.76728231e-01 -4.60734541e-03 2.62223784e+02] [ 7.76703993e-01 6.29835828e-01 -6.14299502e-03 7.31677753e+01] [ 7.67330887e-03 2.90431669e-04 9.99970518e-01 1.89356093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.24, Y:73.19, Z:1.89 [[ 6.31097852e-01 -7.75689555e-01 -4.60609173e-03 2.62240494e+02] [ 7.75665283e-01 6.31114587e-01 -6.14393490e-03 7.31890233e+01] [ 7.67275781e-03 3.04638668e-04 9.99970518e-01 1.89442364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72589822699996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:262.26, Y:73.21, Z:1.90 [[ 6.33084532e-01 -7.74068970e-01 -4.60481216e-03 2.62256865e+02] [ 7.74044648e-01 6.33101195e-01 -6.14489378e-03 7.32102565e+01] [ 7.67188368e-03 3.25906995e-04 9.99970518e-01 1.89757381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.27, Y:73.23, Z:1.90 [[ 6.37440729e-01 -7.70485642e-01 -4.60349728e-03 2.62272720e+02] [ 7.70461219e-01 6.37457244e-01 -6.14587867e-03 7.32322092e+01] [ 7.66984396e-03 3.70817251e-04 9.99970518e-01 1.89894258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.29, Y:73.25, Z:1.90 [[ 6.39465242e-01 -7.68806233e-01 -4.60217835e-03 2.62288164e+02] [ 7.68781760e-01 6.39481682e-01 -6.14686615e-03 7.32531486e+01] [ 7.66875777e-03 3.92636479e-04 9.99970518e-01 1.89755140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.30, Y:73.27, Z:1.90 [[ 6.41127986e-01 -7.67420184e-01 -4.60079546e-03 2.62303765e+02] [ 7.67395668e-01 6.41144362e-01 -6.14790104e-03 7.32737598e+01] [ 7.66779742e-03 4.10960904e-04 9.99970518e-01 1.89651750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.32, Y:73.29, Z:1.90 [[ 6.42866144e-01 -7.65964729e-01 -4.59949715e-03 2.62320944e+02] [ 7.65940169e-01 6.42882454e-01 -6.14887221e-03 7.32943753e+01] [ 7.66675525e-03 4.29962149e-04 9.99970518e-01 1.89789850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.34, Y:73.31, Z:1.90 [[ 6.43062667e-01 -7.65799754e-01 -4.59822037e-03 2.62337020e+02] [ 7.65775183e-01 6.43078960e-01 -6.14982686e-03 7.33144176e+01] [ 7.66655467e-03 4.33521014e-04 9.99970518e-01 1.89968397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90589822699997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:262.35, Y:73.34, Z:1.90 [[ 6.43058445e-01 -7.65803305e-01 -4.59716423e-03 2.62353951e+02] [ 7.65778728e-01 6.43074731e-01 -6.15061625e-03 7.33360141e+01] [ 7.66648240e-03 4.34795145e-04 9.99970518e-01 1.90201405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.37, Y:73.36, Z:1.90 [[ 6.43677328e-01 -7.65283199e-01 -4.59589847e-03 2.62370468e+02] [ 7.65258603e-01 6.43693583e-01 -6.15156191e-03 7.33575665e+01] [ 7.66603734e-03 4.42570091e-04 9.99970518e-01 1.90454690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.39, Y:73.38, Z:1.90 [[ 6.44903248e-01 -7.64250411e-01 -4.59462540e-03 2.62386057e+02] [ 7.64225781e-01 6.44919454e-01 -6.15251262e-03 7.33784118e+01] [ 7.66522360e-03 4.56444184e-04 9.99970518e-01 1.90374133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.40, Y:73.40, Z:1.90 [[ 6.46481307e-01 -7.62915999e-01 -4.59329051e-03 2.62401408e+02] [ 7.62891329e-01 6.46497451e-01 -6.15350905e-03 7.34002514e+01] [ 7.66416111e-03 4.73947072e-04 9.99970518e-01 1.90324441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.42, Y:73.42, Z:1.90 [[ 6.46332235e-01 -7.63042302e-01 -4.59206339e-03 2.62417778e+02] [ 7.63017629e-01 6.46348374e-01 -6.15442466e-03 7.34225649e+01] [ 7.66415907e-03 4.73977726e-04 9.99970518e-01 1.90345671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.43, Y:73.45, Z:1.90 [[ 6.49441367e-01 -7.60397813e-01 -4.59086072e-03 2.62433595e+02] [ 7.60373068e-01 6.49457396e-01 -6.15532165e-03 7.34451123e+01] [ 7.66206157e-03 5.06753661e-04 9.99970518e-01 1.90352908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.45, Y:73.47, Z:1.90 [[ 6.50066372e-01 -7.59863572e-01 -4.58963821e-03 2.62449935e+02] [ 7.59838807e-01 6.50082370e-01 -6.15623307e-03 7.34672049e+01] [ 7.66154013e-03 5.14574876e-04 9.99970518e-01 1.90364243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.47, Y:73.49, Z:1.90 [[ 6.50076857e-01 -7.59854609e-01 -4.58838596e-03 2.62466168e+02] [ 7.59829838e-01 6.50092845e-01 -6.15716626e-03 7.34884664e+01] [ 7.66142804e-03 5.16238735e-04 9.99970518e-01 1.90255211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.48, Y:73.51, Z:1.90 [[ 6.48989227e-01 -7.60783768e-01 -4.58713156e-03 2.62482718e+02] [ 7.60759013e-01 6.49005240e-01 -6.15810065e-03 7.35099088e+01] [ 7.66205544e-03 5.06839299e-04 9.99970518e-01 1.90039477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.50, Y:73.53, Z:1.90 [[ 6.48134158e-01 -7.61512366e-01 -4.58587110e-03 2.62498066e+02] [ 7.61487622e-01 6.48150189e-01 -6.15903916e-03 7.35313650e+01] [ 7.66251770e-03 4.99799577e-04 9.99970518e-01 1.89918651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.51, Y:73.55, Z:1.90 [[ 6.47153548e-01 -7.62345897e-01 -4.58454910e-03 2.62512954e+02] [ 7.62321168e-01 6.47169600e-01 -6.16002305e-03 7.35526183e+01] [ 7.66304911e-03 4.91581946e-04 9.99970518e-01 1.89633073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.53, Y:73.57, Z:1.90 [[ 6.45736173e-01 -7.63546848e-01 -4.58323708e-03 2.62528367e+02] [ 7.63522141e-01 6.45752260e-01 -6.16099907e-03 7.35746942e+01] [ 7.66384713e-03 4.78976970e-04 9.99970518e-01 1.89925756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.54, Y:73.60, Z:1.90 [[ 6.45240089e-01 -7.63966121e-01 -4.58193484e-03 2.62543760e+02] [ 7.63941418e-01 6.45256182e-01 -6.16196740e-03 7.35953214e+01] [ 7.66405611e-03 4.75618595e-04 9.99970518e-01 1.89882178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.56, Y:73.62, Z:1.90 [[ 6.44828477e-01 -7.64313583e-01 -4.58056614e-03 2.62560071e+02] [ 7.64288882e-01 6.44844573e-01 -6.16298467e-03 7.36164021e+01] [ 7.66420611e-03 4.73192243e-04 9.99970518e-01 1.89990274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.58, Y:73.64, Z:1.90 [[ 6.43766523e-01 -7.65208269e-01 -4.57926750e-03 2.62577487e+02] [ 7.65183583e-01 6.43782642e-01 -6.16394944e-03 7.36371210e+01] [ 7.66475801e-03 4.64163986e-04 9.99970518e-01 1.89966721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.59, Y:73.66, Z:1.90 [[ 6.43372772e-01 -7.65539364e-01 -4.57800824e-03 2.62593471e+02] [ 7.65514680e-01 6.43388894e-01 -6.16488456e-03 7.36579801e+01] [ 7.66490147e-03 4.61786355e-04 9.99970518e-01 1.89785318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.61, Y:73.68, Z:1.90 [[ 6.43307650e-01 -7.65594097e-01 -4.57667971e-03 2.62610074e+02] [ 7.65569407e-01 6.43323764e-01 -6.16587068e-03 7.36800107e+01] [ 7.66484101e-03 4.62785810e-04 9.99970518e-01 1.89734716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.63, Y:73.70, Z:1.90 [[ 6.44180635e-01 -7.64859709e-01 -4.57545674e-03 2.62625116e+02] [ 7.64834995e-01 6.44196711e-01 -6.16677806e-03 7.37012385e+01] [ 7.66421426e-03 4.73049580e-04 9.99970518e-01 1.89747095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.64, Y:73.72, Z:1.90 [[ 6.45020902e-01 -7.64151237e-01 -4.57417082e-03 2.62640634e+02] [ 7.64126498e-01 6.45036940e-01 -6.16773174e-03 7.37234704e+01] [ 7.66358899e-03 4.83070767e-04 9.99970518e-01 1.89999646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.66, Y:73.75, Z:1.90 [[ 6.46248126e-01 -7.63113653e-01 -4.57288354e-03 2.62655368e+02] [ 7.63088882e-01 6.46264114e-01 -6.16868601e-03 7.37452920e+01] [ 7.66269905e-03 4.96985180e-04 9.99970518e-01 1.89889004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.67, Y:73.77, Z:1.90 [[ 6.47806305e-01 -7.61791368e-01 -4.57188686e-03 2.62669297e+02] [ 7.61766560e-01 6.47822234e-01 -6.16942460e-03 7.37682861e+01] [ 7.66158437e-03 5.13881627e-04 9.99970518e-01 1.90026688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.68, Y:73.79, Z:1.90 [[ 6.47914035e-01 -7.61699753e-01 -4.57065029e-03 2.62684169e+02] [ 7.61674935e-01 6.47929950e-01 -6.17034059e-03 7.37913419e+01] [ 7.66140811e-03 5.16500499e-04 9.99970518e-01 1.90101280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.70, Y:73.82, Z:1.90 [[ 6.48040701e-01 -7.61591997e-01 -4.56941016e-03 2.62699549e+02] [ 7.61567171e-01 6.48056602e-01 -6.17125882e-03 7.38151011e+01] [ 7.66121776e-03 5.19314120e-04 9.99970518e-01 1.90238294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.71, Y:73.84, Z:1.90 [[ 6.48545515e-01 -7.61162168e-01 -4.56824231e-03 2.62714121e+02] [ 7.61137325e-01 6.48561390e-01 -6.17212320e-03 7.38381307e+01] [ 7.66077226e-03 5.25843086e-04 9.99970518e-01 1.90291706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.73, Y:73.86, Z:1.91 [[ 6.50769380e-01 -7.59261718e-01 -4.56700554e-03 2.62726923e+02] [ 7.59236823e-01 6.50785173e-01 -6.17303819e-03 7.38622094e+01] [ 7.65909108e-03 5.49785460e-04 9.99970518e-01 1.90540721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65589822699997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:262.74, Y:73.89, Z:1.91 [[ 6.51939346e-01 -7.58257372e-01 -4.56580913e-03 2.62741616e+02] [ 7.58232446e-01 6.51955091e-01 -6.17392298e-03 7.38861100e+01] [ 7.65812512e-03 5.63078694e-04 9.99970518e-01 1.90686745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.76, Y:73.91, Z:1.91 [[ 6.53021742e-01 -7.57325405e-01 -4.56465890e-03 2.62755819e+02] [ 7.57300450e-01 6.53037442e-01 -6.17477328e-03 7.39093233e+01] [ 7.65720584e-03 5.75442959e-04 9.99970518e-01 1.90774290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.77, Y:73.93, Z:1.91 [[ 6.56188028e-01 -7.54583625e-01 -4.56351885e-03 2.62767368e+02] [ 7.54558599e-01 6.56203614e-01 -6.17561573e-03 7.39335116e+01] [ 7.65461606e-03 6.08922718e-04 9.99970518e-01 1.90625209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.78, Y:73.96, Z:1.90 [[ 6.57650610e-01 -7.53309273e-01 -4.56217047e-03 2.62781543e+02] [ 7.53284211e-01 6.57666137e-01 -6.17661167e-03 7.39574402e+01] [ 7.65328388e-03 6.25441450e-04 9.99970518e-01 1.90429455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.80, Y:73.98, Z:1.90 [[ 6.58875144e-01 -7.52238487e-01 -4.56103933e-03 2.62795268e+02] [ 7.52213393e-01 6.58890621e-01 -6.17744683e-03 7.39812315e+01] [ 7.65213929e-03 6.39291301e-04 9.99970518e-01 1.90124753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.81, Y:74.01, Z:1.90 [[ 6.60952120e-01 -7.50414218e-01 -4.56020758e-03 2.62805594e+02] [ 7.50389078e-01 6.60967521e-01 -6.17806077e-03 7.40074359e+01] [ 7.65025374e-03 6.61472401e-04 9.99970518e-01 1.89830761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.82, Y:74.03, Z:1.90 [[ 6.61401791e-01 -7.50017924e-01 -4.55900149e-03 2.62819057e+02] [ 7.49992768e-01 6.61417167e-01 -6.17895066e-03 7.40309296e+01] [ 7.64972559e-03 6.67550885e-04 9.99970518e-01 1.89964664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.83, Y:74.05, Z:1.90 [[ 6.61467747e-01 -7.49959763e-01 -4.55775538e-03 2.62832430e+02] [ 7.49934600e-01 6.61483110e-01 -6.17986968e-03 7.40537616e+01] [ 7.64953181e-03 6.69766023e-04 9.99970518e-01 1.90073974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.84, Y:74.08, Z:1.90 [[ 6.60304345e-01 -7.50984295e-01 -4.55645142e-03 2.62844988e+02] [ 7.50959149e-01 6.60319736e-01 -6.18083095e-03 7.40798528e+01] [ 7.65042177e-03 6.59520649e-04 9.99970518e-01 1.90102678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.86, Y:74.10, Z:1.90 [[ 6.59337129e-01 -7.51833624e-01 -4.55533407e-03 2.62858888e+02] [ 7.51808493e-01 6.59352544e-01 -6.18165434e-03 7.41034271e+01] [ 7.65114669e-03 6.51055387e-04 9.99970518e-01 1.89931387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.87, Y:74.13, Z:1.90 [[ 6.58398902e-01 -7.52655396e-01 -4.55416434e-03 2.62874208e+02] [ 7.52630278e-01 6.58414338e-01 -6.18251599e-03 7.41272909e+01] [ 7.65183112e-03 6.42959764e-04 9.99970518e-01 1.89876356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.89, Y:74.15, Z:1.90 [[ 6.56920151e-01 -7.53946407e-01 -4.55304748e-03 2.62888642e+02] [ 7.53921313e-01 6.56935628e-01 -6.18333837e-03 7.41490818e+01] [ 7.65296486e-03 6.29320043e-04 9.99970518e-01 1.89970748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.015898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:262.90, Y:74.17, Z:1.90 [[ 6.56124948e-01 -7.54638543e-01 -4.55206914e-03 2.62903628e+02] [ 7.54613461e-01 6.56140444e-01 -6.18405853e-03 7.41715938e+01] [ 7.65352558e-03 6.22462437e-04 9.99970518e-01 1.90026005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.92, Y:74.19, Z:1.90 [[ 6.55679873e-01 -7.55025294e-01 -4.55081986e-03 2.62917630e+02] [ 7.55000215e-01 6.55695373e-01 -6.18497773e-03 7.41933196e+01] [ 7.65376615e-03 6.19495443e-04 9.99970518e-01 1.90162981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.93, Y:74.22, Z:1.90 [[ 6.55927912e-01 -7.54809826e-01 -4.54985294e-03 2.62931407e+02] [ 7.54784737e-01 6.55943395e-01 -6.18568894e-03 7.42164778e+01] [ 7.65346478e-03 6.23206473e-04 9.99970518e-01 1.90302860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.95, Y:74.24, Z:1.90 [[ 6.56275426e-01 -7.54507704e-01 -4.54860717e-03 2.62946916e+02] [ 7.54482601e-01 6.56290889e-01 -6.18660488e-03 7.42393660e+01] [ 7.65305048e-03 6.28271786e-04 9.99970518e-01 1.90417209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.96, Y:74.26, Z:1.91 [[ 6.56720354e-01 -7.54120480e-01 -4.54734700e-03 2.62962658e+02] [ 7.54095362e-01 6.56735791e-01 -6.18753101e-03 7.42629623e+01] [ 7.65254938e-03 6.34344269e-04 9.99970518e-01 1.90568963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.98, Y:74.29, Z:1.91 [[ 6.57252971e-01 -7.53656330e-01 -4.54621475e-03 2.62976416e+02] [ 7.53631196e-01 6.57268381e-01 -6.18836280e-03 7.42857763e+01] [ 7.65198201e-03 6.41150576e-04 9.99970518e-01 1.90612917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.99, Y:74.31, Z:1.91 [[ 6.58680823e-01 -7.52408741e-01 -4.54538912e-03 2.62987936e+02] [ 7.52383573e-01 6.58696178e-01 -6.18896917e-03 7.43124476e+01] [ 7.65066494e-03 6.56679189e-04 9.99970518e-01 1.90777788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.00, Y:74.34, Z:1.91 [[ 6.59083647e-01 -7.52055913e-01 -4.54426660e-03 2.63001683e+02] [ 7.52030732e-01 6.59098980e-01 -6.18979327e-03 7.43368933e+01] [ 7.65019211e-03 6.62163382e-04 9.99970518e-01 1.90890696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.02, Y:74.36, Z:1.91 [[ 6.58900693e-01 -7.52216216e-01 -4.54314842e-03 2.63015386e+02] [ 7.52191033e-01 6.58916023e-01 -6.19061388e-03 7.43606426e+01] [ 7.65023344e-03 6.61684271e-04 9.99970518e-01 1.90989446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.03, Y:74.38, Z:1.91 [[ 6.57675807e-01 -7.53287397e-01 -4.54197197e-03 2.63029491e+02] [ 7.53262233e-01 6.57691169e-01 -6.19147690e-03 7.43845975e+01] [ 7.65117638e-03 6.50688623e-04 9.99970518e-01 1.91071836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.04, Y:74.41, Z:1.91 [[ 6.54589640e-01 -7.55970756e-01 -4.54086529e-03 2.63041861e+02] [ 7.55945649e-01 6.54605096e-01 -6.19228844e-03 7.44100196e+01] [ 7.65366253e-03 6.20760507e-04 9.99970518e-01 1.91424056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.06, Y:74.43, Z:1.91 [[ 6.53605061e-01 -7.56822171e-01 -4.54162231e-03 2.63055024e+02] [ 7.56797088e-01 6.53620555e-01 -6.19173347e-03 7.44322693e+01] [ 7.65453886e-03 6.09861799e-04 9.99970518e-01 1.91492386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.07, Y:74.46, Z:1.92 [[ 6.53020850e-01 -7.57326327e-01 -4.53913549e-03 2.63068989e+02] [ 7.57301244e-01 6.53036344e-01 -6.19355601e-03 7.44554628e+01] [ 7.65476347e-03 6.07028262e-04 9.99970518e-01 1.91601908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.08, Y:74.48, Z:1.92 [[ 6.53521334e-01 -7.56894493e-01 -4.53789913e-03 2.63080259e+02] [ 7.56869394e-01 6.53536801e-01 -6.19446173e-03 7.44798947e+01] [ 7.65423805e-03 6.13615929e-04 9.99970518e-01 1.91518065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.09, Y:74.50, Z:1.91 [[ 6.54009805e-01 -7.56472468e-01 -4.53660178e-03 2.63093364e+02] [ 7.56447352e-01 6.54025245e-01 -6.19541172e-03 7.45037927e+01] [ 7.65371048e-03 6.20159609e-04 9.99970518e-01 1.91454791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.11, Y:74.53, Z:1.91 [[ 6.54554851e-01 -7.56000911e-01 -4.53535321e-03 2.63105963e+02] [ 7.55975778e-01 6.54570263e-01 -6.19632561e-03 7.45272812e+01] [ 7.65313514e-03 6.27217816e-04 9.99970518e-01 1.91331741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.12, Y:74.55, Z:1.91 [[ 6.55509813e-01 -7.55173045e-01 -4.53404621e-03 2.63116534e+02] [ 7.55147885e-01 6.55525183e-01 -6.19728183e-03 7.45520379e+01] [ 7.65220166e-03 6.38503647e-04 9.99970518e-01 1.90891668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.13, Y:74.58, Z:1.91 [[ 6.55892090e-01 -7.54841056e-01 -4.53276360e-03 2.63130255e+02] [ 7.54815883e-01 6.55907437e-01 -6.19821980e-03 7.45768613e+01] [ 7.65174414e-03 6.43961379e-04 9.99970518e-01 1.90768691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.14, Y:74.60, Z:1.91 [[ 6.56219471e-01 -7.54556472e-01 -4.53164645e-03 2.63143359e+02] [ 7.54531287e-01 6.56234797e-01 -6.19903647e-03 7.46019745e+01] [ 7.65134718e-03 6.48659404e-04 9.99970518e-01 1.90666077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.16, Y:74.63, Z:1.90 [[ 6.56497404e-01 -7.54314678e-01 -4.53053107e-03 2.63155751e+02] [ 7.54289481e-01 6.56512712e-01 -6.19985153e-03 7.46267855e+01] [ 7.65099025e-03 6.52854507e-04 9.99970518e-01 1.90451951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.16, Y:74.65, Z:1.90 [[ 6.56293691e-01 -7.54491933e-01 -4.52935123e-03 2.63164205e+02] [ 7.54466734e-01 6.56308996e-01 -6.20071335e-03 7.46537033e+01] [ 7.65104216e-03 6.52244218e-04 9.99970518e-01 1.90476556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.18, Y:74.68, Z:1.91 [[ 6.55041338e-01 -7.55579474e-01 -4.52814513e-03 2.63177793e+02] [ 7.55554295e-01 6.55056676e-01 -6.20159400e-03 7.46781759e+01] [ 7.65198882e-03 6.41040937e-04 9.99970518e-01 1.90534555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.19, Y:74.70, Z:1.91 [[ 6.52876207e-01 -7.57451097e-01 -4.52703646e-03 2.63192528e+02] [ 7.57425956e-01 6.52891607e-01 -6.20240319e-03 7.47022889e+01] [ 7.65368121e-03 6.20506551e-04 9.99970518e-01 1.90631079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.21, Y:74.72, Z:1.91 [[ 6.46902299e-01 -7.62559461e-01 -4.52591248e-03 2.63207181e+02] [ 7.62534437e-01 6.46917887e-01 -6.20322326e-03 7.47249300e+01] [ 7.65822032e-03 5.61715262e-04 9.99970518e-01 1.90857634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.22, Y:74.75, Z:1.91 [[ 6.43868329e-01 -7.65122933e-01 -4.52471937e-03 2.63223564e+02] [ 7.65097965e-01 6.43884006e-01 -6.20409341e-03 7.47470199e+01] [ 7.66028858e-03 5.32765672e-04 9.99970518e-01 1.91132342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.24, Y:74.77, Z:1.91 [[ 6.41038907e-01 -7.67495061e-01 -4.52213919e-03 2.63239729e+02] [ 7.67470138e-01 6.41054657e-01 -6.20597453e-03 7.47674829e+01] [ 7.66199319e-03 5.07664347e-04 9.99970518e-01 1.91211329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.26, Y:74.79, Z:1.91 [[ 6.37465270e-01 -7.70465816e-01 -4.52285502e-03 2.63257769e+02] [ 7.70440970e-01 6.37481140e-01 -6.20545280e-03 7.47881425e+01] [ 7.66432403e-03 4.71167835e-04 9.99970518e-01 1.91460301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.27, Y:74.81, Z:1.92 [[ 6.36848042e-01 -7.70976087e-01 -4.52157998e-03 2.63273821e+02] [ 7.70951247e-01 6.36863922e-01 -6.20638170e-03 7.48088104e+01] [ 7.66460304e-03 4.66604309e-04 9.99970518e-01 1.91549448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.29, Y:74.83, Z:1.92 [[ 6.37096239e-01 -7.70771010e-01 -4.52023786e-03 2.63290528e+02] [ 7.70746158e-01 6.37112100e-01 -6.20735905e-03 7.48299165e+01] [ 7.66435064e-03 4.70729143e-04 9.99970518e-01 1.91719614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.31, Y:74.85, Z:1.92 [[ 6.37742370e-01 -7.70236488e-01 -4.51896775e-03 2.63307099e+02] [ 7.70211617e-01 6.37758201e-01 -6.20828355e-03 7.48505769e+01] [ 7.66385526e-03 4.78724012e-04 9.99970518e-01 1.91635356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.33, Y:74.87, Z:1.92 [[ 6.40017109e-01 -7.68347376e-01 -4.51763288e-03 2.63326277e+02] [ 7.68322451e-01 6.40032856e-01 -6.20925475e-03 7.48717860e+01] [ 7.66229807e-03 5.03030509e-04 9.99970518e-01 1.91514585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.34, Y:74.89, Z:1.92 [[ 6.39870721e-01 -7.68469298e-01 -4.51645348e-03 2.63342897e+02] [ 7.68444370e-01 6.39886463e-01 -6.21011250e-03 7.48949215e+01] [ 7.66229824e-03 5.03025916e-04 9.99970518e-01 1.91536456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.36, Y:74.92, Z:1.91 [[ 6.40872427e-01 -7.67634122e-01 -4.51527020e-03 2.63360076e+02] [ 7.67609167e-01 6.40888126e-01 -6.21097272e-03 7.49162223e+01] [ 7.66153765e-03 5.14478363e-04 9.99970518e-01 1.91319898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.38, Y:74.94, Z:1.91 [[ 6.41553247e-01 -7.67065222e-01 -4.51402291e-03 2.63377404e+02] [ 7.67040247e-01 6.41568914e-01 -6.21187910e-03 7.49374547e+01] [ 7.66097320e-03 5.22813960e-04 9.99970518e-01 1.91167620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.39, Y:74.96, Z:1.91 [[ 6.41809869e-01 -7.66850525e-01 -4.51276065e-03 2.63394949e+02] [ 7.66825538e-01 6.41825517e-01 -6.21279596e-03 7.49581456e+01] [ 7.66069079e-03 5.26933646e-04 9.99970518e-01 1.90924799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.41, Y:74.98, Z:1.91 [[ 6.41229014e-01 -7.67336300e-01 -4.51153801e-03 2.63414645e+02] [ 7.67311319e-01 6.41244672e-01 -6.21368369e-03 7.49772693e+01] [ 7.66098476e-03 5.22640085e-04 9.99970518e-01 1.91284833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.43, Y:75.00, Z:1.91 [[ 6.40417429e-01 -7.68013785e-01 -4.51025328e-03 2.63432208e+02] [ 7.67988815e-01 6.40433103e-01 -6.21461608e-03 7.49976597e+01] [ 7.66142632e-03 5.16124380e-04 9.99970518e-01 1.91136918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.45, Y:75.02, Z:1.91 [[ 6.39490654e-01 -7.68785647e-01 -4.50903802e-03 2.63450403e+02] [ 7.68760690e-01 6.39506349e-01 -6.21549769e-03 7.50181859e+01] [ 7.66194386e-03 5.08381507e-04 9.99970518e-01 1.91176071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.47, Y:75.04, Z:1.92 [[ 6.37656663e-01 -7.70307510e-01 -4.50780895e-03 2.63472931e+02] [ 7.70282584e-01 6.37672406e-01 -6.21638895e-03 7.50363253e+01] [ 7.66303648e-03 4.91635111e-04 9.99970518e-01 1.91506984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.49, Y:75.06, Z:1.92 [[ 6.36902896e-01 -7.70930860e-01 -4.50663129e-03 2.63492334e+02] [ 7.70905943e-01 6.36918655e-01 -6.21724259e-03 7.50553851e+01] [ 7.66342172e-03 4.85590964e-04 9.99970518e-01 1.91517785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.51, Y:75.08, Z:1.92 [[ 6.36402896e-01 -7.71343669e-01 -4.50538597e-03 2.63513003e+02] [ 7.71318756e-01 6.36418661e-01 -6.21814489e-03 7.50752275e+01] [ 7.66363840e-03 4.82156708e-04 9.99970518e-01 1.91645618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.53, Y:75.09, Z:1.92 [[ 6.35978975e-01 -7.71693239e-01 -4.50420478e-03 2.63533197e+02] [ 7.71668329e-01 6.35994744e-01 -6.21900038e-03 7.50940354e+01] [ 7.66381112e-03 4.79401312e-04 9.99970518e-01 1.91551930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.56, Y:75.11, Z:1.92 [[ 6.35343448e-01 -7.72216565e-01 -4.50334079e-03 2.63555666e+02] [ 7.72191663e-01 6.35359231e-01 -6.21962596e-03 7.51097366e+01] [ 7.66413733e-03 4.74156391e-04 9.99970518e-01 1.91696113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.57, Y:75.13, Z:1.92 [[ 6.35318058e-01 -7.72237461e-01 -4.50205570e-03 2.63574823e+02] [ 7.72212553e-01 6.35333832e-01 -6.22055603e-03 7.51298268e+01] [ 7.66405469e-03 4.75487652e-04 9.99970518e-01 1.91833212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.59, Y:75.15, Z:1.92 [[ 6.35466304e-01 -7.72115483e-01 -4.50082232e-03 2.63592883e+02] [ 7.72090566e-01 6.35482063e-01 -6.22144831e-03 7.51494442e+01] [ 7.66386841e-03 4.78478313e-04 9.99970518e-01 1.91855299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.61, Y:75.17, Z:1.92 [[ 6.36117831e-01 -7.71578810e-01 -4.49952759e-03 2.63610919e+02] [ 7.71553873e-01 6.36133558e-01 -6.22238455e-03 7.51700850e+01] [ 7.66336056e-03 4.86541820e-04 9.99970518e-01 1.92051833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.63, Y:75.19, Z:1.92 [[ 6.37545855e-01 -7.70399279e-01 -4.49824595e-03 2.63630522e+02] [ 7.70374306e-01 6.37561525e-01 -6.22331093e-03 7.51898280e+01] [ 7.66234280e-03 5.02312981e-04 9.99970518e-01 1.92326071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.65, Y:75.21, Z:1.93 [[ 6.37857297e-01 -7.70141445e-01 -4.49694755e-03 2.63647001e+02] [ 7.70116460e-01 6.37872947e-01 -6.22424900e-03 7.52098754e+01] [ 7.66203331e-03 5.07009317e-04 9.99970518e-01 1.92515185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.66, Y:75.23, Z:1.93 [[ 6.37157960e-01 -7.70720133e-01 -4.49558666e-03 2.63664477e+02] [ 7.70695155e-01 6.37173622e-01 -6.22523178e-03 7.52303630e+01] [ 7.66238070e-03 5.01729127e-04 9.99970518e-01 1.92819842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.68, Y:75.25, Z:1.93 [[ 6.35957016e-01 -7.71711394e-01 -4.49430286e-03 2.63680444e+02] [ 7.71686433e-01 6.35972707e-01 -6.22615848e-03 7.52510260e+01] [ 7.66305139e-03 4.91376619e-04 9.99970518e-01 1.92878581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.70, Y:75.27, Z:1.93 [[ 6.33935377e-01 -7.73372971e-01 -4.49295366e-03 2.63696651e+02] [ 7.73348045e-01 6.33951122e-01 -6.22713195e-03 7.52729575e+01] [ 7.66420854e-03 4.72982312e-04 9.99970518e-01 1.92962630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.71, Y:75.29, Z:1.93 [[ 6.31412345e-01 -7.75434250e-01 -4.49168873e-03 2.63713315e+02] [ 7.75409369e-01 6.31428161e-01 -6.22804422e-03 7.52949227e+01] [ 7.66561755e-03 4.49566479e-04 9.99970518e-01 1.92978857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.73, Y:75.32, Z:1.93 [[ 6.28451576e-01 -7.77835748e-01 -4.49048731e-03 2.63730273e+02] [ 7.77810922e-01 6.28467478e-01 -6.22891033e-03 7.53166794e+01] [ 7.66719436e-03 4.21818444e-04 9.99970518e-01 1.92969042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.75, Y:75.34, Z:1.93 [[ 6.22616883e-01 -7.82513939e-01 -4.48920366e-03 2.63747634e+02] [ 7.82489225e-01 6.22632959e-01 -6.22983533e-03 7.53373018e+01] [ 7.67005914e-03 3.66047162e-04 9.99970518e-01 1.93018614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.76, Y:75.36, Z:1.93 [[ 6.19574340e-01 -7.84925153e-01 -4.48792563e-03 2.63763417e+02] [ 7.84900495e-01 6.19590502e-01 -6.23075588e-03 7.53576025e+01] [ 7.67135310e-03 3.37841413e-04 9.99970518e-01 1.92987298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.78, Y:75.38, Z:1.93 [[ 6.16846583e-01 -7.87070622e-01 -4.48657940e-03 2.63779488e+02] [ 7.87046013e-01 6.16862820e-01 -6.23172510e-03 7.53783381e+01] [ 7.67241177e-03 3.12873906e-04 9.99970518e-01 1.92922530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.80, Y:75.40, Z:1.93 [[ 6.12896407e-01 -7.90150541e-01 -4.48520397e-03 2.63796529e+02] [ 7.90126007e-01 6.12912756e-01 -6.23271489e-03 7.53991331e+01] [ 7.67382177e-03 2.76132259e-04 9.99970518e-01 1.92784115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.81, Y:75.42, Z:1.93 [[ 6.11793197e-01 -7.91005043e-01 -4.48394508e-03 2.63812706e+02] [ 7.90980525e-01 6.11809571e-01 -6.23362043e-03 7.54209217e+01] [ 7.67414571e-03 2.66973341e-04 9.99970518e-01 1.92753211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.83, Y:75.44, Z:1.93 [[ 6.11255009e-01 -7.91421013e-01 -4.48264315e-03 2.63828670e+02] [ 7.91396499e-01 6.11271389e-01 -6.23455652e-03 7.54418281e+01] [ 7.67427054e-03 2.63355800e-04 9.99970518e-01 1.92690878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.84, Y:75.46, Z:1.93 [[ 6.10929984e-01 -7.91671947e-01 -4.48127374e-03 2.63844940e+02] [ 7.91647434e-01 6.10946363e-01 -6.23554067e-03 7.54631140e+01] [ 7.67432052e-03 2.61889903e-04 9.99970518e-01 1.92579765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.86, Y:75.48, Z:1.92 [[ 6.10543768e-01 -7.91969846e-01 -4.47997602e-03 2.63861360e+02] [ 7.91945333e-01 6.10560149e-01 -6.23647289e-03 7.54830825e+01] [ 7.67439330e-03 2.59743555e-04 9.99970518e-01 1.92202172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.88, Y:75.51, Z:1.92 [[ 6.09873657e-01 -7.92486002e-01 -4.47861221e-03 2.63876989e+02] [ 7.92461496e-01 6.09890048e-01 -6.23745213e-03 7.55051263e+01] [ 7.67455452e-03 2.54930010e-04 9.99970518e-01 1.91943075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.875898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:263.89, Y:75.53, Z:1.92 [[ 6.08906136e-01 -7.93229646e-01 -4.47733060e-03 2.63893080e+02] [ 7.93205153e-01 6.08922547e-01 -6.23837195e-03 7.55273112e+01] [ 7.67480913e-03 2.47141255e-04 9.99970518e-01 1.91798877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.91, Y:75.55, Z:1.92 [[ 6.06285400e-01 -7.95234544e-01 -4.47602999e-03 2.63910405e+02] [ 7.95210098e-01 6.06301881e-01 -6.23930500e-03 7.55464981e+01] [ 7.67553627e-03 2.23415276e-04 9.99970518e-01 1.92095457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.93, Y:75.57, Z:1.92 [[ 6.04519682e-01 -7.96577637e-01 -4.47466412e-03 2.63927018e+02] [ 7.96553221e-01 6.04536207e-01 -6.24028441e-03 7.55679011e+01] [ 7.67596748e-03 2.08066635e-04 9.99970518e-01 1.92281749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.94, Y:75.59, Z:1.92 [[ 6.02366365e-01 -7.98207211e-01 -4.47336056e-03 2.63943384e+02] [ 7.98182833e-01 6.02382945e-01 -6.24121873e-03 7.55901676e+01] [ 7.67646191e-03 1.88940638e-04 9.99970518e-01 1.92348070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.96, Y:75.61, Z:1.92 [[ 5.98233947e-01 -8.01309020e-01 -4.47205241e-03 2.63959260e+02] [ 8.01284721e-01 5.98250643e-01 -6.24215593e-03 7.56122775e+01] [ 7.67730408e-03 1.50882317e-04 9.99970518e-01 1.92292669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.97, Y:75.63, Z:1.92 [[ 5.96625207e-01 -8.02507555e-01 -4.47072636e-03 2.63974608e+02] [ 8.02483282e-01 5.96641941e-01 -6.24310552e-03 7.56330090e+01] [ 7.67756220e-03 1.37110953e-04 9.99970518e-01 1.92276195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.99, Y:75.65, Z:1.92 [[ 5.94997896e-01 -8.03714830e-01 -4.46933093e-03 2.63990163e+02] [ 8.03690584e-01 5.95014669e-01 -6.24410432e-03 7.56537214e+01] [ 7.67779671e-03 1.23269753e-04 9.99970518e-01 1.92455218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.01, Y:75.67, Z:1.93 [[ 5.91729917e-01 -8.06123901e-01 -4.46788395e-03 2.64006291e+02] [ 8.06099715e-01 5.91746776e-01 -6.24513952e-03 7.56749821e+01] [ 7.67821216e-03 9.38759117e-05 9.99970518e-01 1.92866333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.02, Y:75.70, Z:1.93 [[ 5.89595329e-01 -8.07686448e-01 -4.46643752e-03 2.64020720e+02] [ 8.07662299e-01 5.89612242e-01 -6.24617381e-03 7.56959595e+01] [ 7.67841618e-03 7.53417041e-05 9.99970518e-01 1.92998031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.04, Y:75.72, Z:1.93 [[ 5.87584555e-01 -8.09150453e-01 -4.46493023e-03 2.64035065e+02] [ 8.09126338e-01 5.87601516e-01 -6.24725108e-03 7.57173643e+01] [ 7.67856581e-03 5.80955976e-05 9.99970518e-01 1.93006082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.05, Y:75.74, Z:1.93 [[ 5.85735839e-01 -8.10489730e-01 -4.46378340e-03 2.64049513e+02] [ 8.10465647e-01 5.85752846e-01 -6.24807040e-03 7.57389708e+01] [ 7.67867072e-03 4.19756496e-05 9.99970518e-01 1.93003738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.06, Y:75.76, Z:1.93 [[ 5.82104756e-01 -8.13101556e-01 -4.46235177e-03 2.64064695e+02] [ 8.13077542e-01 5.82121860e-01 -6.24909271e-03 7.57610591e+01] [ 7.67877951e-03 9.38858261e-06 9.99970518e-01 1.93044439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.08, Y:75.78, Z:1.93 [[ 5.80185206e-01 -8.14472361e-01 -4.46092260e-03 2.64079775e+02] [ 8.14448380e-01 5.80202355e-01 -6.25011275e-03 7.57826997e+01] [ 7.67878189e-03 -6.96823196e-06 9.99970518e-01 1.93223842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.09, Y:75.80, Z:1.93 [[ 5.78176004e-01 -8.15899884e-01 -4.45945846e-03 2.64094656e+02] [ 8.15875937e-01 5.78193201e-01 -6.25115724e-03 7.58045732e+01] [ 7.67874703e-03 -2.40957337e-05 9.99970518e-01 1.93281268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.11, Y:75.83, Z:1.93 [[ 5.74950143e-01 -8.18176301e-01 -4.45798534e-03 2.64108703e+02] [ 8.18152414e-01 5.74967423e-01 -6.25220761e-03 7.58251519e+01] [ 7.67860444e-03 -5.26038065e-05 9.99970518e-01 1.93082600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.12, Y:75.85, Z:1.93 [[ 5.73672811e-01 -8.19072430e-01 -4.45644550e-03 2.64123060e+02] [ 8.19048562e-01 5.73690116e-01 -6.25330499e-03 7.58481496e+01] [ 7.67852845e-03 -6.26942261e-05 9.99970518e-01 1.93111498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.14, Y:75.87, Z:1.93 [[ 5.73237102e-01 -8.19377419e-01 -4.45768587e-03 2.64136240e+02] [ 8.19353566e-01 5.73254430e-01 -6.25242143e-03 7.58698800e+01] [ 7.67848111e-03 -6.83008711e-05 9.99970518e-01 1.93034340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.15, Y:75.89, Z:1.93 [[ 5.73116819e-01 -8.19461577e-01 -4.45377575e-03 2.64147378e+02] [ 8.19437705e-01 5.73134121e-01 -6.25520549e-03 7.58934534e+01] [ 7.67851140e-03 -6.46283049e-05 9.99970518e-01 1.93238793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.16, Y:75.92, Z:1.93 [[ 5.72850800e-01 -8.19647570e-01 -4.45224642e-03 2.64159650e+02] [ 8.19623695e-01 5.72868098e-01 -6.25629382e-03 7.59153141e+01] [ 7.67850596e-03 -6.52437435e-05 9.99970518e-01 1.93365545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.17, Y:75.94, Z:1.94 [[ 5.72773094e-01 -8.19701881e-01 -4.45073773e-03 2.64172282e+02] [ 8.19678000e-01 5.72790382e-01 -6.25736692e-03 7.59372874e+01] [ 7.67851520e-03 -6.41203924e-05 9.99970518e-01 1.93598801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.18, Y:75.96, Z:1.93 [[ 5.71823766e-01 -8.20364478e-01 -4.43889776e-03 2.64182716e+02] [ 8.20340551e-01 5.71840992e-01 -6.26578280e-03 7.59616233e+01] [ 7.67856933e-03 -5.84843174e-05 9.99970518e-01 1.93430043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.20, Y:75.99, Z:1.93 [[ 5.71223265e-01 -8.20782674e-01 -4.44794539e-03 2.64195529e+02] [ 8.20758810e-01 5.71240577e-01 -6.25935349e-03 7.59850526e+01] [ 7.67841578e-03 -7.52020285e-05 9.99970518e-01 1.93324866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.21, Y:76.01, Z:1.93 [[ 5.70461004e-01 -8.21312652e-01 -4.44642040e-03 2.64207609e+02] [ 8.21288796e-01 5.70478327e-01 -6.26043659e-03 7.60081132e+01] [ 7.67836225e-03 -8.04603116e-05 9.99970518e-01 1.93132725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.22, Y:76.03, Z:1.93 [[ 5.68661000e-01 -8.22559974e-01 -4.44482893e-03 2.64216501e+02] [ 8.22536147e-01 5.68678363e-01 -6.26156631e-03 7.60330914e+01] [ 7.67819186e-03 -9.53239024e-05 9.99970518e-01 1.92869281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.23, Y:76.06, Z:1.93 [[ 5.67781875e-01 -8.23167054e-01 -4.44327114e-03 2.64229211e+02] [ 8.23143237e-01 5.67799252e-01 -6.26267155e-03 7.60574429e+01] [ 7.67811092e-03 -1.01617194e-04 9.99970518e-01 1.93015233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.24, Y:76.08, Z:1.93 [[ 5.67114757e-01 -8.23626810e-01 -4.44188838e-03 2.64241349e+02] [ 8.23602999e-01 5.67132142e-01 -6.26365213e-03 7.60804187e+01] [ 7.67804950e-03 -1.06143028e-04 9.99970518e-01 1.92942209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.25, Y:76.10, Z:1.93 [[ 5.66244419e-01 -8.24225419e-01 -4.44043451e-03 2.64253129e+02] [ 8.24201618e-01 5.66261818e-01 -6.26468264e-03 7.61029690e+01] [ 7.67795919e-03 -1.12471731e-04 9.99970518e-01 1.92941041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.26, Y:76.13, Z:1.93 [[ 5.64414144e-01 -8.25479842e-01 -4.43894756e-03 2.64263232e+02] [ 8.25456072e-01 5.64431585e-01 -6.26573607e-03 7.61286115e+01] [ 7.67772103e-03 -1.27686154e-04 9.99970518e-01 1.92854641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.28, Y:76.15, Z:1.93 [[ 5.63639569e-01 -8.26008925e-01 -4.43755853e-03 2.64275894e+02] [ 8.25985164e-01 5.63657021e-01 -6.26671966e-03 7.61529919e+01] [ 7.67762740e-03 -1.33186339e-04 9.99970518e-01 1.93007940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.29, Y:76.18, Z:1.93 [[ 5.63175038e-01 -8.26325721e-01 -4.43618670e-03 2.64288165e+02] [ 8.26301961e-01 5.63192494e-01 -6.26769063e-03 7.61767076e+01] [ 7.67758102e-03 -1.35822860e-04 9.99970518e-01 1.92872374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.30, Y:76.20, Z:1.93 [[ 5.63011560e-01 -8.26437122e-01 -4.43474774e-03 2.64300394e+02] [ 8.26413358e-01 5.63029009e-01 -6.26870860e-03 7.61998992e+01] [ 7.67758512e-03 -1.35579363e-04 9.99970518e-01 1.93025472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.31, Y:76.22, Z:1.93 [[ 5.61996933e-01 -8.27127435e-01 -4.43328132e-03 2.64308726e+02] [ 8.27103684e-01 5.62014400e-01 -6.26974550e-03 7.62246130e+01] [ 7.67744645e-03 -1.43205574e-04 9.99970518e-01 1.93135247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.32, Y:76.25, Z:1.93 [[ 5.61817036e-01 -8.27249646e-01 -4.43175223e-03 2.64323957e+02] [ 8.27225891e-01 5.61834497e-01 -6.27082614e-03 7.62466931e+01] [ 7.67745000e-03 -1.43003231e-04 9.99970518e-01 1.93155835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.34, Y:76.27, Z:1.93 [[ 5.61058994e-01 -8.27763962e-01 -4.43038821e-03 2.64336100e+02] [ 8.27740215e-01 5.61076466e-01 -6.27178969e-03 7.62705177e+01] [ 7.67734804e-03 -1.48366477e-04 9.99970518e-01 1.93307808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.35, Y:76.29, Z:1.93 [[ 5.60499342e-01 -8.28143027e-01 -4.42891636e-03 2.64347810e+02] [ 8.28119283e-01 5.60516819e-01 -6.27282889e-03 7.62943905e+01] [ 7.67728161e-03 -1.51754576e-04 9.99970518e-01 1.93343458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.36, Y:76.32, Z:1.94 [[ 5.60576870e-01 -8.28090557e-01 -4.42744689e-03 2.64356717e+02] [ 8.28066804e-01 5.60594334e-01 -6.27386588e-03 7.63195155e+01] [ 7.67733073e-03 -1.49237696e-04 9.99970518e-01 1.93542311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.37, Y:76.34, Z:1.94 [[ 5.60276703e-01 -8.28293684e-01 -4.42591164e-03 2.64368133e+02] [ 8.28269929e-01 5.60294164e-01 -6.27494874e-03 7.63421962e+01] [ 7.67731287e-03 -1.50141927e-04 9.99970518e-01 1.93708714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.38, Y:76.37, Z:1.94 [[ 5.59834952e-01 -8.28592331e-01 -4.42439902e-03 2.64380186e+02] [ 8.28568577e-01 5.59852414e-01 -6.27601509e-03 7.63660977e+01] [ 7.67726845e-03 -1.52385395e-04 9.99970518e-01 1.93958101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.39, Y:76.39, Z:1.94 [[ 5.59031981e-01 -8.29134297e-01 -4.42295466e-03 2.64391841e+02] [ 8.29110551e-01 5.59049455e-01 -6.27703282e-03 7.63901870e+01] [ 7.67715359e-03 -1.58056284e-04 9.99970518e-01 1.94116511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.40, Y:76.42, Z:1.94 [[ 5.57848819e-01 -8.29930808e-01 -4.42146528e-03 2.64401040e+02] [ 8.29907079e-01 5.57866315e-01 -6.27808175e-03 7.64164197e+01] [ 7.67696001e-03 -1.67184846e-04 9.99970518e-01 1.93834005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.41, Y:76.44, Z:1.94 [[ 5.56523350e-01 -8.30820212e-01 -4.42010836e-03 2.64414394e+02] [ 8.30796503e-01 5.56540874e-01 -6.27903695e-03 7.64406234e+01] [ 7.67672178e-03 -1.77779894e-04 9.99970518e-01 1.93614234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.43, Y:76.46, Z:1.93 [[ 5.54783435e-01 -8.31983062e-01 -4.41875098e-03 2.64427310e+02] [ 8.31959382e-01 5.54800999e-01 -6.27999204e-03 7.64637751e+01] [ 7.67637446e-03 -1.92185776e-04 9.99970518e-01 1.93367818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.44, Y:76.49, Z:1.93 [[ 5.52644295e-01 -8.33405526e-01 -4.41732992e-03 2.64440169e+02] [ 8.33381884e-01 5.52661909e-01 -6.28099145e-03 7.64865166e+01] [ 7.67590296e-03 -2.10168640e-04 9.99970518e-01 1.93241296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.45, Y:76.51, Z:1.93 [[ 5.47625149e-01 -8.36712135e-01 -4.41587235e-03 2.64452693e+02] [ 8.36688590e-01 5.47642894e-01 -6.28201603e-03 7.65102065e+01] [ 7.67456015e-03 -2.54520049e-04 9.99970518e-01 1.93280356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.47, Y:76.53, Z:1.93 [[ 5.44617923e-01 -8.38672660e-01 -4.41440935e-03 2.64466381e+02] [ 8.38649171e-01 5.44635741e-01 -6.28304392e-03 7.65314055e+01] [ 7.67366227e-03 -2.80282419e-04 9.99970518e-01 1.93340328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.48, Y:76.55, Z:1.93 [[ 5.41483581e-01 -8.40699743e-01 -4.41288514e-03 2.64480389e+02] [ 8.40676313e-01 5.41501475e-01 -6.28411426e-03 7.65536650e+01] [ 7.67263706e-03 -3.07063316e-04 9.99970518e-01 1.93368450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.49, Y:76.58, Z:1.93 [[ 5.36838676e-01 -8.43673382e-01 -4.41144372e-03 2.64493100e+02] [ 8.43650042e-01 5.36856689e-01 -6.28512597e-03 7.65774269e+01] [ 7.67090655e-03 -3.47615974e-04 9.99970518e-01 1.93127560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.51, Y:76.60, Z:1.93 [[ 5.35051495e-01 -8.44807937e-01 -4.41000155e-03 2.64507101e+02] [ 8.44784627e-01 5.35069546e-01 -6.28613772e-03 7.66002844e+01] [ 7.67023657e-03 -3.62094125e-04 9.99970518e-01 1.93005447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.52, Y:76.62, Z:1.93 [[ 5.33636473e-01 -8.45702477e-01 -4.40856014e-03 2.64520459e+02] [ 8.45679189e-01 5.33654553e-01 -6.28714844e-03 7.66218318e+01] [ 7.66970520e-03 -3.73175838e-04 9.99970518e-01 1.92876227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.53, Y:76.64, Z:1.93 [[ 5.32265610e-01 -8.46565944e-01 -4.40705486e-03 2.64534425e+02] [ 8.46542677e-01 5.32283716e-01 -6.28820341e-03 7.66443771e+01] [ 7.66918240e-03 -3.83765588e-04 9.99970518e-01 1.92834097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.55, Y:76.67, Z:1.93 [[ 5.30585958e-01 -8.47619686e-01 -4.40561879e-03 2.64546723e+02] [ 8.47596446e-01 5.30604100e-01 -6.28920938e-03 7.66663939e+01] [ 7.66849707e-03 -3.97220644e-04 9.99970518e-01 1.93003620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.56, Y:76.69, Z:1.93 [[ 5.30132457e-01 -8.47903404e-01 -4.40412214e-03 2.64560546e+02] [ 8.47880165e-01 5.30150600e-01 -6.29025726e-03 7.66890336e+01] [ 7.66837854e-03 -3.99498273e-04 9.99970518e-01 1.93327837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.58, Y:76.71, Z:1.94 [[ 5.29321245e-01 -8.48410064e-01 -4.40268336e-03 2.64575196e+02] [ 8.48386834e-01 5.29339399e-01 -6.29126413e-03 7.67114294e+01] [ 7.66808557e-03 -4.05078837e-04 9.99970518e-01 1.93583308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46589822699997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:264.59, Y:76.73, Z:1.94 [[ 5.27773128e-01 -8.49373978e-01 -4.40124078e-03 2.64589986e+02] [ 8.49350773e-01 5.27791315e-01 -6.29227317e-03 7.67327519e+01] [ 7.66742975e-03 -4.17304558e-04 9.99970518e-01 1.93679393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.61, Y:76.75, Z:1.93 [[ 5.24763701e-01 -8.51236571e-01 -4.39977463e-03 2.64606919e+02] [ 8.51213422e-01 5.24781959e-01 -6.29329818e-03 7.67523078e+01] [ 7.66600792e-03 -4.42652775e-04 9.99970518e-01 1.93267986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.62, Y:76.77, Z:1.93 [[ 5.23556096e-01 -8.51979853e-01 -4.39824928e-03 2.64622093e+02] [ 8.51956721e-01 5.23574375e-01 -6.29436404e-03 7.67734955e+01] [ 7.66548197e-03 -4.51665368e-04 9.99970518e-01 1.93214408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.64, Y:76.79, Z:1.93 [[ 5.23007478e-01 -8.52316752e-01 -4.39681805e-03 2.64636336e+02] [ 8.52293624e-01 5.23025761e-01 -6.29536364e-03 7.67937889e+01] [ 7.66529300e-03 -4.54857732e-04 9.99970518e-01 1.93356438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.65, Y:76.82, Z:1.94 [[ 5.23366506e-01 -8.52096345e-01 -4.39531811e-03 2.64650957e+02] [ 8.52073201e-01 5.23384768e-01 -6.29641070e-03 7.68155088e+01] [ 7.66559110e-03 -4.49802306e-04 9.99970518e-01 1.93773877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.66, Y:76.84, Z:1.94 [[ 5.26675096e-01 -8.50055314e-01 -4.39388393e-03 2.64663640e+02] [ 8.50032090e-01 5.26693258e-01 -6.29741137e-03 7.68377727e+01] [ 7.66737704e-03 -4.18252603e-04 9.99970518e-01 1.94445137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.68, Y:76.86, Z:1.95 [[ 5.28654717e-01 -8.48825599e-01 -4.39238087e-03 2.64676694e+02] [ 8.48802324e-01 5.28672813e-01 -6.29845956e-03 7.68597227e+01] [ 7.66842606e-03 -3.98552733e-04 9.99970518e-01 1.94532894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.69, Y:76.88, Z:1.94 [[ 5.30480152e-01 -8.47685984e-01 -4.39088922e-03 2.64689577e+02] [ 8.47662662e-01 5.30498188e-01 -6.29949928e-03 7.68825795e+01] [ 7.66935602e-03 -3.80233507e-04 9.99970518e-01 1.94425453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.70, Y:76.90, Z:1.94 [[ 5.31912016e-01 -8.46788250e-01 -4.38942530e-03 2.64701586e+02] [ 8.46764889e-01 5.31930001e-01 -6.30051916e-03 7.69048343e+01] [ 7.67007259e-03 -3.65489382e-04 9.99970518e-01 1.94200360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.71, Y:76.93, Z:1.94 [[ 5.32871040e-01 -8.46185087e-01 -4.38790194e-03 2.64711879e+02] [ 8.46161697e-01 5.32888987e-01 -6.30157990e-03 7.69286095e+01] [ 7.67056755e-03 -3.54945115e-04 9.99970518e-01 1.94015035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.72, Y:76.95, Z:1.94 [[ 5.32109516e-01 -8.46664173e-01 -4.38639057e-03 2.64723820e+02] [ 8.46640791e-01 5.32127474e-01 -6.30263175e-03 7.69505793e+01] [ 7.67033144e-03 -3.60006846e-04 9.99970518e-01 1.94036494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.74, Y:76.97, Z:1.94 [[ 5.30867602e-01 -8.47443427e-01 -4.38489073e-03 2.64736366e+02] [ 8.47420062e-01 5.30885582e-01 -6.30367506e-03 7.69739785e+01] [ 7.66988326e-03 -3.69427512e-04 9.99970518e-01 1.94034061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.74, Y:77.00, Z:1.94 [[ 5.28463245e-01 -8.48944865e-01 -4.38343075e-03 2.64744718e+02] [ 8.48921543e-01 5.28481281e-01 -6.30469013e-03 7.69985254e+01] [ 7.66889541e-03 -3.89391799e-04 9.99970518e-01 1.93998100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.76, Y:77.02, Z:1.94 [[ 5.27641706e-01 -8.49455725e-01 -4.38190935e-03 2.64756620e+02] [ 8.49432412e-01 5.27659753e-01 -6.30574736e-03 7.70223729e+01] [ 7.66861040e-03 -3.94960530e-04 9.99970518e-01 1.94102462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.77, Y:77.05, Z:1.94 [[ 5.26895369e-01 -8.49918867e-01 -4.38050072e-03 2.64768004e+02] [ 8.49895562e-01 5.26913427e-01 -6.30672576e-03 7.70454099e+01] [ 7.66834986e-03 -3.99983516e-04 9.99970518e-01 1.94174694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.78, Y:77.07, Z:1.94 [[ 5.26240315e-01 -8.50324617e-01 -4.37903444e-03 2.64779870e+02] [ 8.50301317e-01 5.26258379e-01 -6.30774370e-03 7.70697788e+01] [ 7.66813331e-03 -4.04109726e-04 9.99970518e-01 1.94237531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.79, Y:77.10, Z:1.94 [[ 5.24991704e-01 -8.51096086e-01 -4.37759517e-03 2.64786167e+02] [ 8.51072805e-01 5.25009791e-01 -6.30874240e-03 7.70957238e+01] [ 7.66762629e-03 -4.13614785e-04 9.99970518e-01 1.94100304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.80, Y:77.12, Z:1.94 [[ 5.23763303e-01 -8.51852598e-01 -4.37645011e-03 2.64797319e+02] [ 8.51829336e-01 5.23781416e-01 -6.30953664e-03 7.71196914e+01] [ 7.66709842e-03 -4.23284844e-04 9.99970518e-01 1.94093839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.81, Y:77.14, Z:1.94 [[ 5.21777585e-01 -8.53070344e-01 -4.37501715e-03 2.64809312e+02] [ 8.53047116e-01 5.21795741e-01 -6.31053010e-03 7.71433398e+01] [ 7.66619139e-03 -4.39402608e-04 9.99970518e-01 1.94034334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.82, Y:77.17, Z:1.94 [[ 5.16214524e-01 -8.56448152e-01 -4.37358297e-03 2.64819615e+02] [ 8.56425034e-01 5.16232821e-01 -6.31152391e-03 7.71682423e+01] [ 7.66328007e-03 -4.87545635e-04 9.99970518e-01 1.93712330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.83, Y:77.19, Z:1.93 [[ 5.13033695e-01 -8.58357334e-01 -4.37215059e-03 2.64831764e+02] [ 8.58334276e-01 5.13052067e-01 -6.31251600e-03 7.71903075e+01] [ 7.66153530e-03 -5.14233302e-04 9.99970518e-01 1.93480791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.85, Y:77.21, Z:1.93 [[ 5.09804534e-01 -8.60279161e-01 -4.37066029e-03 2.64845674e+02] [ 8.60256163e-01 5.09822982e-01 -6.31354769e-03 7.72134268e+01] [ 7.65967657e-03 -5.41212207e-04 9.99970518e-01 1.93477364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.86, Y:77.24, Z:1.93 [[ 5.05536201e-01 -8.62794332e-01 -4.36935486e-03 2.64858717e+02] [ 8.62771418e-01 5.05554752e-01 -6.31445100e-03 7.72358495e+01] [ 7.65702064e-03 -5.77570924e-04 9.99970518e-01 1.93420585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.87, Y:77.26, Z:1.93 [[ 5.04493073e-01 -8.63404691e-01 -4.36798842e-03 2.64872360e+02] [ 8.63381792e-01 5.04511643e-01 -6.31539608e-03 7.72572215e+01] [ 7.65644361e-03 -5.85168097e-04 9.99970518e-01 1.93458128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.89, Y:77.28, Z:1.94 [[ 5.04460457e-01 -8.63423755e-01 -4.36650581e-03 2.64886676e+02] [ 8.63400848e-01 5.04479017e-01 -6.31642100e-03 7.72793203e+01] [ 7.65655850e-03 -5.83660192e-04 9.99970518e-01 1.93611915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21589822699997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:264.90, Y:77.30, Z:1.94 [[ 5.07161156e-01 -8.61840187e-01 -4.36512729e-03 2.64901230e+02] [ 8.61817214e-01 5.07179634e-01 -6.31737352e-03 7.73019838e+01] [ 7.65847004e-03 -5.58015381e-04 9.99970518e-01 1.93888876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.92, Y:77.32, Z:1.94 [[ 5.08747642e-01 -8.60904637e-01 -4.36385087e-03 2.64915696e+02] [ 8.60881622e-01 5.08766069e-01 -6.31825511e-03 7.73234854e+01] [ 7.65959437e-03 -5.42361629e-04 9.99970518e-01 1.93904059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.93, Y:77.35, Z:1.94 [[ 5.10244611e-01 -8.60018259e-01 -4.36250677e-03 2.64930726e+02] [ 8.59995204e-01 5.10262988e-01 -6.31918302e-03 7.73460044e+01] [ 7.66063852e-03 -5.27405816e-04 9.99970518e-01 1.93885583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.95, Y:77.37, Z:1.94 [[ 5.11238563e-01 -8.59427782e-01 -4.36121737e-03 2.64945046e+02] [ 8.59404698e-01 5.11256903e-01 -6.32007278e-03 7.73678091e+01] [ 7.66134862e-03 -5.16985778e-04 9.99970518e-01 1.93856249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.335898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:264.96, Y:77.39, Z:1.94 [[ 5.12250503e-01 -8.58825019e-01 -4.35985707e-03 2.64959192e+02] [ 8.58801907e-01 5.12268806e-01 -6.32101104e-03 7.73910206e+01] [ 7.66206120e-03 -5.06312478e-04 9.99970518e-01 1.94088995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.97, Y:77.41, Z:1.94 [[ 5.12575744e-01 -8.58630951e-01 -4.35856931e-03 2.64973500e+02] [ 8.58607824e-01 5.12594029e-01 -6.32189887e-03 7.74131368e+01] [ 7.66235464e-03 -5.01849688e-04 9.99970518e-01 1.94254544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.99, Y:77.44, Z:1.94 [[ 5.12730184e-01 -8.58538743e-01 -4.35722120e-03 2.64987704e+02] [ 8.58515605e-01 5.12748455e-01 -6.32282788e-03 7.74357825e+01] [ 7.66255114e-03 -4.98837690e-04 9.99970518e-01 1.94408245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.00, Y:77.46, Z:1.94 [[ 5.12967418e-01 -8.58397026e-01 -4.35594324e-03 2.65001665e+02] [ 8.58373875e-01 5.12985674e-01 -6.32370818e-03 7.74590784e+01] [ 7.66278877e-03 -4.95171617e-04 9.99970518e-01 1.94420029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.01, Y:77.48, Z:1.94 [[ 5.12917994e-01 -8.58426565e-01 -4.35465002e-03 2.65012755e+02] [ 8.58403409e-01 5.12936241e-01 -6.32459860e-03 7.74832859e+01] [ 7.66286126e-03 -4.94045991e-04 9.99970518e-01 1.94191249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.03, Y:77.51, Z:1.94 [[ 5.12439817e-01 -8.58712107e-01 -4.35328991e-03 2.65025442e+02] [ 8.58688953e-01 5.12458067e-01 -6.32553463e-03 7.75059855e+01] [ 7.66269171e-03 -4.96666149e-04 9.99970518e-01 1.94106752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.04, Y:77.53, Z:1.94 [[ 5.10734931e-01 -8.59727219e-01 -4.35194840e-03 2.65036837e+02] [ 8.59704093e-01 5.10753217e-01 -6.32645745e-03 7.75314826e+01] [ 7.66179932e-03 -5.10245039e-04 9.99970518e-01 1.94210817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.05, Y:77.55, Z:1.94 [[ 5.09241884e-01 -8.60612442e-01 -4.35065864e-03 2.65048716e+02] [ 8.60589340e-01 5.09260201e-01 -6.32734429e-03 7.75546032e+01] [ 7.66100851e-03 -5.21981720e-04 9.99970518e-01 1.94231809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.06, Y:77.58, Z:1.94 [[ 5.07505036e-01 -8.61637812e-01 -4.34966182e-03 2.65061564e+02] [ 8.61614741e-01 5.07523392e-01 -6.32802947e-03 7.75790699e+01] [ 7.66002459e-03 -5.36225921e-04 9.99970518e-01 1.94317250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.07, Y:77.60, Z:1.94 [[ 5.05932519e-01 -8.62562101e-01 -4.34833523e-03 2.65073515e+02] [ 8.62539056e-01 5.05950908e-01 -6.32894091e-03 7.76029600e+01] [ 7.65914872e-03 -5.48591953e-04 9.99970518e-01 1.94230139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.08, Y:77.63, Z:1.94 [[ 5.04673363e-01 -8.63299425e-01 -4.34730723e-03 2.65082529e+02] [ 8.63276401e-01 5.04691778e-01 -6.32964696e-03 7.76299462e+01] [ 7.65843079e-03 -5.58523528e-04 9.99970518e-01 1.94004948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.09, Y:77.65, Z:1.94 [[ 5.04277760e-01 -8.63530574e-01 -4.34603162e-03 2.65093747e+02] [ 8.63507551e-01 5.04296176e-01 -6.33052269e-03 7.76543030e+01] [ 7.65828702e-03 -5.60489318e-04 9.99970518e-01 1.93804032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.10, Y:77.68, Z:1.94 [[ 5.03547792e-01 -8.63956448e-01 -4.34469406e-03 2.65104728e+02] [ 8.63933433e-01 5.03566218e-01 -6.33144054e-03 7.76782045e+01] [ 7.65793003e-03 -5.65343553e-04 9.99970518e-01 1.93781947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.12, Y:77.70, Z:1.94 [[ 5.02218159e-01 -8.64730048e-01 -4.34331063e-03 2.65116294e+02] [ 8.64707054e-01 5.02236610e-01 -6.33238941e-03 7.77019202e+01] [ 7.65717701e-03 -5.75450386e-04 9.99970518e-01 1.93794813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.13, Y:77.72, Z:1.94 [[ 5.02029642e-01 -8.64839515e-01 -4.34193069e-03 2.65131232e+02] [ 8.64816516e-01 5.02048088e-01 -6.33333546e-03 7.77241565e+01] [ 7.65717676e-03 -5.75451240e-04 9.99970518e-01 1.93815402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.14, Y:77.75, Z:1.94 [[ 4.98932781e-01 -8.66629817e-01 -4.34054982e-03 2.65142333e+02] [ 8.66606876e-01 4.98951299e-01 -6.33428169e-03 7.77497120e+01] [ 7.65520036e-03 -6.01169542e-04 9.99970518e-01 1.93887884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.16, Y:77.77, Z:1.94 [[ 4.97391072e-01 -8.67515587e-01 -4.33923504e-03 2.65155496e+02] [ 8.67492671e-01 4.97409621e-01 -6.33518224e-03 7.77720208e+01] [ 7.65424660e-03 -6.13191513e-04 9.99970518e-01 1.93760856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.17, Y:77.80, Z:1.94 [[ 4.95971417e-01 -8.68328012e-01 -4.33785306e-03 2.65170016e+02] [ 8.68305119e-01 4.95989994e-01 -6.33612838e-03 7.77951285e+01] [ 7.65336947e-03 -6.24041443e-04 9.99970518e-01 1.93746006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.18, Y:77.82, Z:1.94 [[ 4.93566195e-01 -8.69697422e-01 -4.33658071e-03 2.65183673e+02] [ 8.69674573e-01 4.93584826e-01 -6.33699908e-03 7.78178909e+01] [ 7.65174220e-03 -6.43685448e-04 9.99970518e-01 1.93777181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.20, Y:77.84, Z:1.94 [[ 4.92653351e-01 -8.70214848e-01 -4.33524518e-03 2.65198177e+02] [ 8.70192011e-01 4.92671996e-01 -6.33791261e-03 7.78404330e+01] [ 7.65119955e-03 -6.50101840e-04 9.99970518e-01 1.93842830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.21, Y:77.86, Z:1.94 [[ 4.92222800e-01 -8.70458461e-01 -4.33397311e-03 2.65212972e+02] [ 8.70435625e-01 4.92241447e-01 -6.33878235e-03 7.78623964e+01] [ 7.65100792e-03 -6.52351405e-04 9.99970518e-01 1.93645472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.23, Y:77.89, Z:1.94 [[ 4.92189788e-01 -8.70477134e-01 -4.33263450e-03 2.65228555e+02] [ 8.70454291e-01 4.92208427e-01 -6.33969717e-03 7.78851163e+01] [ 7.65112064e-03 -6.51026084e-04 9.99970518e-01 1.93572184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.24, Y:77.91, Z:1.94 [[ 4.93842952e-01 -8.69540326e-01 -4.33134783e-03 2.65244273e+02] [ 8.69517440e-01 4.93861538e-01 -6.34057612e-03 7.79068332e+01] [ 7.65247272e-03 -6.34933649e-04 9.99970518e-01 1.93606878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.26, Y:77.93, Z:1.94 [[ 4.95049603e-01 -8.68853924e-01 -4.33006076e-03 2.65259378e+02] [ 8.68831005e-01 4.95068147e-01 -6.34145495e-03 7.79286927e+01] [ 7.65347318e-03 -6.22756285e-04 9.99970518e-01 1.93857616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.28, Y:77.95, Z:1.94 [[ 4.96213273e-01 -8.68189869e-01 -4.32884984e-03 2.65275642e+02] [ 8.68166918e-01 4.96231779e-01 -6.34228145e-03 7.79515548e+01] [ 7.65441736e-03 -6.11039988e-04 9.99970518e-01 1.94262686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.29, Y:77.97, Z:1.94 [[ 4.97433734e-01 -8.67491182e-01 -4.32772225e-03 2.65291179e+02] [ 8.67468198e-01 4.97452199e-01 -6.34305078e-03 7.79720929e+01] [ 7.65537557e-03 -5.98913982e-04 9.99970518e-01 1.94295784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.31, Y:77.99, Z:1.94 [[ 4.97441868e-01 -8.67486524e-01 -4.32639065e-03 2.65307137e+02] [ 8.67463533e-01 4.97460323e-01 -6.34395889e-03 7.79942598e+01] [ 7.65550654e-03 -5.97235354e-04 9.99970518e-01 1.94213921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.32, Y:78.02, Z:1.94 [[ 4.96902601e-01 -8.67795539e-01 -4.32510908e-03 2.65322821e+02] [ 8.67772552e-01 4.96921062e-01 -6.34483251e-03 7.80157543e+01] [ 7.65525514e-03 -6.00447168e-04 9.99970518e-01 1.93958412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.34, Y:78.04, Z:1.94 [[ 4.95973144e-01 -8.68327096e-01 -4.32376210e-03 2.65338473e+02] [ 8.68304121e-01 4.95991619e-01 -6.34575029e-03 7.80378660e+01] [ 7.65473668e-03 -6.07018726e-04 9.99970518e-01 1.94004039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.35, Y:78.06, Z:1.94 [[ 4.94623582e-01 -8.69096559e-01 -4.32250028e-03 2.65353824e+02] [ 8.69073605e-01 4.94642083e-01 -6.34660968e-03 7.80590071e+01] [ 7.65390718e-03 -6.17388091e-04 9.99970518e-01 1.94302962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.37, Y:78.08, Z:1.94 [[ 4.93963828e-01 -8.69471716e-01 -4.32117108e-03 2.65367419e+02] [ 8.69448768e-01 4.93982337e-01 -6.34751456e-03 7.80798600e+01] [ 7.65356656e-03 -6.21594282e-04 9.99970518e-01 1.94498020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.38, Y:78.10, Z:1.95 [[ 4.93496170e-01 -8.69737242e-01 -4.31973893e-03 2.65381669e+02] [ 8.69714296e-01 4.93514681e-01 -6.34848904e-03 7.81024666e+01] [ 7.65337193e-03 -6.23983678e-04 9.99970518e-01 1.94523378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.40, Y:78.13, Z:1.94 [[ 4.91966816e-01 -8.70603240e-01 -4.31848273e-03 2.65395675e+02] [ 8.70580319e-01 4.91985359e-01 -6.34934344e-03 7.81262538e+01] [ 7.65238925e-03 -6.35919790e-04 9.99970518e-01 1.94445547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.41, Y:78.15, Z:1.94 [[ 4.90442305e-01 -8.71462970e-01 -4.31717220e-03 2.65410481e+02] [ 8.71440074e-01 4.90460878e-01 -6.35023440e-03 7.81483667e+01] [ 7.65139819e-03 -6.47733268e-04 9.99970518e-01 1.94392368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35589822699995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:265.43, Y:78.17, Z:1.95 [[ 4.88187594e-01 -8.72728049e-01 -4.31579587e-03 2.65425530e+02] [ 8.72705192e-01 4.88206217e-01 -6.35116965e-03 7.81706418e+01] [ 7.64984227e-03 -6.65855236e-04 9.99970518e-01 1.94648631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.44, Y:78.19, Z:1.95 [[ 4.85851197e-01 -8.74030892e-01 -4.31448796e-03 2.65440356e+02] [ 8.74008078e-01 4.85869871e-01 -6.35205802e-03 7.81917764e+01] [ 7.64817464e-03 -6.84742337e-04 9.99970518e-01 1.94649861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.46, Y:78.21, Z:1.94 [[ 4.81215906e-01 -8.76591495e-01 -4.31311745e-03 2.65457095e+02] [ 8.76568772e-01 4.81234691e-01 -6.35298847e-03 7.82134935e+01] [ 7.64459741e-03 -7.23584964e-04 9.99970518e-01 1.94267482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.47, Y:78.23, Z:1.94 [[ 4.78845554e-01 -8.77888571e-01 -4.31184389e-03 2.65473444e+02] [ 8.77865891e-01 4.78864391e-01 -6.35385274e-03 7.82344404e+01] [ 7.64276320e-03 -7.42706541e-04 9.99970518e-01 1.93752839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.49, Y:78.25, Z:1.93 [[ 4.74944580e-01 -8.80005151e-01 -4.31050300e-03 2.65492939e+02] [ 8.79982547e-01 4.74963508e-01 -6.35476228e-03 7.82523900e+01] [ 7.63955516e-03 -7.75007512e-04 9.99970518e-01 1.93241844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.51, Y:78.27, Z:1.93 [[ 4.73552216e-01 -8.80755205e-01 -4.30913728e-03 2.65510887e+02] [ 8.80732623e-01 4.73571170e-01 -6.35568823e-03 7.82721760e+01] [ 7.63848867e-03 -7.85447529e-04 9.99970518e-01 1.93417561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.53, Y:78.29, Z:1.94 [[ 4.72692446e-01 -8.81216939e-01 -4.30776976e-03 2.65527875e+02] [ 8.81194368e-01 4.72711413e-01 -6.35661497e-03 7.82917233e+01] [ 7.63788872e-03 -7.91258571e-04 9.99970518e-01 1.93594321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.55, Y:78.31, Z:1.94 [[ 4.74408013e-01 -8.80294549e-01 -4.30633951e-03 2.65548204e+02] [ 8.80271932e-01 4.74426925e-01 -6.35758376e-03 7.83101436e+01] [ 7.63958974e-03 -7.74661119e-04 9.99970518e-01 1.94200602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.57, Y:78.33, Z:1.94 [[ 4.76243428e-01 -8.79302942e-01 -4.30507578e-03 2.65566253e+02] [ 8.79280278e-01 4.76262284e-01 -6.35843939e-03 7.83311594e+01] [ 7.64133968e-03 -7.57203256e-04 9.99970518e-01 1.94359722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.58, Y:78.35, Z:1.94 [[ 4.78188844e-01 -8.78246496e-01 -4.30381123e-03 2.65583766e+02] [ 8.78223783e-01 4.78207640e-01 -6.35929520e-03 7.83516127e+01] [ 7.64314414e-03 -7.38765360e-04 9.99970518e-01 1.94473018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.60, Y:78.37, Z:1.94 [[ 4.81318982e-01 -8.76534954e-01 -4.30252193e-03 2.65602624e+02] [ 8.76512167e-01 4.81337688e-01 -6.36016739e-03 7.83706231e+01] [ 7.64587499e-03 -7.09943523e-04 9.99970518e-01 1.94281026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.62, Y:78.39, Z:1.94 [[ 4.82451179e-01 -8.75912301e-01 -4.30122999e-03 2.65618994e+02] [ 8.75889482e-01 4.82469846e-01 -6.36104098e-03 7.83912484e+01] [ 7.64692781e-03 -6.98510387e-04 9.99970518e-01 1.94109189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.64, Y:78.41, Z:1.94 [[ 4.83962872e-01 -8.75077968e-01 -4.29987028e-03 2.65635818e+02] [ 8.75055108e-01 4.83981490e-01 -6.36195997e-03 7.84112582e+01] [ 7.64826863e-03 -6.83671034e-04 9.99970518e-01 1.93961435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.66, Y:78.43, Z:1.94 [[ 4.86937163e-01 -8.73426426e-01 -4.29845227e-03 2.65655130e+02] [ 8.73403495e-01 4.86955693e-01 -6.36291790e-03 7.84300252e+01] [ 7.65069645e-03 -6.55942049e-04 9.99970518e-01 1.93947904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.67, Y:78.45, Z:1.94 [[ 4.87370217e-01 -8.73184864e-01 -4.29703887e-03 2.65671272e+02] [ 8.73161916e-01 4.87388725e-01 -6.36387226e-03 7.84508795e+01] [ 7.65116524e-03 -6.50448886e-04 9.99970518e-01 1.94080539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.69, Y:78.47, Z:1.94 [[ 4.87127990e-01 -8.73320026e-01 -4.29568906e-03 2.65687283e+02] [ 8.73297075e-01 4.87146495e-01 -6.36478327e-03 7.84720150e+01] [ 7.65112256e-03 -6.50948617e-04 9.99970518e-01 1.94346227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.70, Y:78.49, Z:1.95 [[ 4.86410373e-01 -8.73719926e-01 -4.29425579e-03 2.65703690e+02] [ 8.73696981e-01 4.86428887e-01 -6.36575014e-03 7.84934013e+01] [ 7.65073280e-03 -6.55511418e-04 9.99970518e-01 1.94561072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.86589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:265.72, Y:78.51, Z:1.95 [[ 4.85674904e-01 -8.74128971e-01 -4.29296004e-03 2.65719609e+02] [ 8.74106035e-01 4.85693428e-01 -6.36662385e-03 7.85132351e+01] [ 7.65031283e-03 -6.60392851e-04 9.99970518e-01 1.94638292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.74, Y:78.53, Z:1.95 [[ 4.85504112e-01 -8.74223850e-01 -4.29145641e-03 2.65738080e+02] [ 8.74200909e-01 4.85522630e-01 -6.36763722e-03 7.85322563e+01] [ 7.65033953e-03 -6.60081044e-04 9.99970518e-01 1.94772410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.75, Y:78.55, Z:1.95 [[ 4.85820949e-01 -8.74047825e-01 -4.29002593e-03 2.65754506e+02] [ 8.74024869e-01 4.85839448e-01 -6.36860082e-03 7.85532574e+01] [ 7.65072553e-03 -6.55589651e-04 9.99970518e-01 1.94838802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.77, Y:78.57, Z:1.95 [[ 4.86476766e-01 -8.73682988e-01 -4.28860134e-03 2.65770768e+02] [ 8.73660010e-01 4.86495237e-01 -6.36955999e-03 7.85743830e+01] [ 7.65136033e-03 -6.48136543e-04 9.99970518e-01 1.94745836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.79, Y:78.59, Z:1.94 [[ 4.88379850e-01 -8.72620617e-01 -4.28716893e-03 2.65787879e+02] [ 8.72597591e-01 4.88398261e-01 -6.37052396e-03 7.85931504e+01] [ 7.65289640e-03 -6.29737745e-04 9.99970518e-01 1.94289129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.80, Y:78.61, Z:1.94 [[ 4.88863838e-01 -8.72349575e-01 -4.28567365e-03 2.65803879e+02] [ 8.72326529e-01 4.88882225e-01 -6.37152972e-03 7.86140652e+01] [ 7.65339092e-03 -6.23696349e-04 9.99970518e-01 1.94202219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.82, Y:78.64, Z:1.94 [[ 4.89443001e-01 -8.72024766e-01 -4.28434266e-03 2.65819607e+02] [ 8.72001701e-01 4.89461364e-01 -6.37242458e-03 7.86354547e+01] [ 7.65393226e-03 -6.17015472e-04 9.99970518e-01 1.94206874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.84, Y:78.66, Z:1.95 [[ 4.91567914e-01 -8.70828710e-01 -4.28293832e-03 2.65836411e+02] [ 8.70805592e-01 4.91586209e-01 -6.37336831e-03 7.86572965e+01] [ 7.65554552e-03 -5.96663271e-04 9.99970518e-01 1.94698782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.85, Y:78.68, Z:1.95 [[ 4.92509488e-01 -8.70296541e-01 -4.28200319e-03 2.65851754e+02] [ 8.70273397e-01 4.92527752e-01 -6.37399652e-03 7.86776375e+01] [ 7.65627253e-03 -5.87259702e-04 9.99970518e-01 1.94828018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.87, Y:78.70, Z:1.95 [[ 4.92869751e-01 -8.70092571e-01 -4.28085918e-03 2.65867591e+02] [ 8.70069414e-01 4.92887998e-01 -6.37476476e-03 7.86985473e+01] [ 7.65661957e-03 -5.82715915e-04 9.99970518e-01 1.94934956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.88, Y:78.72, Z:1.95 [[ 4.93260153e-01 -8.69871317e-01 -4.27943103e-03 2.65883491e+02] [ 8.69848143e-01 4.93278378e-01 -6.37572335e-03 7.87195254e+01] [ 7.65700966e-03 -5.77564860e-04 9.99970518e-01 1.94903836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.90, Y:78.74, Z:1.95 [[ 4.93269001e-01 -8.69866306e-01 -4.27799847e-03 2.65898704e+02] [ 8.69843124e-01 4.93287216e-01 -6.37668442e-03 7.87413185e+01] [ 7.65714488e-03 -5.75766797e-04 9.99970518e-01 1.94804556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.91, Y:78.76, Z:1.95 [[ 4.93083669e-01 -8.69971383e-01 -4.27655678e-03 2.65913290e+02] [ 8.69948196e-01 4.93101878e-01 -6.37765116e-03 7.87623184e+01] [ 7.65715217e-03 -5.75667221e-04 9.99970518e-01 1.94683169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.255898227 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:265.93, Y:78.78, Z:1.95 [[ 4.92871986e-01 -8.70091334e-01 -4.27504953e-03 2.65927415e+02] [ 8.70068143e-01 4.92890190e-01 -6.37866133e-03 7.87841257e+01] [ 7.65714792e-03 -5.75720928e-04 9.99970518e-01 1.94869485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.94, Y:78.81, Z:1.95 [[ 4.93887398e-01 -8.69515367e-01 -4.27362096e-03 2.65942097e+02] [ 8.69492147e-01 4.93905565e-01 -6.37961831e-03 7.88071935e+01] [ 7.65794133e-03 -5.65066776e-04 9.99970518e-01 1.95352621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.96, Y:78.83, Z:1.96 [[ 4.94035951e-01 -8.69430978e-01 -4.27233241e-03 2.65956622e+02] [ 8.69407748e-01 4.94054104e-01 -6.38048111e-03 7.88296433e+01] [ 7.65815130e-03 -5.62211843e-04 9.99970518e-01 1.95535159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.97, Y:78.85, Z:1.96 [[ 4.93461128e-01 -8.69757366e-01 -4.27088187e-03 2.65971416e+02] [ 8.69734139e-01 4.93479286e-01 -6.38145191e-03 7.88519156e+01] [ 7.65790654e-03 -5.65533312e-04 9.99970518e-01 1.95621216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.99, Y:78.87, Z:1.96 [[ 4.92096401e-01 -8.70530243e-01 -4.26952405e-03 2.65986356e+02] [ 8.70507036e-01 4.92114585e-01 -6.38236024e-03 7.88730795e+01] [ 7.65713266e-03 -5.75914222e-04 9.99970518e-01 1.95530507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.00, Y:78.89, Z:1.95 [[ 4.88327254e-01 -8.72650145e-01 -4.26809852e-03 2.66002994e+02] [ 8.72627010e-01 4.88345529e-01 -6.38331339e-03 7.88934569e+01] [ 7.65470619e-03 -6.07312149e-04 9.99970518e-01 1.95383933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.435898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:266.02, Y:78.91, Z:1.95 [[ 4.86407121e-01 -8.73721871e-01 -4.26665210e-03 2.66017726e+02] [ 8.73698767e-01 4.86425436e-01 -6.38428004e-03 7.89137765e+01] [ 7.65349321e-03 -6.22409407e-04 9.99970518e-01 1.95364164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.03, Y:78.93, Z:1.95 [[ 4.85183104e-01 -8.74402174e-01 -4.26550132e-03 2.66033636e+02] [ 8.74379089e-01 4.85201443e-01 -6.38504882e-03 7.89336962e+01] [ 7.65272796e-03 -6.31747350e-04 9.99970518e-01 1.95185967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.05, Y:78.95, Z:1.95 [[ 4.83386631e-01 -8.75396586e-01 -4.26401505e-03 2.66052026e+02] [ 8.75373531e-01 4.83405006e-01 -6.38604121e-03 7.89525074e+01] [ 7.65156490e-03 -6.45678966e-04 9.99970518e-01 1.94930326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.07, Y:78.97, Z:1.95 [[ 4.83028871e-01 -8.75594050e-01 -4.26263401e-03 2.66068629e+02] [ 8.75570994e-01 4.83047246e-01 -6.38696291e-03 7.89730896e+01] [ 7.65144034e-03 -6.47151209e-04 9.99970518e-01 1.94999259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.08, Y:78.99, Z:1.95 [[ 4.83060051e-01 -8.75576855e-01 -4.26120139e-03 2.66084172e+02] [ 8.75553791e-01 4.83078414e-01 -6.38791858e-03 7.89934623e+01] [ 7.65160807e-03 -6.45162757e-04 9.99970518e-01 1.95225056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.10, Y:79.01, Z:1.96 [[ 4.84826066e-01 -8.74600217e-01 -4.25970102e-03 2.66100308e+02] [ 8.74577107e-01 4.84844372e-01 -6.38891892e-03 7.90143433e+01] [ 7.65304194e-03 -6.27922566e-04 9.99970518e-01 1.95900156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.11, Y:79.04, Z:1.96 [[ 4.85862405e-01 -8.74024937e-01 -4.25833156e-03 2.66114610e+02] [ 8.74001797e-01 4.85880673e-01 -6.38983156e-03 7.90365351e+01] [ 7.65391313e-03 -6.17210514e-04 9.99970518e-01 1.95872334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.13, Y:79.06, Z:1.96 [[ 4.85664856e-01 -8.74134730e-01 -4.25689311e-03 2.66129266e+02] [ 8.74111586e-01 4.85683120e-01 -6.39078971e-03 7.90589820e+01] [ 7.65391236e-03 -6.17217624e-04 9.99970518e-01 1.95892923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.14, Y:79.08, Z:1.96 [[ 4.87019702e-01 -8.73380616e-01 -4.25544849e-03 2.66143403e+02] [ 8.73357436e-01 4.87037920e-01 -6.39175149e-03 7.90816701e+01] [ 7.65499664e-03 -6.03618670e-04 9.99970518e-01 1.95734501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.15, Y:79.11, Z:1.95 [[ 4.89609521e-01 -8.71931431e-01 -4.25400417e-03 2.66154862e+02] [ 8.71908189e-01 4.89627658e-01 -6.39271261e-03 7.91058862e+01] [ 7.65688516e-03 -5.79168114e-04 9.99970518e-01 1.95298201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.17, Y:79.13, Z:1.95 [[ 4.90658034e-01 -8.71341844e-01 -4.25256311e-03 2.66166533e+02] [ 8.71318572e-01 4.90676133e-01 -6.39367109e-03 7.91288747e+01] [ 7.65770438e-03 -5.68231125e-04 9.99970518e-01 1.95144765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.765898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:266.18, Y:79.15, Z:1.95 [[ 4.91138173e-01 -8.71071308e-01 -4.25105282e-03 2.66178364e+02] [ 8.71048017e-01 4.91156248e-01 -6.39467510e-03 7.91530475e+01] [ 7.65814916e-03 -5.62202088e-04 9.99970518e-01 1.95187973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.19, Y:79.18, Z:1.95 [[ 4.90581387e-01 -8.71385014e-01 -4.24961673e-03 2.66187977e+02] [ 8.71361727e-01 4.90599467e-01 -6.39562932e-03 7.91788169e+01] [ 7.65791525e-03 -5.65376667e-04 9.99970518e-01 1.95156475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.825898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:266.20, Y:79.20, Z:1.95 [[ 4.89342155e-01 -8.72081538e-01 -4.24814921e-03 2.66200128e+02] [ 8.72058268e-01 4.89360257e-01 -6.39660394e-03 7.92016111e+01] [ 7.65723559e-03 -5.74505686e-04 9.99970518e-01 1.95114759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.21, Y:79.22, Z:1.95 [[ 4.87998039e-01 -8.72834395e-01 -4.24661745e-03 2.66213527e+02] [ 8.72811144e-01 4.88016166e-01 -6.39762069e-03 7.92248212e+01] [ 7.65648135e-03 -5.84468682e-04 9.99970518e-01 1.95168193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.885898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:266.23, Y:79.25, Z:1.95 [[ 4.86338044e-01 -8.73760427e-01 -4.24523090e-03 2.66225043e+02] [ 8.73737203e-01 4.86356205e-01 -6.39854062e-03 7.92485744e+01] [ 7.65548598e-03 -5.97362437e-04 9.99970518e-01 1.95309563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.24, Y:79.27, Z:1.95 [[ 4.86281970e-01 -8.73791643e-01 -4.24379665e-03 2.66237478e+02] [ 8.73768412e-01 4.86300123e-01 -6.39949174e-03 7.92718553e+01] [ 7.65558123e-03 -5.96138009e-04 9.99970518e-01 1.95322392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.25, Y:79.29, Z:1.95 [[ 4.86976265e-01 -8.73404901e-01 -4.24235079e-03 2.66248792e+02] [ 8.73381647e-01 4.86994388e-01 -6.40045008e-03 7.92941706e+01] [ 7.65618550e-03 -5.88324049e-04 9.99970518e-01 1.95339612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.26, Y:79.32, Z:1.95 [[ 4.87625036e-01 -8.73042861e-01 -4.24120400e-03 2.66260332e+02] [ 8.73019587e-01 4.87643134e-01 -6.40120991e-03 7.93177331e+01] [ 7.65672462e-03 -5.81263954e-04 9.99970518e-01 1.95294840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.27, Y:79.34, Z:1.95 [[ 4.88702930e-01 -8.72439952e-01 -4.23978013e-03 2.66269397e+02] [ 8.72416648e-01 4.88720989e-01 -6.40215285e-03 7.93428125e+01] [ 7.65756347e-03 -5.70103911e-04 9.99970518e-01 1.95195502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03589822699996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:266.28, Y:79.37, Z:1.95 [[ 4.88574696e-01 -8.72511778e-01 -4.23834630e-03 2.66281223e+02] [ 8.72488468e-01 4.88592747e-01 -6.40310193e-03 7.93660493e+01] [ 7.65760712e-03 -5.69514695e-04 9.99970518e-01 1.95353448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.29, Y:79.39, Z:1.95 [[ 4.88541520e-01 -8.72530360e-01 -4.23717196e-03 2.66294142e+02] [ 8.72507045e-01 4.88559564e-01 -6.40387895e-03 7.93883689e+01] [ 7.65768969e-03 -5.68401625e-04 9.99970518e-01 1.95358969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.31, Y:79.41, Z:1.96 [[ 4.88351078e-01 -8.72636970e-01 -4.23600559e-03 2.66308232e+02] [ 8.72613652e-01 4.88369118e-01 -6.40465038e-03 7.94116542e+01] [ 7.65766901e-03 -5.68678394e-04 9.99970518e-01 1.95535343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.32, Y:79.44, Z:1.95 [[ 4.88265547e-01 -8.72684836e-01 -4.23467033e-03 2.66321869e+02] [ 8.72661512e-01 4.88283580e-01 -6.40553312e-03 7.94352524e+01] [ 7.65773160e-03 -5.67832677e-04 9.99970518e-01 1.95362459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.34, Y:79.46, Z:1.95 [[ 4.88162489e-01 -8.72742495e-01 -4.23333865e-03 2.66336052e+02] [ 8.72719166e-01 4.88180515e-01 -6.40641309e-03 7.94587095e+01] [ 7.65778238e-03 -5.67145217e-04 9.99970518e-01 1.95190714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.35, Y:79.48, Z:1.95 [[ 4.88875574e-01 -8.72343260e-01 -4.23201426e-03 2.66351288e+02] [ 8.72319908e-01 4.88893572e-01 -6.40728785e-03 7.94813676e+01] [ 7.65835893e-03 -5.59303762e-04 9.99970518e-01 1.95249580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.37, Y:79.50, Z:1.95 [[ 4.89513253e-01 -8.71985594e-01 -4.23068244e-03 2.66366460e+02] [ 8.71962222e-01 4.89531224e-01 -6.40816711e-03 7.95031754e+01] [ 7.65888056e-03 -5.52112531e-04 9.99970518e-01 1.95361458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.38, Y:79.53, Z:1.95 [[ 4.90903426e-01 -8.71203730e-01 -4.22927740e-03 2.66382031e+02] [ 8.71180322e-01 4.90921349e-01 -6.40909428e-03 7.95252646e+01] [ 7.65986941e-03 -5.38216907e-04 9.99970518e-01 1.95419338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.40, Y:79.55, Z:1.95 [[ 4.92904970e-01 -8.70072879e-01 -4.22803223e-03 2.66396556e+02] [ 8.70049422e-01 4.92922830e-01 -6.40991561e-03 7.95459211e+01] [ 7.66118733e-03 -5.19117741e-04 9.99970518e-01 1.95346794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.41, Y:79.57, Z:1.95 [[ 4.95779490e-01 -8.68438158e-01 -4.22649297e-03 2.66410849e+02] [ 8.68414633e-01 4.95797261e-01 -6.41093038e-03 7.95666172e+01] [ 7.66298021e-03 -4.91940551e-04 9.99970518e-01 1.95264703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.43, Y:79.59, Z:1.95 [[ 5.02180353e-01 -8.64752590e-01 -4.22498849e-03 2.66426255e+02] [ 8.64728927e-01 5.02197939e-01 -6.41192172e-03 7.95877708e+01] [ 7.66650643e-03 -4.33528648e-04 9.99970518e-01 1.95395944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.44, Y:79.61, Z:1.95 [[ 5.04980326e-01 -8.63120520e-01 -4.22354533e-03 2.66440410e+02] [ 8.63096792e-01 5.04997824e-01 -6.41287220e-03 7.96100388e+01] [ 7.66796279e-03 -4.06954133e-04 9.99970518e-01 1.95442551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.45, Y:79.63, Z:1.95 [[ 5.07560648e-01 -8.61605688e-01 -4.22217344e-03 2.66453435e+02] [ 8.61581901e-01 5.07578065e-01 -6.41377531e-03 7.96326863e+01] [ 7.66922791e-03 -3.82368263e-04 9.99970518e-01 1.95372287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.46, Y:79.66, Z:1.96 [[ 5.10925675e-01 -8.59614538e-01 -4.21902503e-03 2.66464492e+02] [ 8.59590666e-01 5.10942975e-01 -6.41584699e-03 7.96565035e+01] [ 7.67083655e-03 -3.48613582e-04 9.99970518e-01 1.95695429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.48, Y:79.68, Z:1.96 [[ 5.11483067e-01 -8.59282994e-01 -4.21998680e-03 2.66477361e+02] [ 8.59259116e-01 5.11500359e-01 -6.41521433e-03 7.96792424e+01] [ 7.67100934e-03 -3.44788629e-04 9.99970518e-01 1.95816329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.49, Y:79.70, Z:1.96 [[ 5.10751685e-01 -8.59717930e-01 -4.21856007e-03 2.66490137e+02] [ 8.59694059e-01 5.10768987e-01 -6.41615239e-03 7.97026048e+01] [ 7.67079090e-03 -3.49610382e-04 9.99970518e-01 1.95844672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.50, Y:79.73, Z:1.96 [[ 5.07322491e-01 -8.61745964e-01 -4.21713313e-03 2.66499886e+02] [ 8.61722154e-01 5.07339877e-01 -6.41709013e-03 7.97263202e+01] [ 7.66942132e-03 -3.78462893e-04 9.99970518e-01 1.95953599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.51, Y:79.75, Z:1.96 [[ 5.05392099e-01 -8.62879514e-01 -4.21564040e-03 2.66511287e+02] [ 8.62855735e-01 5.05409527e-01 -6.41807061e-03 7.97491611e+01] [ 7.66864647e-03 -3.93847320e-04 9.99970518e-01 1.96062265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.52, Y:79.77, Z:1.96 [[ 5.04026088e-01 -8.63678148e-01 -4.21416299e-03 2.66523274e+02] [ 8.63654389e-01 5.04043543e-01 -6.41904055e-03 7.97732183e+01] [ 7.66810670e-03 -4.04216460e-04 9.99970518e-01 1.96177894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.53, Y:79.80, Z:1.96 [[ 5.03930972e-01 -8.63733656e-01 -4.21276717e-03 2.66532160e+02] [ 8.63709891e-01 5.03948419e-01 -6.41995648e-03 7.97992237e+01] [ 7.66814984e-03 -4.03393762e-04 9.99970518e-01 1.96375478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.54, Y:79.82, Z:1.96 [[ 5.04453400e-01 -8.63428649e-01 -4.21131794e-03 2.66543308e+02] [ 8.63404866e-01 5.04470822e-01 -6.42090700e-03 7.98233334e+01] [ 7.66848208e-03 -3.97024038e-04 9.99970518e-01 1.96400921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.55, Y:79.85, Z:1.96 [[ 5.05094422e-01 -8.63053823e-01 -4.20986902e-03 2.66553604e+02] [ 8.63030019e-01 5.05111816e-01 -6.42185684e-03 7.98462332e+01] [ 7.66886269e-03 -3.89599265e-04 9.99970518e-01 1.96366105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.56, Y:79.87, Z:1.96 [[ 5.07724129e-01 -8.61509431e-01 -4.20835728e-03 2.66562868e+02] [ 8.61485565e-01 5.07741438e-01 -6.42284737e-03 7.98723219e+01] [ 7.67010095e-03 -3.64404464e-04 9.99970518e-01 1.96486835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.58, Y:79.90, Z:1.97 [[ 5.09036962e-01 -8.60734396e-01 -4.20367770e-03 2.66575392e+02] [ 8.60710479e-01 5.09054201e-01 -6.42591248e-03 7.98970854e+01] [ 7.67090369e-03 -3.47122474e-04 9.99970518e-01 1.96735544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.59, Y:79.92, Z:1.97 [[ 5.10696311e-01 -8.59750884e-01 -4.20659466e-03 2.66587583e+02] [ 8.59726949e-01 5.10713525e-01 -6.42400238e-03 7.99204747e+01] [ 7.67140651e-03 -3.35808473e-04 9.99970518e-01 1.97031272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.60, Y:79.94, Z:1.97 [[ 5.12163683e-01 -8.58877569e-01 -4.20519257e-03 2.66600167e+02] [ 8.58853598e-01 5.12180845e-01 -6.42492006e-03 7.99446695e+01] [ 7.67203881e-03 -3.21034051e-04 9.99970518e-01 1.97140580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.61, Y:79.97, Z:1.97 [[ 5.14756563e-01 -8.57326080e-01 -4.20385355e-03 2.66610128e+02] [ 8.57302050e-01 5.14773644e-01 -6.42579607e-03 7.99698031e+01] [ 7.67303557e-03 -2.96251566e-04 9.99970518e-01 1.96987983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.62, Y:79.99, Z:1.97 [[ 5.15973902e-01 -8.56593993e-01 -4.20281351e-03 2.66621919e+02] [ 8.56569933e-01 5.15990941e-01 -6.42647624e-03 7.99930022e+01] [ 7.67349464e-03 -2.84109664e-04 9.99970518e-01 1.96885434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.63, Y:80.02, Z:1.97 [[ 5.19943015e-01 -8.54190617e-01 -4.20142551e-03 2.66631415e+02] [ 8.54166471e-01 5.19959931e-01 -6.42738355e-03 8.00189011e+01] [ 7.67478363e-03 -2.46843621e-04 9.99970518e-01 1.97264378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90589822699997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:266.64, Y:80.04, Z:1.97 [[ 5.22132733e-01 -8.52853896e-01 -4.20012932e-03 2.66644129e+02] [ 8.52829700e-01 5.22149577e-01 -6.42823046e-03 8.00430232e+01] [ 7.67543714e-03 -2.25605488e-04 9.99970518e-01 1.97296914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.66, Y:80.07, Z:1.97 [[ 5.23896018e-01 -8.51771878e-01 -4.19880158e-03 2.66657188e+02] [ 8.51747640e-01 5.23912802e-01 -6.42909760e-03 8.00664917e+01] [ 7.67593044e-03 -2.08140709e-04 9.99970518e-01 1.97185655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.67, Y:80.09, Z:1.97 [[ 5.24877680e-01 -8.51167318e-01 -4.19744658e-03 2.66670297e+02] [ 8.51143053e-01 5.24894426e-01 -6.42998213e-03 8.00886536e+01] [ 7.67620696e-03 -1.97673402e-04 9.99970518e-01 1.96794531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.68, Y:80.11, Z:1.96 [[ 5.25860578e-01 -8.50560431e-01 -4.19601685e-03 2.66684753e+02] [ 8.50536140e-01 5.25877285e-01 -6.43091500e-03 8.01117707e+01] [ 7.67647178e-03 -1.87099296e-04 9.99970518e-01 1.96244102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.70, Y:80.14, Z:1.96 [[ 5.27087555e-01 -8.49800632e-01 -4.19470988e-03 2.66699696e+02] [ 8.49776310e-01 5.27104217e-01 -6.43176739e-03 8.01350259e+01] [ 7.67676926e-03 -1.74460537e-04 9.99970518e-01 1.96266750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.71, Y:80.16, Z:1.96 [[ 5.29053855e-01 -8.48577887e-01 -4.19377613e-03 2.66713691e+02] [ 8.48553522e-01 5.29070454e-01 -6.43237617e-03 8.01575121e+01] [ 7.67717522e-03 -1.55570096e-04 9.99970518e-01 1.96289718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.73, Y:80.18, Z:1.97 [[ 5.34695610e-01 -8.45034342e-01 -4.19103605e-03 2.66727599e+02] [ 8.45009853e-01 5.34712025e-01 -6.43416192e-03 8.01813729e+01] [ 7.67808516e-03 -1.01148623e-04 9.99970518e-01 1.96586879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.74, Y:80.20, Z:1.97 [[ 5.37892773e-01 -8.43002846e-01 -4.19124704e-03 2.66740626e+02] [ 8.42978295e-01 5.37909097e-01 -6.43402448e-03 8.02049160e+01] [ 7.67841086e-03 -7.23150175e-05 9.99970518e-01 1.96637124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.75, Y:80.23, Z:1.96 [[ 5.44506790e-01 -8.38745969e-01 -4.18990209e-03 2.66751442e+02] [ 8.38721284e-01 5.44522910e-01 -6.43490021e-03 8.02299656e+01] [ 7.67874429e-03 -1.03132042e-05 9.99970518e-01 1.96444521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.76, Y:80.25, Z:1.96 [[ 5.47209849e-01 -8.36984968e-01 -4.18855479e-03 2.66763401e+02] [ 8.36960225e-01 5.47225879e-01 -6.43577706e-03 8.02529296e+01] [ 7.67873423e-03 1.60668336e-05 9.99970518e-01 1.96349610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.78, Y:80.28, Z:1.96 [[ 5.49445391e-01 -8.35519138e-01 -4.18713267e-03 2.66776498e+02] [ 8.35494345e-01 5.49461344e-01 -6.43670216e-03 8.02763687e+01] [ 7.67865539e-03 3.82906700e-05 9.99970518e-01 1.96409897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.79, Y:80.30, Z:1.96 [[ 5.50993950e-01 -8.34498740e-01 -4.18574757e-03 2.66788716e+02] [ 8.34473910e-01 5.51009846e-01 -6.43760276e-03 8.02990131e+01] [ 7.67855951e-03 5.41830283e-05 9.99970518e-01 1.96489343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.80, Y:80.32, Z:1.97 [[ 5.52402799e-01 -8.33566817e-01 -4.18429141e-03 2.66798953e+02] [ 8.33541954e-01 5.52418642e-01 -6.43854909e-03 8.03244632e+01] [ 7.67844145e-03 6.88901064e-05 9.99970518e-01 1.96842662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.81, Y:80.35, Z:1.97 [[ 5.52620899e-01 -8.33422249e-01 -4.18291221e-03 2.66811069e+02] [ 8.33397375e-01 5.52636725e-01 -6.43944498e-03 8.03480749e+01] [ 7.67840762e-03 7.25438255e-05 9.99970518e-01 1.96851784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.82, Y:80.37, Z:1.97 [[ 5.52402565e-01 -8.33566985e-01 -4.18184450e-03 2.66823747e+02] [ 8.33542110e-01 5.52418389e-01 -6.44013829e-03 8.03727688e+01] [ 7.67841446e-03 7.18054265e-05 9.99970518e-01 1.96880373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.84, Y:80.40, Z:1.97 [[ 5.51446552e-01 -8.34199751e-01 -4.18054941e-03 2.66835810e+02] [ 8.34174887e-01 5.51462394e-01 -6.44097887e-03 8.03957454e+01] [ 7.67847876e-03 6.45462531e-05 9.99970518e-01 1.96865812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.85, Y:80.42, Z:1.97 [[ 5.48816010e-01 -8.35932726e-01 -4.17910639e-03 2.66847095e+02] [ 8.35907905e-01 5.48831919e-01 -6.44191502e-03 8.04199415e+01] [ 7.67863456e-03 4.20780255e-05 9.99970518e-01 1.97317767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.86, Y:80.44, Z:1.98 [[ 5.47366536e-01 -8.36882562e-01 -4.17769669e-03 2.66860623e+02] [ 8.36857761e-01 5.47382478e-01 -6.44282910e-03 8.04432628e+01] [ 7.67868929e-03 3.04511517e-05 9.99970518e-01 1.97536413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.87, Y:80.47, Z:1.98 [[ 5.45014424e-01 -8.38416262e-01 -4.17726867e-03 2.66873374e+02] [ 8.38391505e-01 5.45030432e-01 -6.44310651e-03 8.04659635e+01] [ 7.67874382e-03 9.39941618e-06 9.99970518e-01 1.97690131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.89, Y:80.49, Z:1.98 [[ 5.43851159e-01 -8.39171308e-01 -4.17533225e-03 2.66886672e+02] [ 8.39146563e-01 5.43867186e-01 -6.44436112e-03 8.04896230e+01] [ 7.67874915e-03 1.05755930e-06 9.99970518e-01 1.97606164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.90, Y:80.51, Z:1.97 [[ 5.42776281e-01 -8.39866945e-01 -4.17400584e-03 2.66899577e+02] [ 8.39842215e-01 5.42792330e-01 -6.44522012e-03 8.05136224e+01] [ 7.67874569e-03 -7.19369296e-06 9.99970518e-01 1.97478359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.91, Y:80.54, Z:1.97 [[ 5.41871610e-01 -8.40450919e-01 -4.17268203e-03 2.66912224e+02] [ 8.40426198e-01 5.41887676e-01 -6.44607705e-03 8.05372738e+01] [ 7.67873635e-03 -1.38851445e-05 9.99970518e-01 1.97404305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.93, Y:80.56, Z:1.97 [[ 5.41697547e-01 -8.40563125e-01 -4.17135201e-03 2.66927028e+02] [ 8.40538402e-01 5.41713607e-01 -6.44693761e-03 8.05605831e+01] [ 7.67873617e-03 -1.38912634e-05 9.99970518e-01 1.97425535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.94, Y:80.59, Z:1.98 [[ 5.40867449e-01 -8.41097505e-01 -4.17001667e-03 2.66937726e+02] [ 8.41072791e-01 5.40883524e-01 -6.44780122e-03 8.05855987e+01] [ 7.67872283e-03 -1.98817583e-05 9.99970518e-01 1.97514665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.95, Y:80.61, Z:1.98 [[ 5.40846829e-01 -8.41110772e-01 -4.16864943e-03 2.66950497e+02] [ 8.41086051e-01 5.40862893e-01 -6.44868506e-03 8.06099944e+01] [ 7.67872625e-03 -1.84420240e-05 9.99970518e-01 1.97777535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.96, Y:80.63, Z:1.98 [[ 5.40175820e-01 -8.41541869e-01 -4.16728934e-03 2.66962400e+02] [ 8.41517154e-01 5.40191894e-01 -6.44956385e-03 8.06332193e+01] [ 7.67871394e-03 -2.29470267e-05 9.99970518e-01 1.98151007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.97, Y:80.66, Z:1.98 [[ 5.36833643e-01 -8.43677833e-01 -4.16586036e-03 2.66974505e+02] [ 8.43653175e-01 5.36849804e-01 -6.45048672e-03 8.06573854e+01] [ 7.67857397e-03 -5.17030407e-05 9.99970518e-01 1.98482369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.99, Y:80.68, Z:1.98 [[ 5.34544706e-01 -8.45129939e-01 -4.16454099e-03 2.66988559e+02] [ 8.45105318e-01 5.34560924e-01 -6.45133842e-03 8.06810503e+01] [ 7.67842012e-03 -7.09469392e-05 9.99970518e-01 1.98358450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.00, Y:80.70, Z:1.98 [[ 5.31272839e-01 -8.47190556e-01 -4.16319265e-03 2.67001462e+02] [ 8.47165991e-01 5.31289142e-01 -6.45220841e-03 8.07043965e+01] [ 7.67810908e-03 -9.90321456e-05 9.99970518e-01 1.97908916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.02, Y:80.73, Z:1.98 [[ 5.30053813e-01 -8.47953791e-01 -4.16215384e-03 2.67015407e+02] [ 8.47929244e-01 5.30070143e-01 -6.45287845e-03 8.07274576e+01] [ 7.67797623e-03 -1.08839130e-04 9.99970518e-01 1.97768197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.03, Y:80.75, Z:1.98 [[ 5.29223453e-01 -8.48472289e-01 -4.16078846e-03 2.67028903e+02] [ 8.48447752e-01 5.29239796e-01 -6.45375872e-03 8.07494305e+01] [ 7.67789027e-03 -1.14731145e-04 9.99970518e-01 1.97598840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.04, Y:80.77, Z:1.97 [[ 5.28515789e-01 -8.48913282e-01 -4.15935087e-03 2.67042539e+02] [ 8.48888751e-01 5.28532142e-01 -6.45468509e-03 8.07713778e+01] [ 7.67781853e-03 -1.19423188e-04 9.99970518e-01 1.97456920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.86589822699995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:267.06, Y:80.80, Z:1.97 [[ 5.27847156e-01 -8.49329199e-01 -4.15829966e-03 2.67055918e+02] [ 8.49304676e-01 5.27863521e-01 -6.45536225e-03 8.07955193e+01] [ 7.67774234e-03 -1.24218739e-04 9.99970518e-01 1.97487410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.07, Y:80.82, Z:1.98 [[ 5.27700820e-01 -8.49420134e-01 -4.15698726e-03 2.67070629e+02] [ 8.49395607e-01 5.27717178e-01 -6.45620727e-03 8.08186865e+01] [ 7.67774603e-03 -1.23980852e-04 9.99970518e-01 1.97639100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.92589822699995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:267.08, Y:80.84, Z:1.98 [[ 5.26978781e-01 -8.49868279e-01 -4.15604279e-03 2.67084543e+02] [ 8.49843761e-01 5.26995153e-01 -6.45681519e-03 8.08408965e+01] [ 7.67765682e-03 -1.29382437e-04 9.99970518e-01 1.97748873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.10, Y:80.86, Z:1.98 [[ 5.24952972e-01 -8.51121092e-01 -4.15498842e-03 2.67098485e+02] [ 8.51096607e-01 5.24969395e-01 -6.45749361e-03 8.08640503e+01] [ 7.67735077e-03 -1.46416082e-04 9.99970518e-01 1.98175568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.11, Y:80.89, Z:1.98 [[ 5.23616895e-01 -8.51943716e-01 -4.15365652e-03 2.67110886e+02] [ 8.51919250e-01 5.23633346e-01 -6.45835022e-03 8.08874909e+01] [ 7.67714394e-03 -1.56878658e-04 9.99970518e-01 1.98415330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.12, Y:80.91, Z:1.99 [[ 5.22258562e-01 -8.52777083e-01 -4.15226139e-03 2.67123200e+02] [ 8.52752637e-01 5.22275041e-01 -6.45924706e-03 8.09117814e+01] [ 7.67692036e-03 -1.67454765e-04 9.99970518e-01 1.98573983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.13, Y:80.94, Z:1.99 [[ 5.19422126e-01 -8.54507709e-01 -4.15095520e-03 2.67133422e+02] [ 8.54483311e-01 5.19438676e-01 -6.46008636e-03 8.09375431e+01] [ 7.67636027e-03 -1.91410151e-04 9.99970518e-01 1.98563201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.15, Y:80.96, Z:1.98 [[ 5.17630728e-01 -8.55594068e-01 -4.14961525e-03 2.67145266e+02] [ 8.55569698e-01 5.17647320e-01 -6.46094696e-03 8.09611515e+01] [ 7.67598511e-03 -2.05900382e-04 9.99970518e-01 1.98415631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.16, Y:80.99, Z:1.98 [[ 5.13021163e-01 -8.58365933e-01 -4.14857958e-03 2.67155262e+02] [ 8.58341647e-01 5.13037878e-01 -6.46161189e-03 8.09873628e+01] [ 7.67480599e-03 -2.45954981e-04 9.99970518e-01 1.98127930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.17, Y:81.01, Z:1.98 [[ 5.09802124e-01 -8.60281695e-01 -4.14727111e-03 2.67167268e+02] [ 8.60257465e-01 5.09818919e-01 -6.46245160e-03 8.10101894e+01] [ 7.67388609e-03 -2.73149382e-04 9.99970518e-01 1.97980030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.18, Y:81.03, Z:1.98 [[ 5.05863351e-01 -8.62603662e-01 -4.14626083e-03 2.67180660e+02] [ 8.62579504e-01 5.05880250e-01 -6.46309972e-03 8.10339080e+01] [ 7.67260496e-03 -3.07034327e-04 9.99970518e-01 1.97879038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.19, Y:81.06, Z:1.98 [[ 5.02010313e-01 -8.64851701e-01 -4.14492403e-03 2.67193943e+02] [ 8.64827612e-01 5.02027310e-01 -6.46395693e-03 8.10563160e+01] [ 7.67122921e-03 -3.39671710e-04 9.99970518e-01 1.97790852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.21, Y:81.08, Z:1.98 [[ 4.95754374e-01 -8.68452896e-01 -4.14351842e-03 2.67207330e+02] [ 8.68428922e-01 4.95771533e-01 -6.46485783e-03 8.10800025e+01] [ 7.66866298e-03 -3.93369690e-04 9.99970518e-01 1.97911514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.22, Y:81.10, Z:1.98 [[ 4.94234310e-01 -8.69318865e-01 -4.14222199e-03 2.67220536e+02] [ 8.69294914e-01 4.94251502e-01 -6.46568838e-03 8.11033553e+01] [ 7.66804432e-03 -4.05247474e-04 9.99970518e-01 1.97998754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.23, Y:81.13, Z:1.98 [[ 4.93822494e-01 -8.69552872e-01 -4.14092805e-03 2.67233651e+02] [ 8.69528922e-01 4.93839688e-01 -6.46651698e-03 8.11270935e+01] [ 7.66793302e-03 -4.07345157e-04 9.99970518e-01 1.98098324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.25, Y:81.15, Z:1.98 [[ 4.95888966e-01 -8.68376069e-01 -4.13963722e-03 2.67245720e+02] [ 8.68352072e-01 4.95906093e-01 -6.46734321e-03 8.11507334e+01] [ 7.66895739e-03 -3.87578422e-04 9.99970518e-01 1.97923273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:267.26, Y:81.17, Z:1.98 [[ 4.97790691e-01 -8.67287324e-01 -4.13828228e-03 2.67258477e+02] [ 8.67263282e-01 4.97807756e-01 -6.46821009e-03 8.11746461e+01] [ 7.66986563e-03 -3.69165502e-04 9.99970518e-01 1.97850813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.27, Y:81.20, Z:1.98 [[ 5.00099982e-01 -8.65957790e-01 -4.13695560e-03 2.67270272e+02] [ 8.65933696e-01 5.00116972e-01 -6.46905850e-03 8.11977832e+01] [ 7.67089331e-03 -3.47153210e-04 9.99970518e-01 1.97718055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.28, Y:81.22, Z:1.98 [[ 5.04160685e-01 -8.63599966e-01 -4.13556420e-03 2.67279673e+02] [ 8.63575785e-01 5.04177551e-01 -6.46994788e-03 8.12244850e+01] [ 7.67250540e-03 -3.09479745e-04 9.99970518e-01 1.97968594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.29, Y:81.25, Z:1.98 [[ 5.04997164e-01 -8.63111101e-01 -4.13422268e-03 2.67291315e+02] [ 8.63086897e-01 5.05013997e-01 -6.47080498e-03 8.12480899e+01] [ 7.67286393e-03 -3.00455259e-04 9.99970518e-01 1.98059362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.30, Y:81.27, Z:1.98 [[ 5.04054683e-01 -8.63661853e-01 -4.13280691e-03 2.67302337e+02] [ 8.63637660e-01 5.04071532e-01 -6.47170908e-03 8.12735336e+01] [ 7.67259857e-03 -3.07152425e-04 9.99970518e-01 1.98019889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.32, Y:81.30, Z:1.98 [[ 5.02393170e-01 -8.64629420e-01 -4.13148778e-03 2.67315354e+02] [ 8.64605252e-01 5.02410055e-01 -6.47255110e-03 8.12986447e+01] [ 7.67205910e-03 -3.20340572e-04 9.99970518e-01 1.97942195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.33, Y:81.32, Z:1.98 [[ 5.00622390e-01 -8.65655915e-01 -4.13027221e-03 2.67328049e+02] [ 8.65631776e-01 5.00639316e-01 -6.47332668e-03 8.13223970e+01] [ 7.67145019e-03 -3.34602590e-04 9.99970518e-01 1.97745777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.34, Y:81.35, Z:1.98 [[ 4.98486974e-01 -8.66887356e-01 -4.12898626e-03 2.67341285e+02] [ 8.66863252e-01 4.98503950e-01 -6.47414682e-03 8.13461726e+01] [ 7.67067198e-03 -3.51988596e-04 9.99970518e-01 1.97955201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.35, Y:81.37, Z:1.98 [[ 4.94758439e-01 -8.69020742e-01 -4.12769413e-03 2.67353765e+02] [ 8.68996704e-01 4.94775508e-01 -6.47497053e-03 8.13707596e+01] [ 7.66916565e-03 -3.83406281e-04 9.99970518e-01 1.98263008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.37, Y:81.39, Z:1.98 [[ 4.93543008e-01 -8.69711603e-01 -4.12635557e-03 2.67366075e+02] [ 8.69687582e-01 4.93560101e-01 -6.47582345e-03 8.13933658e+01] [ 7.66870327e-03 -3.92542812e-04 9.99970518e-01 1.98139971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.38, Y:81.42, Z:1.98 [[ 4.92611474e-01 -8.70239577e-01 -4.12495934e-03 2.67377140e+02] [ 8.70215566e-01 4.92628582e-01 -6.47671270e-03 8.14181670e+01] [ 7.66836459e-03 -3.99100840e-04 9.99970518e-01 1.97736333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.39, Y:81.44, Z:1.98 [[ 4.92513230e-01 -8.70295188e-01 -4.12363828e-03 2.67390076e+02] [ 8.70271172e-01 4.92530332e-01 -6.47755369e-03 8.14419109e+01] [ 7.66840074e-03 -3.98402630e-04 9.99970518e-01 1.97656233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.40, Y:81.46, Z:1.98 [[ 4.92849854e-01 -8.70104608e-01 -4.12230597e-03 2.67402516e+02] [ 8.70080579e-01 4.92866936e-01 -6.47840146e-03 8.14644911e+01] [ 7.66863527e-03 -3.93859157e-04 9.99970518e-01 1.97645447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.41, Y:81.49, Z:1.98 [[ 4.92828579e-01 -8.70116663e-01 -4.12127562e-03 2.67414713e+02] [ 8.70092629e-01 4.92845654e-01 -6.47905686e-03 8.14872579e+01] [ 7.66868811e-03 -3.92827160e-04 9.99970518e-01 1.97724117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.43, Y:81.51, Z:1.98 [[ 4.91525411e-01 -8.70853486e-01 -4.12026447e-03 2.67426238e+02] [ 8.70829472e-01 4.91542515e-01 -6.47969982e-03 8.15117512e+01] [ 7.66815433e-03 -4.03110619e-04 9.99970518e-01 1.97988024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.44, Y:81.53, Z:1.98 [[ 4.89877634e-01 -8.71781474e-01 -4.11892752e-03 2.67439423e+02] [ 8.71757486e-01 4.89894773e-01 -6.48054956e-03 8.15339852e+01] [ 7.66746411e-03 -4.16029608e-04 9.99970518e-01 1.97844587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.45, Y:81.56, Z:1.98 [[ 4.87648071e-01 -8.73030587e-01 -4.11753269e-03 2.67454143e+02] [ 8.73006635e-01 4.87665261e-01 -6.48143568e-03 8.15567745e+01] [ 7.66646924e-03 -4.33973750e-04 9.99970518e-01 1.97841558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.47, Y:81.58, Z:1.98 [[ 4.82716331e-01 -8.75767093e-01 -4.11623449e-03 2.67470158e+02] [ 8.75743231e-01 4.82733646e-01 -6.48226003e-03 8.15783929e+01] [ 7.66399490e-03 -4.75671715e-04 9.99970518e-01 1.98018534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.48, Y:81.60, Z:1.98 [[ 4.79859669e-01 -8.77335606e-01 -4.11494250e-03 2.67484592e+02] [ 8.77311794e-01 4.79877053e-01 -6.48308008e-03 8.15999758e+01] [ 7.66250347e-03 -4.99118921e-04 9.99970518e-01 1.98126936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.50, Y:81.62, Z:1.98 [[ 4.77038795e-01 -8.78872611e-01 -4.11358791e-03 2.67500343e+02] [ 8.78848848e-01 4.77056245e-01 -6.48393947e-03 8.16222728e+01] [ 7.66096961e-03 -5.22131329e-04 9.99970518e-01 1.98224346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.52, Y:81.64, Z:1.98 [[ 4.71317865e-01 -8.81953831e-01 -4.11231241e-03 2.67518648e+02] [ 8.81930174e-01 4.71335460e-01 -6.48474833e-03 8.16419322e+01] [ 7.65752729e-03 -5.70394670e-04 9.99970518e-01 1.97961291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.54, Y:81.66, Z:1.98 [[ 4.68688181e-01 -8.83354113e-01 -4.11097744e-03 2.67536265e+02] [ 8.83330502e-01 4.68705837e-01 -6.48559452e-03 8.16625310e+01] [ 7.65591571e-03 -5.91630268e-04 9.99970518e-01 1.97759539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.55, Y:81.68, Z:1.98 [[ 4.66132784e-01 -8.84705227e-01 -4.10971595e-03 2.67553826e+02] [ 8.84681660e-01 4.66150498e-01 -6.48639379e-03 8.16835385e+01] [ 7.65429262e-03 -6.12269534e-04 9.99970518e-01 1.97718581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.57, Y:81.70, Z:1.98 [[ 4.62550678e-01 -8.86583324e-01 -4.10845906e-03 2.67574611e+02] [ 8.86559823e-01 4.62568479e-01 -6.48718980e-03 8.17024065e+01] [ 7.65187795e-03 -6.41740696e-04 9.99970518e-01 1.98058213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.59, Y:81.72, Z:1.98 [[ 4.60985147e-01 -8.87398346e-01 -4.10718632e-03 2.67591730e+02] [ 8.87374869e-01 4.61002980e-01 -6.48799550e-03 8.17218850e+01] [ 7.65086161e-03 -6.53744360e-04 9.99970518e-01 1.98160709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.61, Y:81.74, Z:1.98 [[ 4.59772229e-01 -8.88027387e-01 -4.10584335e-03 2.67609485e+02] [ 8.88003927e-01 4.59790084e-01 -6.48884527e-03 8.17415706e+01] [ 7.65009837e-03 -6.62614166e-04 9.99970518e-01 1.98152611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.63, Y:81.76, Z:1.98 [[ 4.57188973e-01 -8.89360105e-01 -4.10452457e-03 2.67630899e+02] [ 8.89336689e-01 4.57206887e-01 -6.48967936e-03 8.17596989e+01] [ 7.64827881e-03 -6.83294456e-04 9.99970518e-01 1.97975079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.65, Y:81.78, Z:1.98 [[ 4.55967479e-01 -8.89986979e-01 -4.10321019e-03 2.67648306e+02] [ 8.89963580e-01 4.55985415e-01 -6.49051029e-03 8.17801775e+01] [ 7.64747364e-03 -6.92246018e-04 9.99970518e-01 1.98060945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.67, Y:81.80, Z:1.98 [[ 4.55399401e-01 -8.90277799e-01 -4.10195930e-03 2.67670309e+02] [ 8.90254406e-01 4.55417343e-01 -6.49130075e-03 8.17987846e+01] [ 7.64716435e-03 -6.95652871e-04 9.99970518e-01 1.98395004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.69, Y:81.82, Z:1.98 [[ 4.55880394e-01 -8.90031601e-01 -4.10069251e-03 2.67687839e+02] [ 8.90008191e-01 4.55898315e-01 -6.49210090e-03 8.18185983e+01] [ 7.64767377e-03 -6.90028404e-04 9.99970518e-01 1.98479508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.71, Y:81.84, Z:1.99 [[ 4.56995399e-01 -8.89459612e-01 -4.09935824e-03 2.67705214e+02] [ 8.89436172e-01 4.57013280e-01 -6.49294331e-03 8.18397999e+01] [ 7.64867199e-03 -6.78872278e-04 9.99970518e-01 1.98657608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.72, Y:81.86, Z:1.99 [[ 4.59115919e-01 -8.88366917e-01 -4.09806016e-03 2.67723815e+02] [ 8.88343427e-01 4.59133735e-01 -6.49376249e-03 8.18600300e+01] [ 7.65040143e-03 -6.59095073e-04 9.99970518e-01 1.98872583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.74, Y:81.88, Z:1.99 [[ 4.59295626e-01 -8.88274025e-01 -4.09675059e-03 2.67739689e+02] [ 8.88250525e-01 4.59313428e-01 -6.49458856e-03 8.18812993e+01] [ 7.65066688e-03 -6.56004738e-04 9.99970518e-01 1.98797610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.76, Y:81.90, Z:1.99 [[ 4.58670625e-01 -8.88596920e-01 -4.09537324e-03 2.67755394e+02] [ 8.88573424e-01 4.58688433e-01 -6.49545698e-03 8.19020564e+01] [ 7.65034340e-03 -6.59764517e-04 9.99970518e-01 1.98705722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.77, Y:81.92, Z:1.99 [[ 4.57767696e-01 -8.89062414e-01 -4.09396782e-03 2.67771798e+02] [ 8.89038929e-01 4.57785518e-01 -6.49634267e-03 8.19227057e+01] [ 7.64981327e-03 -6.65880958e-04 9.99970518e-01 1.98571302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.79, Y:81.94, Z:1.98 [[ 4.56038130e-01 -8.89950827e-01 -4.09256593e-03 2.67790333e+02] [ 8.89927369e-01 4.56055987e-01 -6.49722571e-03 8.19417073e+01] [ 7.64865059e-03 -6.79103772e-04 9.99970518e-01 1.98468833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.81, Y:81.96, Z:1.99 [[ 4.54615713e-01 -8.90678290e-01 -4.09116731e-03 2.67810577e+02] [ 8.90654853e-01 4.54633598e-01 -6.49810628e-03 8.19615189e+01] [ 7.64770430e-03 -6.89676799e-04 9.99970518e-01 1.98713171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.83, Y:81.98, Z:1.99 [[ 4.54429083e-01 -8.90773530e-01 -4.08980484e-03 2.67825137e+02] [ 8.90750089e-01 4.54446964e-01 -6.49896368e-03 8.19849816e+01] [ 7.64770421e-03 -6.89675920e-04 9.99970518e-01 1.98734401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.84, Y:82.01, Z:1.99 [[ 4.53674686e-01 -8.91157990e-01 -4.08844293e-03 2.67841510e+02] [ 8.91134557e-01 4.53692576e-01 -6.49982033e-03 8.20052592e+01] [ 7.64726303e-03 -6.94548832e-04 9.99970518e-01 1.98720235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.86, Y:82.03, Z:1.99 [[ 4.52870771e-01 -8.91566801e-01 -4.08701276e-03 2.67858125e+02] [ 8.91543376e-01 4.52888672e-01 -6.50071948e-03 8.20273756e+01] [ 7.64678746e-03 -6.99763307e-04 9.99970518e-01 1.98902816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.87, Y:82.05, Z:1.99 [[ 4.52364652e-01 -8.91823709e-01 -4.08571884e-03 2.67873876e+02] [ 8.91800287e-01 4.52382557e-01 -6.50153261e-03 8.20484764e+01] [ 7.64652887e-03 -7.02581691e-04 9.99970518e-01 1.98879771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.89, Y:82.07, Z:1.99 [[ 4.52257542e-01 -8.91878038e-01 -4.08435858e-03 2.67891726e+02] [ 8.91854610e-01 4.52275440e-01 -6.50238704e-03 8.20682863e+01] [ 7.64659126e-03 -7.01900447e-04 9.99970518e-01 1.98591886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.91, Y:82.09, Z:1.98 [[ 4.52423710e-01 -8.91793763e-01 -4.08301425e-03 2.67908212e+02] [ 8.91770325e-01 4.52441594e-01 -6.50323106e-03 8.20890128e+01] [ 7.64686638e-03 -6.98895018e-04 9.99970518e-01 1.98454813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.635898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:267.93, Y:82.11, Z:1.98 [[ 4.53045105e-01 -8.91478252e-01 -4.08159424e-03 2.67927799e+02] [ 8.91454793e-01 4.53062962e-01 -6.50412218e-03 8.21081422e+01] [ 7.64750265e-03 -6.91896037e-04 9.99970518e-01 1.98262246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.94, Y:82.13, Z:1.98 [[ 4.52871462e-01 -8.91566481e-01 -4.08017876e-03 2.67944468e+02] [ 8.91543019e-01 4.52889314e-01 -6.50501002e-03 8.21283164e+01] [ 7.64751825e-03 -6.91721490e-04 9.99970518e-01 1.98301578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.96, Y:82.15, Z:1.98 [[ 4.52301427e-01 -8.91855808e-01 -4.07874977e-03 2.67960993e+02] [ 8.91832349e-01 4.52319284e-01 -6.50590589e-03 8.21477238e+01] [ 7.64722713e-03 -6.94930470e-04 9.99970518e-01 1.98272420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.98, Y:82.17, Z:1.98 [[ 4.50869507e-01 -8.92580564e-01 -4.07732730e-03 2.67982064e+02] [ 8.92557126e-01 4.50887391e-01 -6.50679725e-03 8.21659758e+01] [ 7.64625623e-03 -7.05531065e-04 9.99970518e-01 1.98392561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.00, Y:82.19, Z:1.98 [[ 4.50219726e-01 -8.92908498e-01 -4.07592801e-03 2.67999490e+02] [ 8.92885065e-01 4.50237617e-01 -6.50767367e-03 8.21860414e+01] [ 7.64589323e-03 -7.09452186e-04 9.99970518e-01 1.98308795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.02, Y:82.21, Z:1.98 [[ 4.49865781e-01 -8.93086881e-01 -4.07453766e-03 2.68017024e+02] [ 8.93063448e-01 4.49883671e-01 -6.50854406e-03 8.22063901e+01] [ 7.64576328e-03 -7.10849394e-04 9.99970518e-01 1.98209307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.04, Y:82.22, Z:1.98 [[ 4.50178162e-01 -8.92929467e-01 -4.07309778e-03 2.68036391e+02] [ 8.92906019e-01 4.50196034e-01 -6.50944503e-03 8.22238811e+01] [ 7.64616774e-03 -7.06483522e-04 9.99970518e-01 1.97933238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.05, Y:82.25, Z:1.98 [[ 4.51184161e-01 -8.92421578e-01 -4.07195108e-03 2.68052818e+02] [ 8.92398104e-01 4.51201997e-01 -6.51016226e-03 8.22453705e+01] [ 7.64708174e-03 -6.96519332e-04 9.99970518e-01 1.98251468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.07, Y:82.27, Z:1.99 [[ 4.54789886e-01 -8.90589462e-01 -4.07063279e-03 2.68070291e+02] [ 8.90565909e-01 4.54807618e-01 -6.51098645e-03 8.22652742e+01] [ 7.64997072e-03 -6.64036002e-04 9.99970518e-01 1.98634465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90589822699997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:268.08, Y:82.29, Z:1.99 [[ 4.56851179e-01 -8.89533834e-01 -4.06924676e-03 2.68084956e+02] [ 8.89510232e-01 4.56868847e-01 -6.51185258e-03 8.22866612e+01] [ 7.65162526e-03 -6.44689100e-04 9.99970518e-01 1.98779004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.10, Y:82.31, Z:1.99 [[ 4.59257616e-01 -8.88293812e-01 -4.06777679e-03 2.68100126e+02] [ 8.88270154e-01 4.59275208e-01 -6.51277069e-03 8.23095590e+01] [ 7.65348294e-03 -6.22245181e-04 9.99970518e-01 1.98883818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.11, Y:82.33, Z:1.99 [[ 4.63026590e-01 -8.86335061e-01 -4.06641368e-03 2.68114747e+02] [ 8.86311322e-01 4.63044073e-01 -6.51362168e-03 8.23314520e+01] [ 7.65618002e-03 -5.88128453e-04 9.99970518e-01 1.98715265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.13, Y:82.35, Z:1.99 [[ 4.64010078e-01 -8.85820593e-01 -4.06505571e-03 2.68128771e+02] [ 8.85796827e-01 4.64027524e-01 -6.51446906e-03 8.23548148e+01] [ 7.65694858e-03 -5.78034157e-04 9.99970518e-01 1.98916246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.14, Y:82.38, Z:1.99 [[ 4.64520971e-01 -8.85552796e-01 -4.06371675e-03 2.68141122e+02] [ 8.85529013e-01 4.64538393e-01 -6.51530419e-03 8.23765227e+01] [ 7.65739829e-03 -5.72043657e-04 9.99970518e-01 1.99096692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.15, Y:82.40, Z:1.99 [[ 4.64000183e-01 -8.85825789e-01 -4.06216441e-03 2.68152904e+02] [ 8.85802008e-01 4.64017608e-01 -6.51627190e-03 8.24003773e+01] [ 7.65719751e-03 -5.74722037e-04 9.99970518e-01 1.99280247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.17, Y:82.42, Z:1.99 [[ 4.63011192e-01 -8.86343131e-01 -4.06068687e-03 2.68165605e+02] [ 8.86319362e-01 4.63028633e-01 -6.51719252e-03 8.24224221e+01] [ 7.65668311e-03 -5.81532315e-04 9.99970518e-01 1.99199926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.18, Y:82.44, Z:1.99 [[ 4.59252519e-01 -8.88296485e-01 -4.05951112e-03 2.68178727e+02] [ 8.88272783e-01 4.59270052e-01 -6.51792480e-03 8.24439689e+01] [ 7.65426157e-03 -6.12579857e-04 9.99970518e-01 1.99002294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.19, Y:82.47, Z:1.99 [[ 4.56721901e-01 -8.89600269e-01 -4.05801475e-03 2.68192780e+02] [ 8.89576609e-01 4.56739490e-01 -6.51885629e-03 8.24656304e+01] [ 7.65263190e-03 -6.32610563e-04 9.99970518e-01 1.98955360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.21, Y:82.49, Z:1.99 [[ 4.54081736e-01 -8.90950796e-01 -4.05659867e-03 2.68207398e+02] [ 8.90927181e-01 4.54099385e-01 -6.51973739e-03 8.24878339e+01] [ 7.65086418e-03 -6.53640341e-04 9.99970518e-01 1.98963417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.22, Y:82.51, Z:1.99 [[ 4.49611691e-01 -8.93214914e-01 -4.05515090e-03 2.68224233e+02] [ 8.93191380e-01 4.49629448e-01 -6.52063774e-03 8.25080920e+01] [ 7.64764615e-03 -6.90270868e-04 9.99970518e-01 1.98836146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.24, Y:82.53, Z:1.99 [[ 4.47741245e-01 -8.94153983e-01 -4.05370171e-03 2.68238927e+02] [ 8.94130478e-01 4.47759041e-01 -6.52153854e-03 8.25282367e+01] [ 7.64634125e-03 -7.04576460e-04 9.99970518e-01 1.98702280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.25, Y:82.55, Z:1.99 [[ 4.46298271e-01 -8.94875092e-01 -4.05254901e-03 2.68254360e+02] [ 8.94851609e-01 4.46316097e-01 -6.52225476e-03 8.25494478e+01] [ 7.64532119e-03 -7.15558975e-04 9.99970518e-01 1.98775856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.27, Y:82.57, Z:1.99 [[ 4.45114013e-01 -8.95464742e-01 -4.05109053e-03 2.68270716e+02] [ 8.95441275e-01 4.45131859e-01 -6.52316052e-03 8.25684915e+01] [ 7.64452972e-03 -7.23963511e-04 9.99970518e-01 1.98861446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.29, Y:82.59, Z:1.99 [[ 4.45432205e-01 -8.95306513e-01 -4.04956753e-03 2.68285222e+02] [ 8.95283031e-01 4.45450031e-01 -6.52410587e-03 8.25888611e+01] [ 7.64495446e-03 -7.19462229e-04 9.99970518e-01 1.98864348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.30, Y:82.61, Z:1.99 [[ 4.46756037e-01 -8.94646666e-01 -4.04805303e-03 2.68301331e+02] [ 8.94623149e-01 4.46773818e-01 -6.52504544e-03 8.26090309e+01] [ 7.64617426e-03 -7.06378506e-04 9.99970518e-01 1.98787845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.32, Y:82.63, Z:1.99 [[ 4.46814960e-01 -8.94617246e-01 -4.04655726e-03 2.68316714e+02] [ 8.94593720e-01 4.46832729e-01 -6.52597292e-03 8.26302988e+01] [ 7.64638215e-03 -7.04122388e-04 9.99970518e-01 1.98960355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.33, Y:82.65, Z:1.99 [[ 4.46841900e-01 -8.94603797e-01 -4.04511449e-03 2.68332431e+02] [ 8.94580263e-01 4.46859658e-01 -6.52686710e-03 8.26509015e+01] [ 7.64655856e-03 -7.02201888e-04 9.99970518e-01 1.99079694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.35, Y:82.67, Z:1.99 [[ 4.46800711e-01 -8.94624376e-01 -4.04358849e-03 2.68347759e+02] [ 8.94600834e-01 4.46818459e-01 -6.52781236e-03 8.26709194e+01] [ 7.64669004e-03 -7.00766434e-04 9.99970518e-01 1.99063789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.36, Y:82.69, Z:1.99 [[ 4.47282003e-01 -8.94383848e-01 -4.04242980e-03 2.68364438e+02] [ 8.94360291e-01 4.47299730e-01 -6.52852982e-03 8.26914645e+01] [ 7.64718938e-03 -6.95294790e-04 9.99970518e-01 1.99389856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.38, Y:82.71, Z:1.99 [[ 4.47526579e-01 -8.94261501e-01 -4.04094120e-03 2.68378421e+02] [ 8.94237930e-01 4.47544289e-01 -6.52945108e-03 8.27127579e+01] [ 7.64753688e-03 -6.91459988e-04 9.99970518e-01 1.99361579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.39, Y:82.73, Z:1.99 [[ 4.47172753e-01 -8.94438490e-01 -4.03938712e-03 2.68394338e+02] [ 8.94414918e-01 4.47190461e-01 -6.53041236e-03 8.27340228e+01] [ 7.64742756e-03 -6.92665631e-04 9.99970518e-01 1.99301929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.41, Y:82.76, Z:1.99 [[ 4.46088692e-01 -8.94979650e-01 -4.03790686e-03 2.68409457e+02] [ 8.94956092e-01 4.46106417e-01 -6.53132751e-03 8.27552991e+01] [ 7.64674137e-03 -7.00197994e-04 9.99970518e-01 1.99195293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.42, Y:82.78, Z:1.99 [[ 4.44436080e-01 -8.95801473e-01 -4.03642075e-03 2.68424444e+02] [ 8.95777939e-01 4.44453838e-01 -6.53224581e-03 8.27761934e+01] [ 7.64559811e-03 -7.12570946e-04 9.99970518e-01 1.99086965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.44, Y:82.80, Z:1.99 [[ 4.41224587e-01 -8.97387644e-01 -4.03487109e-03 2.68440655e+02] [ 8.97364166e-01 4.41242418e-01 -6.53320287e-03 8.27964149e+01] [ 7.64317181e-03 -7.38138996e-04 9.99970518e-01 1.99451073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.46, Y:82.82, Z:2.00 [[ 4.40168075e-01 -8.97906341e-01 -4.03349773e-03 2.68455496e+02] [ 8.97882876e-01 4.40185924e-01 -6.53405065e-03 8.28186233e+01] [ 7.64245444e-03 -7.45528039e-04 9.99970518e-01 1.99668534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.47, Y:82.84, Z:2.00 [[ 4.39683949e-01 -8.98143512e-01 -4.03206527e-03 2.68469892e+02] [ 8.98120049e-01 4.39701800e-01 -6.53493448e-03 8.28403679e+01] [ 7.64221536e-03 -7.47972855e-04 9.99970518e-01 1.99688634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.49, Y:82.86, Z:2.00 [[ 4.40377488e-01 -8.97803666e-01 -4.03063406e-03 2.68486317e+02] [ 8.97780181e-01 4.40395310e-01 -6.53581711e-03 8.28614194e+01] [ 7.64295290e-03 -7.40396662e-04 9.99970518e-01 1.99536601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.50, Y:82.88, Z:2.00 [[ 4.41203330e-01 -8.97398121e-01 -4.02918764e-03 2.68501324e+02] [ 8.97374612e-01 4.41221121e-01 -6.53670868e-03 8.28827591e+01] [ 7.64379277e-03 -7.31673061e-04 9.99970518e-01 1.99524104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.52, Y:82.90, Z:1.99 [[ 4.44506839e-01 -8.95766402e-01 -4.02774199e-03 2.68516055e+02] [ 8.95742820e-01 4.44524532e-01 -6.53759933e-03 8.29042493e+01] [ 7.64659195e-03 -7.01813357e-04 9.99970518e-01 1.99183401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.80589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:268.53, Y:82.93, Z:1.99 [[ 4.46787318e-01 -8.94631142e-01 -4.02636684e-03 2.68529545e+02] [ 8.94607508e-01 4.46804941e-01 -6.53844614e-03 8.29264449e+01] [ 7.64849814e-03 -6.80723193e-04 9.99970518e-01 1.99004981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.54, Y:82.95, Z:1.99 [[ 4.53009106e-01 -8.91496803e-01 -4.02489395e-03 2.68542077e+02] [ 8.91473039e-01 4.53026554e-01 -6.53935269e-03 8.29480984e+01] [ 7.65319585e-03 -6.25698124e-04 9.99970518e-01 1.99190224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.56, Y:82.97, Z:2.00 [[ 4.56640246e-01 -8.89642343e-01 -4.02335220e-03 2.68555489e+02] [ 8.89618499e-01 4.56657586e-01 -6.54030111e-03 8.29721397e+01] [ 7.65582311e-03 -5.92683835e-04 9.99970518e-01 1.99600607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.57, Y:82.99, Z:2.00 [[ 4.60384796e-01 -8.87710349e-01 -4.02202094e-03 2.68567441e+02] [ 8.87686425e-01 4.60402025e-01 -6.54111968e-03 8.29944005e+01] [ 7.65836622e-03 -5.58861341e-04 9.99970518e-01 1.99804788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.58, Y:83.02, Z:1.99 [[ 4.67175487e-01 -8.84155471e-01 -4.02084392e-03 2.68577980e+02] [ 8.84131410e-01 4.67192523e-01 -6.54184312e-03 8.30172128e+01] [ 7.66251460e-03 -4.98765657e-04 9.99970518e-01 1.99422824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.59, Y:83.04, Z:1.99 [[ 4.70075794e-01 -8.82616900e-01 -4.01938106e-03 2.68589969e+02] [ 8.82592776e-01 4.70092740e-01 -6.54274179e-03 8.30392451e+01] [ 7.66421634e-03 -4.71892149e-04 9.99970518e-01 1.99278345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.60, Y:83.06, Z:2.00 [[ 4.75145116e-01 -8.79898276e-01 -4.01787523e-03 2.68602429e+02] [ 8.79874046e-01 4.75161912e-01 -6.54366639e-03 8.30635424e+01] [ 7.66690205e-03 -4.26033013e-04 9.99970518e-01 1.99818733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.61, Y:83.09, Z:2.00 [[ 4.76856805e-01 -8.78971817e-01 -4.01658927e-03 2.68614289e+02] [ 8.78947548e-01 4.76873545e-01 -6.54445563e-03 8.30854062e+01] [ 7.66779722e-03 -4.09603086e-04 9.99970518e-01 2.00063016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.63, Y:83.11, Z:2.00 [[ 4.77773625e-01 -8.78473814e-01 -4.01509600e-03 2.68626825e+02] [ 8.78449521e-01 4.77790328e-01 -6.54537164e-03 8.31090545e+01] [ 7.66831163e-03 -3.99853218e-04 9.99970518e-01 2.00191856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.64, Y:83.13, Z:2.00 [[ 4.78725637e-01 -8.77955383e-01 -4.01368188e-03 2.68637370e+02] [ 8.77931064e-01 4.78742303e-01 -6.54623868e-03 8.31335087e+01] [ 7.66882480e-03 -3.89883725e-04 9.99970518e-01 2.00387122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:268.65, Y:83.16, Z:2.00 [[ 4.79220277e-01 -8.77685495e-01 -4.01218822e-03 2.68648909e+02] [ 8.77661159e-01 4.79236919e-01 -6.54715401e-03 8.31574138e+01] [ 7.66913083e-03 -3.83812803e-04 9.99970518e-01 2.00477447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.66, Y:83.18, Z:2.01 [[ 4.81693119e-01 -8.76330790e-01 -4.01069565e-03 2.68656478e+02] [ 8.76306400e-01 4.81709681e-01 -6.54806821e-03 8.31840382e+01] [ 7.67026471e-03 -3.60438864e-04 9.99970518e-01 2.00767821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.67, Y:83.21, Z:2.01 [[ 4.83236268e-01 -8.75480803e-01 -4.00920076e-03 2.68666282e+02] [ 8.75456376e-01 4.83252776e-01 -6.54898337e-03 8.32091149e+01] [ 7.67096661e-03 -3.45174087e-04 9.99970518e-01 2.00952994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.68, Y:83.23, Z:2.01 [[ 4.84844874e-01 -8.74590983e-01 -4.00769013e-03 2.68675109e+02] [ 8.74566518e-01 4.84861325e-01 -6.54990768e-03 8.32344274e+01] [ 7.67166414e-03 -3.29302439e-04 9.99970518e-01 2.01027760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.69, Y:83.26, Z:2.01 [[ 4.86240906e-01 -8.73815617e-01 -4.00617661e-03 2.68685033e+02] [ 8.73791118e-01 4.86257307e-01 -6.55083327e-03 8.32604616e+01] [ 7.67225306e-03 -3.15278439e-04 9.99970518e-01 2.00960818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.69, Y:83.29, Z:2.01 [[ 4.85247362e-01 -8.74367748e-01 -4.00481039e-03 2.68691622e+02] [ 8.74343262e-01 4.85263781e-01 -6.55166839e-03 8.32865816e+01] [ 7.67195697e-03 -3.22399177e-04 9.99970518e-01 2.00743394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.70, Y:83.31, Z:2.01 [[ 4.82784257e-01 -8.75730171e-01 -4.00360241e-03 2.68702185e+02] [ 8.75705724e-01 4.82800736e-01 -6.55240648e-03 8.33096243e+01] [ 7.67108224e-03 -3.42578851e-04 9.99970518e-01 2.00756289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.71, Y:83.33, Z:2.01 [[ 4.75691042e-01 -8.79603329e-01 -4.00205227e-03 2.68712344e+02] [ 8.79579009e-01 4.75707706e-01 -6.55335314e-03 8.33343115e+01] [ 7.66815834e-03 -4.02749788e-04 9.99970518e-01 2.00574098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.72, Y:83.36, Z:2.00 [[ 4.72105271e-01 -8.81533101e-01 -4.00058413e-03 2.68724837e+02] [ 8.81508841e-01 4.72122023e-01 -6.55424926e-03 8.33574625e+01] [ 7.66655155e-03 -4.32254656e-04 9.99970518e-01 2.00275320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.74, Y:83.38, Z:2.00 [[ 4.71909339e-01 -8.81638011e-01 -3.99912053e-03 2.68738570e+02] [ 8.81613748e-01 4.71926085e-01 -6.55514216e-03 8.33804642e+01] [ 7.66655180e-03 -4.32246834e-04 9.99970518e-01 2.00295909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.75, Y:83.40, Z:2.00 [[ 4.66358467e-01 -8.84586795e-01 -3.99766342e-03 2.68751024e+02] [ 8.84562630e-01 4.66375356e-01 -6.55603067e-03 8.34042257e+01] [ 7.66378986e-03 -4.78723251e-04 9.99970518e-01 1.99918019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.76, Y:83.43, Z:2.00 [[ 4.65161625e-01 -8.85216749e-01 -3.99625703e-03 2.68763366e+02] [ 8.85192599e-01 4.65178535e-01 -6.55688782e-03 8.34271643e+01] [ 7.66323991e-03 -4.87444551e-04 9.99970518e-01 1.99715834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.77, Y:83.45, Z:2.00 [[ 4.66099836e-01 -8.84723112e-01 -3.99478007e-03 2.68774765e+02] [ 8.84698936e-01 4.66116710e-01 -6.55778754e-03 8.34513850e+01] [ 7.66385994e-03 -4.77593978e-04 9.99970518e-01 1.99789670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.79, Y:83.47, Z:2.00 [[ 4.67004657e-01 -8.84245839e-01 -3.99335695e-03 2.68786512e+02] [ 8.84221639e-01 4.67021495e-01 -6.55865403e-03 8.34744435e+01] [ 7.66444607e-03 -4.68090659e-04 9.99970518e-01 1.99864924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.80, Y:83.50, Z:2.00 [[ 4.67767119e-01 -8.83842739e-01 -3.99191910e-03 2.68797941e+02] [ 8.83818517e-01 4.67783926e-01 -6.55952906e-03 8.34987991e+01] [ 7.66494772e-03 -4.59800015e-04 9.99970518e-01 1.99962001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.81, Y:83.52, Z:2.00 [[ 4.68442106e-01 -8.83485183e-01 -3.99047187e-03 2.68807824e+02] [ 8.83460941e-01 4.68458884e-01 -6.56040936e-03 8.35246944e+01] [ 7.66539647e-03 -4.52254053e-04 9.99970518e-01 1.99991685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.585898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:268.82, Y:83.55, Z:2.00 [[ 4.68259716e-01 -8.83581872e-01 -3.98919285e-03 2.68819438e+02] [ 8.83557627e-01 4.68276489e-01 -6.56118701e-03 8.35474824e+01] [ 7.66539112e-03 -4.52342202e-04 9.99970518e-01 1.99798424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.83, Y:83.57, Z:2.00 [[ 4.66256578e-01 -8.84640550e-01 -3.98761176e-03 2.68830756e+02] [ 8.84616335e-01 4.66273395e-01 -6.56214778e-03 8.35718341e+01] [ 7.66445929e-03 -4.67861930e-04 9.99970518e-01 2.00112888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.84, Y:83.59, Z:2.00 [[ 4.63943274e-01 -8.85855941e-01 -3.98624970e-03 2.68843864e+02] [ 8.85831763e-01 4.63960144e-01 -6.56297507e-03 8.35949009e+01] [ 7.66331145e-03 -4.86298460e-04 9.99970518e-01 2.00191479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.86, Y:83.62, Z:2.00 [[ 4.61079932e-01 -8.87349659e-01 -3.98482132e-03 2.68856892e+02] [ 8.87325528e-01 4.61096869e-01 -6.56384223e-03 8.36168171e+01] [ 7.66181180e-03 -5.09377756e-04 9.99970518e-01 2.00188413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.87, Y:83.64, Z:2.00 [[ 4.56234341e-01 -8.89850751e-01 -3.98327437e-03 2.68870442e+02] [ 8.89826705e-01 4.56251399e-01 -6.56478086e-03 8.36380624e+01] [ 7.65904968e-03 -5.49345433e-04 9.99970518e-01 2.00372675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.88, Y:83.66, Z:2.01 [[ 4.54954288e-01 -8.90505891e-01 -3.98183270e-03 2.68884493e+02] [ 8.90481861e-01 4.54971369e-01 -6.56565518e-03 8.36604511e+01] [ 7.65837449e-03 -5.58676822e-04 9.99970518e-01 2.00613691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.90, Y:83.68, Z:2.01 [[ 4.53787409e-01 -8.91101085e-01 -3.98035342e-03 2.68897788e+02] [ 8.91077071e-01 4.53804511e-01 -6.56655186e-03 8.36815892e+01] [ 7.65776382e-03 -5.66983108e-04 9.99970518e-01 2.00781812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.91, Y:83.70, Z:2.01 [[ 4.53208072e-01 -8.91395877e-01 -3.97917788e-03 2.68911573e+02] [ 8.91371868e-01 4.53225181e-01 -6.56726413e-03 8.37044073e+01] [ 7.65749578e-03 -5.70590109e-04 9.99970518e-01 2.00720838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.93, Y:83.73, Z:2.00 [[ 4.51394351e-01 -8.92315705e-01 -3.97770305e-03 2.68925714e+02] [ 8.92291723e-01 4.51411498e-01 -6.56815729e-03 8.37259493e+01] [ 7.65645080e-03 -5.84442409e-04 9.99970518e-01 2.00456803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.94, Y:83.75, Z:2.00 [[ 4.49423120e-01 -8.93310164e-01 -3.97623509e-03 2.68940586e+02] [ 8.93286212e-01 4.49440309e-01 -6.56904584e-03 8.37479089e+01] [ 7.65527575e-03 -5.99634907e-04 9.99970518e-01 2.00332276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.96, Y:83.77, Z:2.00 [[ 4.46802662e-01 -8.94623710e-01 -3.97477592e-03 2.68955424e+02] [ 8.94599801e-01 4.46819911e-01 -6.56992863e-03 8.37684329e+01] [ 7.65362295e-03 -6.20372147e-04 9.99970518e-01 2.00260895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.97, Y:83.79, Z:2.00 [[ 4.42256780e-01 -8.96879676e-01 -3.97325821e-03 2.68972945e+02] [ 8.96855847e-01 4.42274139e-01 -6.57084636e-03 8.37884443e+01] [ 7.65052791e-03 -6.57438503e-04 9.99970518e-01 2.00286537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.99, Y:83.81, Z:2.00 [[ 4.40764178e-01 -8.97614151e-01 -3.97180603e-03 2.68987824e+02] [ 8.97590343e-01 4.40781567e-01 -6.57172403e-03 8.38085411e+01] [ 7.64957137e-03 -6.68474197e-04 9.99970518e-01 2.00307617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.01, Y:83.83, Z:2.00 [[ 4.40677230e-01 -8.97656848e-01 -3.97029018e-03 2.69005946e+02] [ 8.97633033e-01 4.40694609e-01 -6.57263970e-03 8.38280218e+01] [ 7.64966051e-03 -6.67450969e-04 9.99970518e-01 2.00235886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.02, Y:83.85, Z:2.00 [[ 4.41638559e-01 -8.97184280e-01 -3.96884077e-03 2.69021296e+02] [ 8.97160439e-01 4.41655902e-01 -6.57351480e-03 8.38507714e+01] [ 7.65051609e-03 -6.57569326e-04 9.99970518e-01 2.00290236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.03, Y:83.87, Z:2.00 [[ 4.43206966e-01 -8.96410533e-01 -3.96749601e-03 2.69034750e+02] [ 8.96386655e-01 4.43224258e-01 -6.57432634e-03 8.38721075e+01] [ 7.65178585e-03 -6.42623250e-04 9.99970518e-01 2.00275395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.065898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:269.05, Y:83.89, Z:2.01 [[ 4.47981173e-01 -8.94034194e-01 -3.96593233e-03 2.69047451e+02] [ 8.94010216e-01 4.47998326e-01 -6.57526949e-03 8.38948274e+01] [ 7.65524680e-03 -5.99987073e-04 9.99970518e-01 2.00637386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.06, Y:83.92, Z:2.01 [[ 4.50612007e-01 -8.92711097e-01 -3.96444087e-03 2.69059825e+02] [ 8.92687060e-01 4.50629079e-01 -6.57616861e-03 8.39168072e+01] [ 7.65711103e-03 -5.75704531e-04 9.99970518e-01 2.00746502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.07, Y:83.94, Z:2.01 [[ 4.52851599e-01 -8.91577098e-01 -3.96325142e-03 2.69072403e+02] [ 8.91553013e-01 4.52868601e-01 -6.57688538e-03 8.39385420e+01] [ 7.65863251e-03 -5.55095677e-04 9.99970518e-01 2.00759696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.09, Y:83.96, Z:2.01 [[ 4.55016652e-01 -8.90474116e-01 -3.96172052e-03 2.69085030e+02] [ 8.90449982e-01 4.55033584e-01 -6.57780742e-03 8.39621868e+01] [ 7.66008313e-03 -5.34702057e-04 9.99970518e-01 2.00709260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.10, Y:83.98, Z:2.01 [[ 4.53160752e-01 -8.91420018e-01 -3.96024284e-03 2.69096478e+02] [ 8.91395912e-01 4.53177724e-01 -6.57869695e-03 8.39842586e+01] [ 7.65907599e-03 -5.48937022e-04 9.99970518e-01 2.00736013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.11, Y:84.01, Z:2.01 [[ 4.51341397e-01 -8.92342576e-01 -3.95869504e-03 2.69109476e+02] [ 8.92318496e-01 4.51358406e-01 -6.57962820e-03 8.40061917e+01] [ 7.65807266e-03 -5.62758226e-04 9.99970518e-01 2.00830729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.12, Y:84.03, Z:2.01 [[ 4.49066703e-01 -8.93489472e-01 -3.95720541e-03 2.69123156e+02] [ 8.93465428e-01 4.49083763e-01 -6.58052399e-03 8.40288735e+01] [ 7.65674560e-03 -5.80532011e-04 9.99970518e-01 2.00842210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.14, Y:84.05, Z:2.01 [[ 4.46359091e-01 -8.94845190e-01 -3.95575619e-03 2.69136844e+02] [ 8.94821190e-01 4.46376213e-01 -6.58139505e-03 8.40508749e+01] [ 7.65508517e-03 -6.02028947e-04 9.99970518e-01 2.00786365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.15, Y:84.07, Z:2.01 [[ 4.40179663e-01 -8.97901012e-01 -3.95425843e-03 2.69153183e+02] [ 8.97877123e-01 4.40196940e-01 -6.58229482e-03 8.40723630e+01] [ 7.65090164e-03 -6.53045862e-04 9.99970518e-01 2.00664484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.17, Y:84.09, Z:2.01 [[ 4.32951140e-01 -9.01408723e-01 -3.95287438e-03 2.69170449e+02] [ 9.01384965e-01 4.32968598e-01 -6.58312587e-03 8.40929279e+01] [ 7.64555756e-03 -7.12889684e-04 9.99970518e-01 2.00550603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.19, Y:84.11, Z:2.01 [[ 4.30438921e-01 -9.02611058e-01 -3.95142513e-03 2.69185353e+02] [ 9.02587342e-01 4.30456434e-01 -6.58399565e-03 8.41138534e+01] [ 7.64370365e-03 -7.32498316e-04 9.99970518e-01 2.00666182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.20, Y:84.14, Z:2.01 [[ 4.28987835e-01 -9.03301630e-01 -3.94988268e-03 2.69200231e+02] [ 9.03277934e-01 4.29005376e-01 -6.58492087e-03 8.41360503e+01] [ 7.64269066e-03 -7.42990919e-04 9.99970518e-01 2.00906769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.21, Y:84.16, Z:2.01 [[ 4.28243335e-01 -9.03654832e-01 -3.94853325e-03 2.69214285e+02] [ 9.03631143e-01 4.28260885e-01 -6.58572993e-03 8.41575830e+01] [ 7.64222902e-03 -7.47722657e-04 9.99970518e-01 2.01032127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.23, Y:84.18, Z:2.01 [[ 4.28352776e-01 -9.03602966e-01 -3.94696413e-03 2.69230113e+02] [ 9.03579267e-01 4.28370312e-01 -6.58667020e-03 8.41781469e+01] [ 7.64249699e-03 -7.44976490e-04 9.99970518e-01 2.01463116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.24, Y:84.20, Z:2.02 [[ 4.29038741e-01 -9.03277472e-01 -3.94547708e-03 2.69244621e+02] [ 9.03253752e-01 4.29056248e-01 -6.58756084e-03 8.41983927e+01] [ 7.64322690e-03 -7.37448161e-04 9.99970518e-01 2.01585504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.26, Y:84.22, Z:2.02 [[ 4.30880553e-01 -9.02400359e-01 -3.94217265e-03 2.69262588e+02] [ 9.02376585e-01 4.30897988e-01 -6.58953902e-03 8.42177211e+01] [ 7.64507664e-03 -7.18020078e-04 9.99970518e-01 2.01502690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.28, Y:84.24, Z:2.01 [[ 4.31206505e-01 -9.02244646e-01 -3.94321256e-03 2.69277896e+02] [ 9.02220871e-01 4.31223939e-01 -6.58891667e-03 8.42382384e+01] [ 7.64522244e-03 -7.16464944e-04 9.99970518e-01 2.01490580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.30, Y:84.26, Z:2.01 [[ 4.31548316e-01 -9.02081211e-01 -3.94205188e-03 2.69297444e+02] [ 9.02057424e-01 4.31565733e-01 -6.58961102e-03 8.42574389e+01] [ 7.64561880e-03 -7.12221620e-04 9.99970518e-01 2.01127730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.31, Y:84.28, Z:2.01 [[ 4.31227626e-01 -9.02234563e-01 -3.94058736e-03 2.69314253e+02] [ 9.02210774e-01 4.31245041e-01 -6.59048668e-03 8.42778404e+01] [ 7.64552363e-03 -7.13240446e-04 9.99970518e-01 2.00925211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.33, Y:84.30, Z:2.01 [[ 4.30842575e-01 -9.02418505e-01 -3.93911164e-03 2.69331186e+02] [ 9.02394716e-01 4.30859989e-01 -6.59136860e-03 8.42969437e+01] [ 7.64537860e-03 -7.14791311e-04 9.99970518e-01 2.00710937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66589822699996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:269.35, Y:84.31, Z:2.01 [[ 4.29906305e-01 -9.02864921e-01 -3.93756851e-03 2.69352832e+02] [ 9.02841141e-01 4.29923732e-01 -6.59229031e-03 8.43146618e+01] [ 7.64480182e-03 -7.20931676e-04 9.99970518e-01 2.00596860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.37, Y:84.33, Z:2.00 [[ 4.30018612e-01 -9.02811442e-01 -3.93616139e-03 2.69370060e+02] [ 9.02787653e-01 4.30036026e-01 -6.59313037e-03 8.43335759e+01] [ 7.64504475e-03 -7.18349132e-04 9.99970518e-01 2.00484602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.39, Y:84.35, Z:2.00 [[ 4.31283554e-01 -9.02207856e-01 -3.93460564e-03 2.69392290e+02] [ 9.02184034e-01 4.31300924e-01 -6.59405868e-03 8.43504615e+01] [ 7.64621059e-03 -7.05829326e-04 9.99970518e-01 2.00450471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.755898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:269.41, Y:84.37, Z:2.01 [[ 4.32890656e-01 -9.01437829e-01 -3.93958781e-03 2.69409575e+02] [ 9.01414003e-01 4.32908019e-01 -6.59108715e-03 8.43709084e+01] [ 7.64693445e-03 -6.97979584e-04 9.99970518e-01 2.00590521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.43, Y:84.39, Z:2.00 [[ 4.34884547e-01 -9.00477636e-01 -3.93166852e-03 2.69426901e+02] [ 9.00453730e-01 4.34901800e-01 -6.59580773e-03 8.43911950e+01] [ 7.64926707e-03 -6.71870729e-04 9.99970518e-01 2.00480196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.815898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:269.45, Y:84.41, Z:2.00 [[ 4.38028158e-01 -8.98952637e-01 -3.93568611e-03 2.69446014e+02] [ 8.98928692e-01 4.38045356e-01 -6.59341375e-03 8.44091821e+01] [ 7.65117570e-03 -6.49800294e-04 9.99970518e-01 2.00469774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.46, Y:84.43, Z:2.00 [[ 4.39340543e-01 -8.98312000e-01 -3.92921783e-03 2.69463401e+02] [ 8.98287996e-01 4.39357660e-01 -6.59726615e-03 8.44290676e+01] [ 7.65273529e-03 -6.31122713e-04 9.99970518e-01 2.00497983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.875898227 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:269.48, Y:84.45, Z:2.01 [[ 4.41879959e-01 -8.97065591e-01 -3.92772371e-03 2.69482427e+02] [ 8.97041531e-01 4.41896996e-01 -6.59815556e-03 8.44486048e+01] [ 7.65462763e-03 -6.07738582e-04 9.99970518e-01 2.00836215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.50, Y:84.47, Z:2.01 [[ 4.43981448e-01 -8.96027376e-01 -3.92630455e-03 2.69497325e+02] [ 8.96003268e-01 4.43998419e-01 -6.59899994e-03 8.44704085e+01] [ 7.65615761e-03 -5.88148164e-04 9.99970518e-01 2.00997679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.51, Y:84.49, Z:2.01 [[ 4.45911245e-01 -8.95068577e-01 -3.92477785e-03 2.69509654e+02] [ 8.95044426e-01 4.45928153e-01 -6.59990782e-03 8.44926661e+01] [ 7.65753904e-03 -5.69877420e-04 9.99970518e-01 2.00996424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.52, Y:84.52, Z:2.01 [[ 4.49099332e-01 -8.93473222e-01 -3.92318604e-03 2.69520425e+02] [ 8.93449002e-01 4.49116142e-01 -6.60085391e-03 8.45164466e+01] [ 7.65965239e-03 -5.40727574e-04 9.99970518e-01 2.00963653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.53, Y:84.54, Z:2.01 [[ 4.49822191e-01 -8.93109521e-01 -3.92169498e-03 2.69532159e+02] [ 8.93085280e-01 4.49838971e-01 -6.60173966e-03 8.45385601e+01] [ 7.66020777e-03 -5.32799060e-04 9.99970518e-01 2.01152292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.54, Y:84.56, Z:2.02 [[ 4.49225546e-01 -8.93409783e-01 -3.92013183e-03 2.69543448e+02] [ 8.93385546e-01 4.49242331e-01 -6.60266773e-03 8.45624491e+01] [ 7.65997710e-03 -5.36102093e-04 9.99970518e-01 2.01914933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.56, Y:84.59, Z:2.02 [[ 4.47777230e-01 -8.94136565e-01 -3.91872918e-03 2.69555581e+02] [ 8.94112347e-01 4.47794043e-01 -6.60350011e-03 8.45857992e+01] [ 7.65921448e-03 -5.46887158e-04 9.99970518e-01 2.02291648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.57, Y:84.61, Z:2.02 [[ 4.45872104e-01 -8.95088109e-01 -3.91723208e-03 2.69567911e+02] [ 8.95063919e-01 4.45888958e-01 -6.60438807e-03 8.46084586e+01] [ 7.65815976e-03 -5.61460693e-04 9.99970518e-01 2.02494561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.58, Y:84.63, Z:2.03 [[ 4.43238661e-01 -8.96395088e-01 -3.91604572e-03 2.69580278e+02] [ 8.96370942e-01 4.43255577e-01 -6.60509145e-03 8.46297232e+01] [ 7.65658063e-03 -5.82597702e-04 9.99970518e-01 2.02723878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.59, Y:84.65, Z:2.03 [[ 4.43013103e-01 -8.96506590e-01 -3.91471151e-03 2.69592829e+02] [ 8.96482441e-01 4.43030016e-01 -6.60588211e-03 8.46528832e+01] [ 7.65655155e-03 -5.82977802e-04 9.99970518e-01 2.02595878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.60, Y:84.68, Z:2.02 [[ 4.44790558e-01 -8.95626064e-01 -3.91320425e-03 2.69601029e+02] [ 8.95601874e-01 4.44807412e-01 -6.60677486e-03 8.46776308e+01] [ 7.65782202e-03 -5.66041983e-04 9.99970518e-01 2.02202461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.61, Y:84.70, Z:2.02 [[ 4.46010747e-01 -8.95019057e-01 -3.91163207e-03 2.69610671e+02] [ 8.94994836e-01 4.46027556e-01 -6.60770556e-03 8.47014080e+01] [ 7.65871810e-03 -5.53782808e-04 9.99970518e-01 2.01972495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.62, Y:84.73, Z:2.02 [[ 4.47143538e-01 -8.94453670e-01 -3.91007077e-03 2.69621478e+02] [ 8.94429420e-01 4.47160305e-01 -6.60862933e-03 8.47260865e+01] [ 7.65954119e-03 -5.42276431e-04 9.99970518e-01 2.01855908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.63, Y:84.75, Z:2.02 [[ 4.46935998e-01 -8.94557397e-01 -3.90853585e-03 2.69634913e+02] [ 8.94533144e-01 4.46952759e-01 -6.60953700e-03 8.47492836e+01] [ 7.65954110e-03 -5.42274840e-04 9.99970518e-01 2.01876497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.64, Y:84.77, Z:2.02 [[ 4.47334964e-01 -8.94357963e-01 -3.90700207e-03 2.69643910e+02] [ 8.94333694e-01 4.47351703e-01 -6.61044351e-03 8.47737890e+01] [ 7.65990682e-03 -5.37081086e-04 9.99970518e-01 2.01591042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.66, Y:84.80, Z:2.02 [[ 4.46556470e-01 -8.94746929e-01 -3.90539989e-03 2.69655384e+02] [ 8.94722667e-01 4.46573218e-01 -6.61138993e-03 8.47980782e+01] [ 7.65956784e-03 -5.41890855e-04 9.99970518e-01 2.01515942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.67, Y:84.82, Z:2.01 [[ 4.44195488e-01 -8.95921385e-01 -3.90395049e-03 2.69665749e+02] [ 8.95897159e-01 4.44212289e-01 -6.61224568e-03 8.48231114e+01] [ 7.65823509e-03 -5.60408455e-04 9.99970518e-01 2.00975306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.68, Y:84.85, Z:2.01 [[ 4.42165956e-01 -8.96924766e-01 -3.90275600e-03 2.69677721e+02] [ 8.96900573e-01 4.42182804e-01 -6.61295063e-03 8.48457124e+01] [ 7.65705079e-03 -5.76362452e-04 9.99970518e-01 2.00593634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.69, Y:84.87, Z:2.00 [[ 4.40299999e-01 -8.97842242e-01 -3.90119317e-03 2.69690340e+02] [ 8.97818076e-01 4.40316885e-01 -6.61387246e-03 8.48683188e+01] [ 7.65597531e-03 -5.90473709e-04 9.99970518e-01 2.00352879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.70, Y:84.89, Z:2.00 [[ 4.38431909e-01 -8.98755948e-01 -3.89969788e-03 2.69702689e+02] [ 8.98731809e-01 4.38448835e-01 -6.61475401e-03 8.48903533e+01] [ 7.65486750e-03 -6.04663305e-04 9.99970518e-01 2.00425540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.72, Y:84.91, Z:2.01 [[ 4.38408365e-01 -8.98767440e-01 -3.89813463e-03 2.69715738e+02] [ 8.98743293e-01 4.38425280e-01 -6.61567512e-03 8.49134771e+01] [ 7.65499415e-03 -6.03055043e-04 9.99970518e-01 2.00504859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.73, Y:84.94, Z:2.01 [[ 4.38733156e-01 -8.98608944e-01 -3.89665606e-03 2.69727937e+02] [ 8.98584784e-01 4.38750052e-01 -6.61654588e-03 8.49354422e+01] [ 7.65534536e-03 -5.98577783e-04 9.99970518e-01 2.00506716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.74, Y:84.96, Z:2.01 [[ 4.41518682e-01 -8.97243602e-01 -3.89511070e-03 2.69741523e+02] [ 8.97219382e-01 4.41535491e-01 -6.61745550e-03 8.49584859e+01] [ 7.65729923e-03 -5.73038587e-04 9.99970518e-01 2.00651786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.75, Y:84.98, Z:2.01 [[ 4.43714900e-01 -8.96159543e-01 -3.89369676e-03 2.69754718e+02] [ 8.96135275e-01 4.43731639e-01 -6.61828736e-03 8.49814938e+01] [ 7.65879782e-03 -5.52646306e-04 9.99970518e-01 2.00902461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.77, Y:85.01, Z:2.01 [[ 4.48313816e-01 -8.93867760e-01 -3.89219788e-03 2.69766107e+02] [ 8.93843399e-01 4.48330420e-01 -6.61916872e-03 8.50063069e+01] [ 7.66165223e-03 -5.11550591e-04 9.99970518e-01 2.01371112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.78, Y:85.03, Z:2.02 [[ 4.50109984e-01 -8.92964648e-01 -3.89085913e-03 2.69778124e+02] [ 8.92940247e-01 4.50126529e-01 -6.61995557e-03 8.50296769e+01] [ 7.66276521e-03 -4.94596607e-04 9.99970518e-01 2.01601848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.79, Y:85.05, Z:2.02 [[ 4.51311994e-01 -8.92357752e-01 -3.88936531e-03 2.69789357e+02] [ 8.92333320e-01 4.51328495e-01 -6.62083311e-03 8.50533669e+01] [ 7.66353314e-03 -4.82548868e-04 9.99970518e-01 2.01669795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.80, Y:85.08, Z:2.02 [[ 4.50899757e-01 -8.92566129e-01 -3.88787156e-03 2.69801690e+02] [ 8.92541697e-01 4.50916258e-01 -6.62171015e-03 8.50761199e+01] [ 7.66341868e-03 -4.84359992e-04 9.99970518e-01 2.01680893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71589822699997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:269.81, Y:85.10, Z:2.02 [[ 4.49668654e-01 -8.93186989e-01 -3.88636014e-03 2.69813614e+02] [ 8.93162573e-01 4.49685178e-01 -6.62259710e-03 8.50985560e+01] [ 7.66285611e-03 -4.93177100e-04 9.99970518e-01 2.01671549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.83, Y:85.12, Z:2.02 [[ 4.47421587e-01 -8.94314728e-01 -3.88478634e-03 2.69826311e+02] [ 8.94290345e-01 4.47438160e-01 -6.62352015e-03 8.51212647e+01] [ 7.66171327e-03 -5.10621025e-04 9.99970518e-01 2.01913279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.84, Y:85.14, Z:2.02 [[ 4.46211723e-01 -8.94919001e-01 -3.88328211e-03 2.69838818e+02] [ 8.94894634e-01 4.46228318e-01 -6.62440195e-03 8.51429619e+01] [ 7.66113362e-03 -5.19242513e-04 9.99970518e-01 2.02114422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.85, Y:85.17, Z:2.02 [[ 4.45210023e-01 -8.95417761e-01 -3.88170817e-03 2.69852193e+02] [ 8.95393405e-01 4.45226634e-01 -6.62532410e-03 8.51661437e+01] [ 7.66067274e-03 -5.25995192e-04 9.99970518e-01 2.02291118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.86, Y:85.19, Z:2.02 [[ 4.44645662e-01 -8.95698152e-01 -3.88020352e-03 2.69863870e+02] [ 8.95673798e-01 4.44662277e-01 -6.62620520e-03 8.51892113e+01] [ 7.66045989e-03 -5.29083226e-04 9.99970518e-01 2.02331524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.88, Y:85.21, Z:2.02 [[ 4.44888559e-01 -8.95577538e-01 -3.87869371e-03 2.69875816e+02] [ 8.95553172e-01 4.44905157e-01 -6.62708886e-03 8.52117079e+01] [ 7.66072276e-03 -5.25260437e-04 9.99970518e-01 2.02288232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.89, Y:85.24, Z:2.02 [[ 4.46016648e-01 -8.95016266e-01 -3.87719570e-03 2.69887243e+02] [ 8.94991872e-01 4.46033204e-01 -6.62796516e-03 8.52359153e+01] [ 7.66149465e-03 -5.13875833e-04 9.99970518e-01 2.02417171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.90, Y:85.26, Z:2.03 [[ 4.46737091e-01 -8.94656890e-01 -3.87564667e-03 2.69898044e+02] [ 8.94632475e-01 4.46753616e-01 -6.62887082e-03 8.52583341e+01] [ 7.66202411e-03 -5.05916903e-04 9.99970518e-01 2.02520116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.91, Y:85.28, Z:2.03 [[ 4.47781211e-01 -8.94134766e-01 -3.87402861e-03 2.69908658e+02] [ 8.94110323e-01 4.47797695e-01 -6.62981631e-03 8.52819144e+01] [ 7.66273033e-03 -4.95101797e-04 9.99970518e-01 2.02646005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.92, Y:85.31, Z:2.03 [[ 4.51067874e-01 -8.92481247e-01 -3.87250175e-03 2.69916276e+02] [ 8.92456737e-01 4.51084257e-01 -6.63070803e-03 8.53080179e+01] [ 7.66460715e-03 -4.65140900e-04 9.99970518e-01 2.02640325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.93, Y:85.33, Z:2.03 [[ 4.52492292e-01 -8.91759912e-01 -3.87100109e-03 2.69926186e+02] [ 8.91735368e-01 4.52508624e-01 -6.63158400e-03 8.53333586e+01] [ 7.66544214e-03 -4.51167942e-04 9.99970518e-01 2.02537842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.94, Y:85.36, Z:2.02 [[ 4.54423127e-01 -8.90777521e-01 -3.87695108e-03 2.69935423e+02] [ 8.90752970e-01 4.54439450e-01 -6.62811235e-03 8.53584618e+01] [ 7.66601300e-03 -4.41438147e-04 9.99970518e-01 2.02496346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.94, Y:85.38, Z:2.02 [[ 4.58336481e-01 -8.88770335e-01 -3.86811675e-03 2.69940672e+02] [ 8.88745670e-01 4.58352631e-01 -6.63326399e-03 8.53843409e+01] [ 7.66840975e-03 -3.97505141e-04 9.99970518e-01 2.02260113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.95, Y:85.41, Z:2.02 [[ 4.59742053e-01 -8.88044084e-01 -3.86652588e-03 2.69950268e+02] [ 8.88019386e-01 4.59758152e-01 -6.63419118e-03 8.54095479e+01] [ 7.66912102e-03 -3.83533261e-04 9.99970518e-01 2.02266163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.135898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:269.96, Y:85.44, Z:2.02 [[ 4.61371670e-01 -8.87198537e-01 -3.86501479e-03 2.69956486e+02] [ 8.87173802e-01 4.61387712e-01 -6.63507141e-03 8.54366968e+01] [ 7.66989598e-03 -3.67705894e-04 9.99970518e-01 2.02355607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.97, Y:85.46, Z:2.02 [[ 4.62057771e-01 -8.86841412e-01 -3.86350219e-03 2.69966352e+02] [ 8.86816657e-01 4.62073783e-01 -6.63595206e-03 8.54611429e+01] [ 7.67026016e-03 -3.60024885e-04 9.99970518e-01 2.02377985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.98, Y:85.49, Z:2.02 [[ 4.62622449e-01 -8.86546984e-01 -3.86195101e-03 2.69975980e+02] [ 8.86522212e-01 4.62638433e-01 -6.63685468e-03 8.54853378e+01] [ 7.67057047e-03 -3.53347384e-04 9.99970518e-01 2.02148821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.98, Y:85.51, Z:2.03 [[ 4.64910755e-01 -8.85349133e-01 -3.86033418e-03 2.69982852e+02] [ 8.85324312e-01 4.64926663e-01 -6.63779498e-03 8.55123122e+01] [ 7.67153832e-03 -3.31665426e-04 9.99970518e-01 2.02555719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.99, Y:85.54, Z:2.03 [[ 4.65985181e-01 -8.84784109e-01 -3.85891026e-03 2.69993153e+02] [ 8.84759262e-01 4.66001049e-01 -6.63862268e-03 8.55380574e+01] [ 7.67200408e-03 -3.20706801e-04 9.99970518e-01 2.02528294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.00, Y:85.56, Z:2.03 [[ 4.68026215e-01 -8.83706139e-01 -3.86299525e-03 2.69999760e+02] [ 8.83681274e-01 4.68042055e-01 -6.63624881e-03 8.55644156e+01] [ 7.67253805e-03 -3.07718157e-04 9.99970518e-01 2.02785249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.01, Y:85.59, Z:2.03 [[ 4.68440430e-01 -8.83486668e-01 -3.85621738e-03 2.70010161e+02] [ 8.83461764e-01 4.68456209e-01 -6.64018499e-03 8.55879013e+01] [ 7.67298389e-03 -2.96289496e-04 9.99970518e-01 2.02850268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.02, Y:85.61, Z:2.03 [[ 4.68722736e-01 -8.83336934e-01 -3.85461446e-03 2.70020884e+02] [ 8.83312017e-01 4.68738495e-01 -6.64111535e-03 8.56103671e+01] [ 7.67314865e-03 -2.91985514e-04 9.99970518e-01 2.02873960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.03, Y:85.63, Z:2.03 [[ 4.68809586e-01 -8.83290851e-01 -3.85301782e-03 2.70030467e+02] [ 8.83265925e-01 4.68825330e-01 -6.64204156e-03 8.56346145e+01] [ 7.67324689e-03 -2.89386598e-04 9.99970518e-01 2.03034597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.04, Y:85.66, Z:2.03 [[ 4.68834398e-01 -8.83277688e-01 -3.85149089e-03 2.70042134e+02] [ 8.83252754e-01 4.68850129e-01 -6.64292686e-03 8.56596257e+01] [ 7.67332107e-03 -2.87407322e-04 9.99970518e-01 2.03213450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.05, Y:85.68, Z:2.03 [[ 4.71167946e-01 -8.82035115e-01 -3.85010277e-03 2.70051733e+02] [ 8.82010133e-01 4.71183601e-01 -6.64373128e-03 8.56846668e+01] [ 7.67410957e-03 -2.65516436e-04 9.99970518e-01 2.03339107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.06, Y:85.71, Z:2.03 [[ 4.72945409e-01 -8.81083326e-01 -3.84864095e-03 2.70063523e+02] [ 8.81058306e-01 4.72961003e-01 -6.64457799e-03 8.57080406e+01] [ 7.67468396e-03 -2.48354417e-04 9.99970518e-01 2.03440593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:270.08, Y:85.73, Z:2.03 [[ 4.74675972e-01 -8.80152215e-01 -3.84712750e-03 2.70075541e+02] [ 8.80127157e-01 4.74691505e-01 -6.64545414e-03 8.57321415e+01] [ 7.67520993e-03 -2.31523986e-04 9.99970518e-01 2.03442619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.09, Y:85.76, Z:2.03 [[ 4.77667439e-01 -8.78532315e-01 -3.84572392e-03 2.70086558e+02] [ 8.78507198e-01 4.77682876e-01 -6.64626630e-03 8.57554667e+01] [ 7.67599618e-03 -2.03791143e-04 9.99970518e-01 2.03360511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.10, Y:85.78, Z:2.03 [[ 4.78992473e-01 -8.77810590e-01 -3.84425295e-03 2.70099181e+02] [ 8.77785443e-01 4.79007862e-01 -6.64711700e-03 8.57778961e+01] [ 7.67633709e-03 -1.90510270e-04 9.99970518e-01 2.03326776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.11, Y:85.80, Z:2.03 [[ 4.81280482e-01 -8.76558230e-01 -3.84279683e-03 2.70112612e+02] [ 8.76533036e-01 4.81295794e-01 -6.64795871e-03 8.58003175e+01] [ 7.67684487e-03 -1.68805600e-04 9.99970518e-01 2.03155982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.13, Y:85.82, Z:2.03 [[ 4.82208044e-01 -8.76048313e-01 -3.84126557e-03 2.70125517e+02] [ 8.76023096e-01 4.82223317e-01 -6.64884337e-03 8.58220764e+01] [ 7.67705584e-03 -1.58911606e-04 9.99970518e-01 2.02972592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.14, Y:85.84, Z:2.03 [[ 4.84284864e-01 -8.74901953e-01 -3.83966927e-03 2.70138845e+02] [ 8.74876693e-01 4.84300065e-01 -6.64976509e-03 8.58440385e+01] [ 7.67744455e-03 -1.38856567e-04 9.99970518e-01 2.02581158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.15, Y:85.87, Z:2.02 [[ 4.85027551e-01 -8.74490448e-01 -3.83812794e-03 2.70152887e+02] [ 8.74465168e-01 4.85042719e-01 -6.65065460e-03 8.58662750e+01] [ 7.67758994e-03 -1.30558480e-04 9.99970518e-01 2.02496753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.17, Y:85.89, Z:2.02 [[ 4.85975149e-01 -8.73964207e-01 -3.83658657e-03 2.70168031e+02] [ 8.73938903e-01 4.85990278e-01 -6.65154366e-03 8.58882534e+01] [ 7.67775485e-03 -1.20457336e-04 9.99970518e-01 2.02279219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.18, Y:85.91, Z:2.02 [[ 4.88523383e-01 -8.72542370e-01 -3.83627125e-03 2.70184079e+02] [ 8.72517021e-01 4.88538435e-01 -6.65172543e-03 8.59080683e+01] [ 7.67807823e-03 -9.76885546e-05 9.99970518e-01 2.02267587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.20, Y:85.93, Z:2.02 [[ 4.89605131e-01 -8.71935847e-01 -3.83342424e-03 2.70198438e+02] [ 8.71910466e-01 4.89620131e-01 -6.65336577e-03 8.59300168e+01] [ 7.67822979e-03 -8.48806914e-05 9.99970518e-01 2.02396032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.21, Y:85.95, Z:2.03 [[ 4.92531178e-01 -8.70286364e-01 -3.83188468e-03 2.70214061e+02] [ 8.70260926e-01 4.92546080e-01 -6.65425234e-03 8.59512993e+01] [ 7.67848485e-03 -5.73127695e-05 9.99970518e-01 2.02625656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.23, Y:85.97, Z:2.03 [[ 4.94111493e-01 -8.69390108e-01 -3.83034927e-03 2.70228309e+02] [ 8.69364637e-01 4.94126338e-01 -6.65513604e-03 8.59726243e+01] [ 7.67858590e-03 -4.15909912e-05 9.99970518e-01 2.02704056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.24, Y:85.99, Z:2.03 [[ 4.95781502e-01 -8.68438854e-01 -3.82874021e-03 2.70243370e+02] [ 8.68413347e-01 4.95796285e-01 -6.65606161e-03 8.59945674e+01] [ 7.67865769e-03 -2.49768815e-05 9.99970518e-01 2.02779880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.26, Y:86.02, Z:2.03 [[ 4.97843458e-01 -8.67258464e-01 -3.82723620e-03 2.70258490e+02] [ 8.67232915e-01 4.97858169e-01 -6.65692630e-03 8.60165756e+01] [ 7.67869649e-03 -4.99799509e-06 9.99970518e-01 2.02865487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.27, Y:86.04, Z:2.03 [[ 5.02577371e-01 -8.64523771e-01 -3.82569797e-03 2.70274640e+02] [ 8.64498135e-01 5.02591930e-01 -6.65781020e-03 8.60383715e+01] [ 7.67860011e-03 3.87559837e-05 9.99970518e-01 2.02924570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.29, Y:86.06, Z:2.03 [[ 5.04747916e-01 -8.63258313e-01 -3.82435573e-03 2.70288123e+02] [ 8.63232635e-01 5.04762401e-01 -6.65858112e-03 8.60603254e+01] [ 7.67846648e-03 5.95962731e-05 9.99970518e-01 2.03077561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.30, Y:86.08, Z:2.04 [[ 5.07571224e-01 -8.61601323e-01 -3.82269653e-03 2.70303173e+02] [ 8.61575590e-01 5.07585611e-01 -6.65953352e-03 8.60813062e+01] [ 7.67820865e-03 8.66455599e-05 9.99970518e-01 2.03698651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.32, Y:86.10, Z:2.04 [[ 5.07861229e-01 -8.61430422e-01 -3.82109407e-03 2.70317245e+02] [ 8.61404677e-01 5.07875595e-01 -6.66045286e-03 8.61042594e+01] [ 7.67815714e-03 9.10774703e-05 9.99970518e-01 2.03878057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.33, Y:86.13, Z:2.04 [[ 5.08318811e-01 -8.61160495e-01 -3.81959113e-03 2.70330754e+02] [ 8.61134736e-01 5.08333152e-01 -6.66131464e-03 8.61261541e+01] [ 7.67808581e-03 9.68889371e-05 9.99970518e-01 2.04031777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.34, Y:86.15, Z:2.04 [[ 5.10040045e-01 -8.60142181e-01 -3.81842991e-03 2.70344972e+02] [ 8.60116389e-01 5.10054326e-01 -6.66198021e-03 8.61493873e+01] [ 7.67785689e-03 1.13582545e-04 9.99970518e-01 2.03937424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.36, Y:86.17, Z:2.04 [[ 5.11338292e-01 -8.59371038e-01 -3.81696369e-03 2.70358405e+02] [ 8.59345219e-01 5.11352522e-01 -6.66282017e-03 8.61716075e+01] [ 7.67764870e-03 1.26865593e-04 9.99970518e-01 2.03917242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.37, Y:86.19, Z:2.04 [[ 5.12648590e-01 -8.58590045e-01 -3.81541981e-03 2.70372043e+02] [ 8.58564197e-01 5.12662769e-01 -6.66370415e-03 8.61940368e+01] [ 7.67741373e-03 1.40355684e-04 9.99970518e-01 2.03892086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.39, Y:86.22, Z:2.04 [[ 5.14445512e-01 -8.57514588e-01 -3.81394785e-03 2.70386510e+02] [ 8.57488704e-01 5.14459625e-01 -6.66454651e-03 8.62165554e+01] [ 7.67706804e-03 1.58128843e-04 9.99970518e-01 2.03787010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.40, Y:86.24, Z:2.04 [[ 5.14246114e-01 -8.57634188e-01 -3.81239553e-03 2.70399561e+02] [ 8.57608300e-01 5.14260221e-01 -6.66543439e-03 8.62399527e+01] [ 7.67706777e-03 1.58131684e-04 9.99970518e-01 2.03807600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.41, Y:86.26, Z:2.04 [[ 5.14481791e-01 -8.57492836e-01 -3.81084547e-03 2.70413575e+02] [ 8.57466938e-01 5.14495879e-01 -6.66632049e-03 8.62619857e+01] [ 7.67698635e-03 1.62026510e-04 9.99970518e-01 2.03731828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.43, Y:86.28, Z:2.04 [[ 5.15090468e-01 -8.57127353e-01 -3.80937433e-03 2.70429849e+02] [ 8.57101439e-01 5.15104526e-01 -6.66716105e-03 8.62818001e+01] [ 7.67683205e-03 1.69170888e-04 9.99970518e-01 2.03586562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.44, Y:86.30, Z:2.04 [[ 5.15488899e-01 -8.56887797e-01 -3.80774775e-03 2.70444598e+02] [ 8.56861869e-01 5.15502932e-01 -6.66808989e-03 8.63027335e+01] [ 7.67670998e-03 1.74612453e-04 9.99970518e-01 2.03582114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.46, Y:86.32, Z:2.04 [[ 5.15791123e-01 -8.56705918e-01 -3.80622076e-03 2.70459113e+02] [ 8.56679980e-01 5.15805135e-01 -6.66896140e-03 8.63248104e+01] [ 7.67660691e-03 1.79077963e-04 9.99970518e-01 2.03561149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.47, Y:86.35, Z:2.03 [[ 5.17571500e-01 -8.55631502e-01 -3.80471643e-03 2.70474670e+02] [ 8.55605528e-01 5.17585447e-01 -6.66981952e-03 8.63473956e+01] [ 7.67617355e-03 1.96772085e-04 9.99970518e-01 2.03315876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.49, Y:86.37, Z:2.03 [[ 5.18417181e-01 -8.55119385e-01 -3.80326126e-03 2.70488503e+02] [ 8.55093391e-01 5.18431090e-01 -6.67064919e-03 8.63693355e+01] [ 7.67593031e-03 2.06035582e-04 9.99970518e-01 2.03214833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.50, Y:86.39, Z:2.03 [[ 5.19841116e-01 -8.54254506e-01 -3.80173378e-03 2.70504311e+02] [ 8.54228483e-01 5.19854970e-01 -6.67151961e-03 8.63904496e+01] [ 7.67552589e-03 2.20580923e-04 9.99970518e-01 2.03386156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.52, Y:86.41, Z:2.03 [[ 5.19794168e-01 -8.54283080e-01 -3.80015258e-03 2.70518659e+02] [ 8.54257051e-01 5.19808012e-01 -6.67242016e-03 8.64117928e+01] [ 7.67548540e-03 2.21977953e-04 9.99970518e-01 2.03412818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.53, Y:86.43, Z:2.03 [[ 5.19370709e-01 -8.54540600e-01 -3.79850424e-03 2.70533488e+02] [ 8.54514571e-01 5.19384553e-01 -6.67335840e-03 8.64332924e+01] [ 7.67554012e-03 2.20069660e-04 9.99970518e-01 2.03448822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.55, Y:86.45, Z:2.04 [[ 5.18177471e-01 -8.55264691e-01 -3.79693085e-03 2.70550757e+02] [ 8.55238675e-01 5.18191339e-01 -6.67425349e-03 8.64536406e+01] [ 7.67579003e-03 2.11165682e-04 9.99970518e-01 2.03667060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.515898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:270.56, Y:86.48, Z:2.04 [[ 5.18015339e-01 -8.55362907e-01 -3.79535524e-03 2.70564857e+02] [ 8.55336887e-01 5.18029200e-01 -6.67514935e-03 8.64762620e+01] [ 7.67577999e-03 2.11522415e-04 9.99970518e-01 2.03826928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.58, Y:86.50, Z:2.04 [[ 5.18482800e-01 -8.55079642e-01 -3.79378820e-03 2.70578441e+02] [ 8.55053607e-01 5.18496634e-01 -6.67603985e-03 8.64982981e+01] [ 7.67561217e-03 2.17519550e-04 9.99970518e-01 2.03952009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.59, Y:86.52, Z:2.04 [[ 5.20219827e-01 -8.54023975e-01 -3.79218414e-03 2.70591733e+02] [ 8.53997906e-01 5.20233596e-01 -6.67695088e-03 8.65198734e+01] [ 7.67509772e-03 2.34964917e-04 9.99970518e-01 2.03974179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.61, Y:86.54, Z:2.04 [[ 5.20523291e-01 -8.53839055e-01 -3.79090463e-03 2.70605708e+02] [ 8.53812976e-01 5.20537040e-01 -6.67767725e-03 8.65435013e+01] [ 7.67496791e-03 2.39162972e-04 9.99970518e-01 2.03956132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.62, Y:86.57, Z:2.04 [[ 5.18897015e-01 -8.54828362e-01 -3.78943332e-03 2.70618981e+02] [ 8.54802303e-01 5.18910802e-01 -6.67851209e-03 8.65661830e+01] [ 7.67535943e-03 2.26243658e-04 9.99970518e-01 2.03815856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.63, Y:86.59, Z:2.04 [[ 5.17139064e-01 -8.55893007e-01 -3.78789012e-03 2.70631657e+02] [ 8.55866970e-01 5.17152893e-01 -6.67938724e-03 8.65895370e+01] [ 7.67575916e-03 2.12242026e-04 9.99970518e-01 2.03919726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.64, Y:86.61, Z:2.04 [[ 5.14847504e-01 -8.57273417e-01 -3.78631755e-03 2.70644179e+02] [ 8.57247411e-01 5.14861390e-01 -6.68027855e-03 8.66127060e+01] [ 7.67625394e-03 1.93513817e-04 9.99970518e-01 2.04073159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.66, Y:86.64, Z:2.04 [[ 5.11712299e-01 -8.59148531e-01 -3.78473571e-03 2.70656205e+02] [ 8.59122569e-01 5.11726268e-01 -6.68117463e-03 8.66351995e+01] [ 7.67687005e-03 1.67287366e-04 9.99970518e-01 2.04233369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.67, Y:86.66, Z:2.05 [[ 5.03526053e-01 -8.63971760e-01 -3.78308021e-03 2.70667981e+02] [ 8.63945925e-01 5.03540255e-01 -6.68211189e-03 8.66585436e+01] [ 7.67808915e-03 9.62406946e-05 9.99970518e-01 2.04676167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.68, Y:86.68, Z:2.05 [[ 4.99313660e-01 -8.66413048e-01 -3.78150871e-03 2.70679755e+02] [ 8.66387275e-01 4.99327976e-01 -6.68300111e-03 8.66816155e+01] [ 7.67845245e-03 6.06627182e-05 9.99970518e-01 2.04894957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.69, Y:86.70, Z:2.05 [[ 4.92722702e-01 -8.70178172e-01 -3.77994514e-03 2.70692986e+02] [ 8.70152502e-01 4.92737201e-01 -6.68388536e-03 8.67030218e+01] [ 7.67869073e-03 4.17333382e-06 9.99970518e-01 2.04962107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.71, Y:86.72, Z:2.05 [[ 4.90179586e-01 -8.71613273e-01 -3.77831686e-03 2.70707380e+02] [ 8.71587638e-01 4.90194148e-01 -6.68480568e-03 8.67247915e+01] [ 7.67867417e-03 -1.63789845e-05 9.99970518e-01 2.04756193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.72, Y:86.75, Z:2.04 [[ 4.86484588e-01 -8.73680996e-01 -3.77678117e-03 2.70721954e+02] [ 8.73655416e-01 4.86499245e-01 -6.68567320e-03 8.67468728e+01] [ 7.67854680e-03 -4.71283536e-05 9.99970518e-01 2.04248518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.73, Y:86.77, Z:2.04 [[ 4.85091659e-01 -8.74455162e-01 -3.77523579e-03 2.70734756e+02] [ 8.74429599e-01 4.85106346e-01 -6.68654572e-03 8.67699566e+01] [ 7.67847526e-03 -5.75903548e-05 9.99970518e-01 2.04238544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.75, Y:86.79, Z:2.04 [[ 4.84265685e-01 -8.74912856e-01 -3.77367615e-03 2.70747601e+02] [ 8.74887300e-01 4.84280384e-01 -6.68742582e-03 8.67920317e+01] [ 7.67843216e-03 -6.30504872e-05 9.99970518e-01 2.04407868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.76, Y:86.81, Z:2.05 [[ 4.83246311e-01 -8.75476313e-01 -3.77204897e-03 2.70762706e+02] [ 8.75450767e-01 4.83261027e-01 -6.68834351e-03 8.68148411e+01] [ 7.67837057e-03 -7.01258390e-05 9.99970518e-01 2.04536587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.78, Y:86.84, Z:2.04 [[ 4.82708541e-01 -8.75772943e-01 -3.77057585e-03 2.70775601e+02] [ 8.75747399e-01 4.82723262e-01 -6.68917388e-03 8.68372967e+01] [ 7.67834216e-03 -7.31506237e-05 9.99970518e-01 2.04476138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.79, Y:86.86, Z:2.04 [[ 4.82098520e-01 -8.76108904e-01 -3.76902789e-03 2.70787425e+02] [ 8.76083364e-01 4.82113247e-01 -6.69004596e-03 8.68597430e+01] [ 7.67830711e-03 -7.67213780e-05 9.99970518e-01 2.04335932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:270.80, Y:86.88, Z:2.04 [[ 4.80812811e-01 -8.76815173e-01 -3.76740725e-03 2.70799638e+02] [ 8.76789647e-01 4.80827563e-01 -6.69095848e-03 8.68828221e+01] [ 7.67820716e-03 -8.61251186e-05 9.99970518e-01 2.04029407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.085898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:270.81, Y:86.91, Z:2.04 [[ 4.79355533e-01 -8.77612723e-01 -3.76586309e-03 2.70812897e+02] [ 8.77587215e-01 4.79370315e-01 -6.69182747e-03 8.69060137e+01] [ 7.67807590e-03 -9.71087853e-05 9.99970518e-01 2.03956509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.83, Y:86.93, Z:2.04 [[ 4.77322427e-01 -8.78720166e-01 -3.76431543e-03 2.70826210e+02] [ 8.78694686e-01 4.77337257e-01 -6.69269795e-03 8.69279579e+01] [ 7.67785666e-03 -1.13109141e-04 9.99970518e-01 2.03833634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.84, Y:86.95, Z:2.04 [[ 4.72054457e-01 -8.81561360e-01 -3.76269415e-03 2.70840311e+02] [ 8.81535962e-01 4.72069426e-01 -6.69360932e-03 8.69506754e+01] [ 7.67708021e-03 -1.57202095e-04 9.99970518e-01 2.03568634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.85, Y:86.97, Z:2.04 [[ 4.68884870e-01 -8.83251285e-01 -3.76116204e-03 2.70853869e+02] [ 8.83225934e-01 4.68899919e-01 -6.69447011e-03 8.69730996e+01] [ 7.67650790e-03 -1.83020107e-04 9.99970518e-01 2.03584046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.87, Y:86.99, Z:2.04 [[ 4.65866642e-01 -8.84846957e-01 -3.75959608e-03 2.70867548e+02] [ 8.84821650e-01 4.65881766e-01 -6.69534944e-03 8.69948783e+01] [ 7.67588683e-03 -2.07432042e-04 9.99970518e-01 2.03620406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.88, Y:87.02, Z:2.04 [[ 4.61620224e-01 -8.87069697e-01 -3.75796294e-03 2.70883768e+02] [ 8.87044455e-01 4.61635456e-01 -6.69626596e-03 8.70164473e+01] [ 7.67486355e-03 -2.42348402e-04 9.99970518e-01 2.03825053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.90, Y:87.04, Z:2.04 [[ 4.60551372e-01 -8.87625103e-01 -3.75637155e-03 2.70897848e+02] [ 8.87599872e-01 4.60566623e-01 -6.69715855e-03 8.70387599e+01] [ 7.67462541e-03 -2.49769353e-04 9.99970518e-01 2.03890394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.91, Y:87.06, Z:2.04 [[ 4.59586706e-01 -8.88124970e-01 -3.75475258e-03 2.70913072e+02] [ 8.88099749e-01 4.59601972e-01 -6.69806610e-03 8.70591146e+01] [ 7.67441144e-03 -2.56252690e-04 9.99970518e-01 2.03973567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.93, Y:87.08, Z:2.04 [[ 4.58833198e-01 -8.88514497e-01 -3.75306763e-03 2.70927257e+02] [ 8.88489281e-01 4.58848473e-01 -6.69901008e-03 8.70814116e+01] [ 7.67425692e-03 -2.60832142e-04 9.99970518e-01 2.03902461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.94, Y:87.10, Z:2.04 [[ 4.58021671e-01 -8.88933110e-01 -3.75152812e-03 2.70942028e+02] [ 8.88907901e-01 4.58036958e-01 -6.69987212e-03 8.71036674e+01] [ 7.67407669e-03 -2.66076362e-04 9.99970518e-01 2.03858144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.96, Y:87.12, Z:2.04 [[ 4.57747681e-01 -8.89074237e-01 -3.74994104e-03 2.70955714e+02] [ 8.89049025e-01 4.57762963e-01 -6.70076029e-03 8.71248497e+01] [ 7.67405746e-03 -2.66623939e-04 9.99970518e-01 2.03715467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.97, Y:87.14, Z:2.04 [[ 4.59488366e-01 -8.88175879e-01 -3.74828719e-03 2.70971233e+02] [ 8.88150630e-01 4.59503586e-01 -6.70168530e-03 8.71448603e+01] [ 7.67462664e-03 -2.49697205e-04 9.99970518e-01 2.03862701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.99, Y:87.17, Z:2.04 [[ 4.61103319e-01 -8.87338544e-01 -3.74676152e-03 2.70985096e+02] [ 8.87313260e-01 4.61118482e-01 -6.70253816e-03 8.71667920e+01] [ 7.67512143e-03 -2.33988586e-04 9.99970518e-01 2.03976515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.00, Y:87.19, Z:2.04 [[ 4.65625424e-01 -8.84973976e-01 -3.74521633e-03 2.70999028e+02] [ 8.84948608e-01 4.65640446e-01 -6.70340146e-03 8.71883251e+01] [ 7.67626005e-03 -1.93049834e-04 9.99970518e-01 2.03907397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.01, Y:87.21, Z:2.04 [[ 4.67438512e-01 -8.84017658e-01 -3.74399011e-03 2.71012357e+02] [ 8.83992255e-01 4.67453473e-01 -6.70408626e-03 8.72106204e+01] [ 7.67667182e-03 -1.75910148e-04 9.99970518e-01 2.03846014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.03, Y:87.23, Z:2.04 [[ 4.69014424e-01 -8.83182577e-01 -3.74235101e-03 2.71026519e+02] [ 8.83157140e-01 4.69029327e-01 -6.70500112e-03 8.72305650e+01] [ 7.67701254e-03 -1.60341771e-04 9.99970518e-01 2.04179576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.04, Y:87.25, Z:2.04 [[ 4.69081514e-01 -8.83146953e-01 -3.74064151e-03 2.71040585e+02] [ 8.83121507e-01 4.69096402e-01 -6.70595469e-03 8.72527125e+01] [ 7.67706492e-03 -1.57801592e-04 9.99970518e-01 2.04449046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.05, Y:87.27, Z:2.05 [[ 4.69154458e-01 -8.83108212e-01 -3.73908733e-03 2.71054667e+02] [ 8.83082757e-01 4.69169332e-01 -6.70682115e-03 8.72748624e+01] [ 7.67711394e-03 -1.55388505e-04 9.99970518e-01 2.04639013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.07, Y:87.30, Z:2.05 [[ 4.69795290e-01 -8.82767476e-01 -3.73748031e-03 2.71069106e+02] [ 8.82742004e-01 4.69810134e-01 -6.70771657e-03 8.72962284e+01] [ 7.67726015e-03 -1.47977202e-04 9.99970518e-01 2.04670334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.08, Y:87.32, Z:2.05 [[ 4.70031040e-01 -8.82641980e-01 -3.73587362e-03 2.71081881e+02] [ 8.82616497e-01 4.70045864e-01 -6.70861130e-03 8.73189270e+01] [ 7.67733390e-03 -1.44088144e-04 9.99970518e-01 2.04786082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.09, Y:87.34, Z:2.05 [[ 4.70438667e-01 -8.82424793e-01 -3.73430604e-03 2.71094350e+02] [ 8.82399296e-01 4.70453467e-01 -6.70948377e-03 8.73422754e+01] [ 7.67743205e-03 -1.38748428e-04 9.99970518e-01 2.04891821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.11, Y:87.36, Z:2.05 [[ 4.70414934e-01 -8.82437452e-01 -3.73274465e-03 2.71105726e+02] [ 8.82411948e-01 4.70429724e-01 -6.71035232e-03 8.73647913e+01] [ 7.67746023e-03 -1.37168533e-04 9.99970518e-01 2.04991738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.12, Y:87.39, Z:2.05 [[ 4.69747341e-01 -8.82793019e-01 -3.73111334e-03 2.71117013e+02] [ 8.82767520e-01 4.69762137e-01 -6.71125924e-03 8.73877700e+01] [ 7.67738858e-03 -1.41109487e-04 9.99970518e-01 2.05033784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.13, Y:87.41, Z:2.05 [[ 4.68917276e-01 -8.83234215e-01 -3.72949813e-03 2.71127323e+02] [ 8.83208722e-01 4.68932084e-01 -6.71215671e-03 8.74121623e+01] [ 7.67728779e-03 -1.46479038e-04 9.99970518e-01 2.04834147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.14, Y:87.44, Z:2.05 [[ 4.68328512e-01 -8.83546551e-01 -3.72791304e-03 2.71139274e+02] [ 8.83521061e-01 4.68343325e-01 -6.71303694e-03 8.74360368e+01] [ 7.67722383e-03 -1.49783085e-04 9.99970518e-01 2.04613171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.15, Y:87.46, Z:2.04 [[ 4.67289534e-01 -8.84096491e-01 -3.72632655e-03 2.71151585e+02] [ 8.84071012e-01 4.67304365e-01 -6.71391747e-03 8.74586692e+01] [ 7.67707954e-03 -1.56993922e-04 9.99970518e-01 2.04464307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.17, Y:87.48, Z:2.05 [[ 4.63215719e-01 -8.86237736e-01 -3.72467243e-03 2.71165916e+02] [ 8.86212318e-01 4.63230654e-01 -6.71483500e-03 8.74813093e+01] [ 7.67632262e-03 -1.90433467e-04 9.99970518e-01 2.04647011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.18, Y:87.50, Z:2.05 [[ 4.60266405e-01 -8.87773042e-01 -3.72310840e-03 2.71179741e+02] [ 8.87747667e-01 4.60281413e-01 -6.71570208e-03 8.75039743e+01] [ 7.67569686e-03 -2.14168744e-04 9.99970518e-01 2.04765527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.19, Y:87.53, Z:2.05 [[ 4.57417770e-01 -8.89244136e-01 -3.72155905e-03 2.71193461e+02] [ 8.89218802e-01 4.57432848e-01 -6.71656056e-03 8.75261151e+01] [ 7.67502544e-03 -2.37006127e-04 9.99970518e-01 2.04874721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.21, Y:87.55, Z:2.05 [[ 4.54597301e-01 -8.90689315e-01 -3.71999988e-03 2.71206452e+02] [ 8.90664022e-01 4.54612447e-01 -6.71742400e-03 8.75473165e+01] [ 7.67429603e-03 -2.59547234e-04 9.99970518e-01 2.04819139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.22, Y:87.57, Z:2.05 [[ 4.51795750e-01 -8.92113656e-01 -3.71837004e-03 2.71220338e+02] [ 8.92088403e-01 4.51810963e-01 -6.71832606e-03 8.75694786e+01] [ 7.67351077e-03 -2.81803632e-04 9.99970518e-01 2.04504629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.23, Y:87.59, Z:2.04 [[ 4.51212454e-01 -8.92408823e-01 -3.71682716e-03 2.71232501e+02] [ 8.92383573e-01 4.51227672e-01 -6.71917953e-03 8.75925468e+01] [ 7.67339036e-03 -2.85058020e-04 9.99970518e-01 2.04443123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.24, Y:87.62, Z:2.05 [[ 4.51275347e-01 -8.92377027e-01 -3.71526270e-03 2.71244940e+02] [ 8.92351768e-01 4.51290552e-01 -6.72004446e-03 8.76150218e+01] [ 7.67347625e-03 -2.82730844e-04 9.99970518e-01 2.04567289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.26, Y:87.64, Z:2.05 [[ 4.51074728e-01 -8.92478458e-01 -3.71362904e-03 2.71257664e+02] [ 8.92453196e-01 4.51089926e-01 -6.72094714e-03 8.76386186e+01] [ 7.67348119e-03 -2.82590704e-04 9.99970518e-01 2.04587878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.27, Y:87.66, Z:2.05 [[ 4.51165953e-01 -8.92432352e-01 -3.71211793e-03 2.71269742e+02] [ 8.92407082e-01 4.51181137e-01 -6.72178165e-03 8.76598698e+01] [ 7.67357300e-03 -2.80081301e-04 9.99970518e-01 2.04503750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.28, Y:87.68, Z:2.04 [[ 4.51061066e-01 -8.92485377e-01 -3.71038837e-03 2.71282895e+02] [ 8.92460100e-01 4.51076240e-01 -6.72273622e-03 8.76830244e+01] [ 7.67361180e-03 -2.79009015e-04 9.99970518e-01 2.04347493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.29, Y:87.71, Z:2.04 [[ 4.50533939e-01 -8.92751597e-01 -3.70880732e-03 2.71294859e+02] [ 8.92726323e-01 4.50549116e-01 -6.72360834e-03 8.77050215e+01] [ 7.67351195e-03 -2.81736173e-04 9.99970518e-01 2.04076630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.31, Y:87.73, Z:2.04 [[ 4.49495391e-01 -8.93274956e-01 -3.70754317e-03 2.71307451e+02] [ 8.93249693e-01 4.49510588e-01 -6.72430535e-03 8.77282858e+01] [ 7.67323348e-03 -2.89217536e-04 9.99970518e-01 2.04202835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.32, Y:87.75, Z:2.04 [[ 4.48180239e-01 -8.93935534e-01 -3.70600163e-03 2.71319238e+02] [ 8.93910287e-01 4.48195461e-01 -6.72515484e-03 8.77511024e+01] [ 7.67286799e-03 -2.98751473e-04 9.99970518e-01 2.04370292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.33, Y:87.78, Z:2.05 [[ 4.46532911e-01 -8.94759540e-01 -3.70477570e-03 2.71329161e+02] [ 8.94734315e-01 4.46548171e-01 -6.72583012e-03 8.77760148e+01] [ 7.67236147e-03 -3.11485450e-04 9.99970518e-01 2.04579372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.34, Y:87.80, Z:2.05 [[ 4.46807628e-01 -8.94622396e-01 -3.70314258e-03 2.71339317e+02] [ 8.94597159e-01 4.46822868e-01 -6.72672917e-03 8.77994595e+01] [ 7.67253135e-03 -3.07266925e-04 9.99970519e-01 2.04537755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.315898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:271.35, Y:87.83, Z:2.05 [[ 4.48319933e-01 -8.93865501e-01 -3.70184043e-03 2.71347075e+02] [ 8.93840232e-01 4.48335121e-01 -6.72744569e-03 8.78255351e+01] [ 7.67309669e-03 -2.92805911e-04 9.99970519e-01 2.04961452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.36, Y:87.85, Z:2.05 [[ 4.48847836e-01 -8.93600542e-01 -3.70031078e-03 2.71357071e+02] [ 8.93575257e-01 4.48862997e-01 -6.72828694e-03 8.78492425e+01] [ 7.67333344e-03 -2.86529127e-04 9.99970519e-01 2.05272887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.37, Y:87.87, Z:2.06 [[ 4.48532165e-01 -8.93759037e-01 -3.69871631e-03 2.71366321e+02] [ 8.93733751e-01 4.48547323e-01 -6.72916335e-03 8.78737741e+01] [ 7.67329985e-03 -2.87421396e-04 9.99970519e-01 2.05505664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.38, Y:87.90, Z:2.05 [[ 4.47248083e-01 -8.94402305e-01 -3.69720075e-03 2.71376026e+02] [ 8.94377033e-01 4.47263266e-01 -6.72999594e-03 8.78989641e+01] [ 7.67294596e-03 -2.96713648e-04 9.99970519e-01 2.05424766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.38, Y:87.92, Z:2.05 [[ 4.42051158e-01 -8.96982228e-01 -3.69558639e-03 2.71384750e+02] [ 8.96957038e-01 4.42066475e-01 -6.73088230e-03 8.79229040e+01] [ 7.67117665e-03 -3.39387903e-04 9.99970519e-01 2.04988219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.40, Y:87.95, Z:2.05 [[ 4.38212898e-01 -8.98863622e-01 -3.69390341e-03 2.71396486e+02] [ 8.98838490e-01 4.38228310e-01 -6.73180579e-03 8.79465310e+01] [ 7.66974839e-03 -3.70258435e-04 9.99970519e-01 2.04896599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.41, Y:87.97, Z:2.05 [[ 4.30741049e-01 -9.02468013e-01 -3.69237410e-03 2.71407010e+02] [ 9.02443003e-01 4.30756658e-01 -6.73264451e-03 8.79701995e+01] [ 7.66651104e-03 -4.32130802e-04 9.99970519e-01 2.05041026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.42, Y:87.99, Z:2.05 [[ 4.27792954e-01 -9.03869220e-01 -3.69081511e-03 2.71418118e+02] [ 9.03844253e-01 4.27808632e-01 -6.73349904e-03 8.79927527e+01] [ 7.66516508e-03 -4.55378587e-04 9.99970519e-01 2.05234201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.43, Y:88.02, Z:2.05 [[ 4.24880394e-01 -9.05241979e-01 -3.68919567e-03 2.71430472e+02] [ 9.05217055e-01 4.24896142e-01 -6.73438619e-03 8.80159015e+01] [ 7.66377408e-03 -4.78214177e-04 9.99970519e-01 2.05276889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.44, Y:88.04, Z:2.05 [[ 4.24152774e-01 -9.05583141e-01 -3.68767133e-03 2.71443008e+02] [ 9.05558223e-01 4.24168530e-01 -6.73522079e-03 8.80396086e+01] [ 7.66349653e-03 -4.82638517e-04 9.99970519e-01 2.05138260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.46, Y:88.06, Z:2.05 [[ 4.24124120e-01 -9.05596567e-01 -3.68622478e-03 2.71455397e+02] [ 9.05571643e-01 4.24139866e-01 -6.73601241e-03 8.80624077e+01] [ 7.66358460e-03 -4.81235300e-04 9.99970519e-01 2.04963234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.47, Y:88.08, Z:2.05 [[ 4.24668567e-01 -9.05341389e-01 -3.68471131e-03 2.71467610e+02] [ 9.05316448e-01 4.24684287e-01 -6.73684020e-03 8.80846662e+01] [ 7.66397926e-03 -4.74905487e-04 9.99970519e-01 2.04744969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.48, Y:88.11, Z:2.05 [[ 4.26686437e-01 -9.04392127e-01 -3.68312439e-03 2.71481347e+02] [ 9.04367144e-01 4.26702089e-01 -6.73770768e-03 8.81074866e+01] [ 7.66512665e-03 -4.56008204e-04 9.99970519e-01 2.04638428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.705898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:271.49, Y:88.13, Z:2.05 [[ 4.27663867e-01 -9.03930342e-01 -3.68161519e-03 2.71494186e+02] [ 9.03905335e-01 4.27679481e-01 -6.73853224e-03 8.81306366e+01] [ 7.66571502e-03 -4.46004852e-04 9.99970519e-01 2.04849558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.51, Y:88.15, Z:2.05 [[ 4.31257695e-01 -9.02221291e-01 -3.68007201e-03 2.71506862e+02] [ 9.02196215e-01 4.31273198e-01 -6.73937489e-03 8.81528730e+01] [ 7.66752394e-03 -4.13739759e-04 9.99970519e-01 2.05031404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.52, Y:88.18, Z:2.05 [[ 4.32851815e-01 -9.01457584e-01 -3.67845962e-03 2.71519092e+02] [ 9.01432473e-01 4.32867262e-01 -6.74025485e-03 8.81766758e+01] [ 7.66833859e-03 -3.98351408e-04 9.99970519e-01 2.05105904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.53, Y:88.20, Z:2.05 [[ 4.33684933e-01 -9.01057079e-01 -3.67691684e-03 2.71530506e+02] [ 9.01031947e-01 4.33700344e-01 -6.74109635e-03 8.81994370e+01] [ 7.66879269e-03 -3.89507623e-04 9.99970519e-01 2.04951336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.54, Y:88.22, Z:2.05 [[ 4.33458689e-01 -9.01165943e-01 -3.67530042e-03 2.71541901e+02] [ 9.01140807e-01 4.33474095e-01 -6.74197753e-03 8.82234959e+01] [ 7.66878806e-03 -3.89594451e-04 9.99970519e-01 2.04924594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.55, Y:88.25, Z:2.05 [[ 4.32735430e-01 -9.01513478e-01 -3.67375944e-03 2.71553256e+02] [ 9.01488348e-01 4.32750845e-01 -6.74281712e-03 8.82465131e+01] [ 7.66856301e-03 -3.93995460e-04 9.99970519e-01 2.04953101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.57, Y:88.27, Z:2.05 [[ 4.31814927e-01 -9.01954757e-01 -3.67215042e-03 2.71565015e+02] [ 9.01929635e-01 4.31830356e-01 -6.74369327e-03 8.82698556e+01] [ 7.66825225e-03 -3.99993872e-04 9.99970519e-01 2.05036664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.58, Y:88.29, Z:2.05 [[ 4.30584344e-01 -9.02542880e-01 -3.67061974e-03 2.71576676e+02] [ 9.02517771e-01 4.30599795e-01 -6.74452633e-03 8.82919173e+01] [ 7.66779232e-03 -4.08712104e-04 9.99970519e-01 2.05042665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.59, Y:88.31, Z:2.05 [[ 4.26148227e-01 -9.04645912e-01 -3.66901975e-03 2.71588700e+02] [ 9.04620873e-01 4.26163790e-01 -6.74539661e-03 8.83136786e+01] [ 7.66579883e-03 -4.44533040e-04 9.99970519e-01 2.05358423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.60, Y:88.34, Z:2.05 [[ 4.23246961e-01 -9.06006932e-01 -3.66733732e-03 2.71601058e+02] [ 9.05981935e-01 4.23262591e-01 -6.74631119e-03 8.83364314e+01] [ 7.66445140e-03 -4.67185654e-04 9.99970519e-01 2.05492200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.61, Y:88.36, Z:2.05 [[ 4.19380142e-01 -9.07803315e-01 -3.66570149e-03 2.71614452e+02] [ 9.07778377e-01 4.19395866e-01 -6.74719992e-03 8.83583928e+01] [ 7.66251051e-03 -4.98002892e-04 9.99970519e-01 2.05397725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.63, Y:88.38, Z:2.05 [[ 4.17903166e-01 -9.08484187e-01 -3.66407533e-03 2.71626841e+02] [ 9.08459267e-01 4.17918919e-01 -6.74808290e-03 8.83794169e+01] [ 7.66181301e-03 -5.08617982e-04 9.99970519e-01 2.05272109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.64, Y:88.40, Z:2.05 [[ 4.16451896e-01 -9.09150376e-01 -3.66238430e-03 2.71640644e+02] [ 9.09125473e-01 4.16467676e-01 -6.74900054e-03 8.84013663e+01] [ 7.66112106e-03 -5.18932791e-04 9.99970519e-01 2.05204348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.65, Y:88.42, Z:2.05 [[ 4.16118220e-01 -9.09303154e-01 -3.66075983e-03 2.71652363e+02] [ 9.09278250e-01 4.16133997e-01 -6.74988156e-03 8.84225802e+01] [ 7.66105522e-03 -5.19900594e-04 9.99970519e-01 2.05192493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.125898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:271.66, Y:88.45, Z:2.05 [[ 4.16052531e-01 -9.09333219e-01 -3.65907210e-03 2.71664869e+02] [ 9.09308308e-01 4.16068297e-01 -6.75079635e-03 8.84450808e+01] [ 7.66114727e-03 -5.18538750e-04 9.99970519e-01 2.05310952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:271.68, Y:88.47, Z:2.06 [[ 4.16932219e-01 -9.08930222e-01 -3.65744020e-03 2.71677994e+02] [ 9.08905288e-01 4.16947950e-01 -6.75168037e-03 8.84676765e+01] [ 7.66176852e-03 -5.09273658e-04 9.99970519e-01 2.05582021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.185898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:271.69, Y:88.49, Z:2.06 [[ 4.17260893e-01 -9.08779391e-01 -3.65590930e-03 2.71689880e+02] [ 9.08754444e-01 4.17276604e-01 -6.75250921e-03 8.84906169e+01] [ 7.66206663e-03 -5.04765800e-04 9.99970519e-01 2.05683499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.70, Y:88.51, Z:2.06 [[ 4.17588267e-01 -9.08629014e-01 -3.65436485e-03 2.71701455e+02] [ 9.08604054e-01 4.17603957e-01 -6.75334495e-03 8.85134782e+01] [ 7.66236238e-03 -5.00253102e-04 9.99970519e-01 2.05600149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.71, Y:88.54, Z:2.05 [[ 4.17812688e-01 -9.08525847e-01 -3.65276088e-03 2.71712988e+02] [ 9.08500876e-01 4.17828360e-01 -6.75421239e-03 8.85357494e+01] [ 7.66260363e-03 -4.96540821e-04 9.99970519e-01 2.05441629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:271.73, Y:88.56, Z:2.05 [[ 4.18858457e-01 -9.08044196e-01 -3.65117501e-03 2.71726136e+02] [ 9.08019200e-01 4.18874089e-01 -6.75506957e-03 8.85591115e+01] [ 7.66328432e-03 -4.85918996e-04 9.99970519e-01 2.05316339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.30589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:271.74, Y:88.58, Z:2.05 [[ 4.19213830e-01 -9.07880193e-01 -3.64972995e-03 2.71738261e+02] [ 9.07855184e-01 4.19229441e-01 -6.75585024e-03 8.85821233e+01] [ 7.66357686e-03 -4.81280406e-04 9.99970519e-01 2.05394794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.75, Y:88.61, Z:2.06 [[ 4.21388867e-01 -9.06872711e-01 -3.64820258e-03 2.71749145e+02] [ 9.06847657e-01 4.21404406e-01 -6.75667493e-03 8.86053523e+01] [ 7.66481275e-03 -4.61176374e-04 9.99970519e-01 2.05672208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.76, Y:88.63, Z:2.06 [[ 4.22559776e-01 -9.06327719e-01 -3.64698154e-03 2.71759919e+02] [ 9.06302640e-01 4.22575275e-01 -6.75733393e-03 8.86293812e+01] [ 7.66548328e-03 -4.49891485e-04 9.99970519e-01 2.05825391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.395898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:271.77, Y:88.65, Z:2.06 [[ 4.23492488e-01 -9.05892280e-01 -3.64545806e-03 2.71770087e+02] [ 9.05867178e-01 4.23507949e-01 -6.75815572e-03 8.86539864e+01] [ 7.66604156e-03 -4.40272616e-04 9.99970519e-01 2.05842851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.42589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:271.78, Y:88.68, Z:2.06 [[ 4.23749913e-01 -9.05771899e-01 -3.64392248e-03 2.71778090e+02] [ 9.05746786e-01 4.23765356e-01 -6.75898359e-03 8.86791777e+01] [ 7.66626551e-03 -4.36352367e-04 9.99970519e-01 2.05552613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.455898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:271.79, Y:88.70, Z:2.05 [[ 4.23031760e-01 -9.06107534e-01 -3.64238860e-03 2.71788175e+02] [ 9.06082426e-01 4.23047211e-01 -6.75981009e-03 8.87027411e+01] [ 7.66601719e-03 -4.40689946e-04 9.99970519e-01 2.05341098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48589822699995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:271.80, Y:88.73, Z:2.05 [[ 4.22472244e-01 -9.06368550e-01 -3.64078725e-03 2.71798697e+02] [ 9.06343444e-01 4.22487698e-01 -6.76067245e-03 8.87268345e+01] [ 7.66584871e-03 -4.43607198e-04 9.99970519e-01 2.05282179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.515898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:271.81, Y:88.75, Z:2.05 [[ 4.22382881e-01 -9.06410204e-01 -3.63925587e-03 2.71805740e+02] [ 9.06385092e-01 4.22398327e-01 -6.76149669e-03 8.87514566e+01] [ 7.66590519e-03 -4.42626813e-04 9.99970519e-01 2.05498272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:271.81, Y:88.77, Z:2.06 [[ 4.22537518e-01 -9.06338134e-01 -3.63765353e-03 2.71814246e+02] [ 9.06313013e-01 4.22552948e-01 -6.76235863e-03 8.87743345e+01] [ 7.66608473e-03 -4.39502496e-04 9.99970519e-01 2.05692242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.575898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:271.82, Y:88.80, Z:2.06 [[ 4.22238532e-01 -9.06477469e-01 -3.63595042e-03 2.71821322e+02] [ 9.06452345e-01 4.22253957e-01 -6.76327423e-03 8.87998173e+01] [ 7.66605016e-03 -4.40100809e-04 9.99970519e-01 2.05620243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:271.83, Y:88.82, Z:2.05 [[ 4.22118606e-01 -9.06533328e-01 -3.63432988e-03 2.71831142e+02] [ 9.06508198e-01 4.22134022e-01 -6.76414493e-03 8.88242574e+01] [ 7.66609711e-03 -4.39278403e-04 9.99970519e-01 2.05422390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.635898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:271.84, Y:88.85, Z:2.05 [[ 4.22275748e-01 -9.06460146e-01 -3.63277949e-03 2.71840912e+02] [ 9.06435007e-01 4.22291148e-01 -6.76497749e-03 8.88473880e+01] [ 7.66627311e-03 -4.36192573e-04 9.99970519e-01 2.05191982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:271.85, Y:88.87, Z:2.05 [[ 4.22805937e-01 -9.06212973e-01 -3.63154308e-03 2.71849311e+02] [ 9.06187819e-01 4.22821313e-01 -6.76564115e-03 8.88713641e+01] [ 7.66660559e-03 -4.30306863e-04 9.99970519e-01 2.05162817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.695898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:271.86, Y:88.90, Z:2.05 [[ 4.22704829e-01 -9.06260144e-01 -3.63032148e-03 2.71859941e+02] [ 9.06234986e-01 4.22720200e-01 -6.76629658e-03 8.88960186e+01] [ 7.66663513e-03 -4.29778098e-04 9.99970519e-01 2.05459008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:271.87, Y:88.92, Z:2.06 [[ 4.22307410e-01 -9.06445411e-01 -3.62879334e-03 2.71869607e+02] [ 9.06420253e-01 4.22322780e-01 -6.76711602e-03 8.89190127e+01] [ 7.66654336e-03 -4.31408539e-04 9.99970519e-01 2.05573759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.755898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:271.88, Y:88.94, Z:2.06 [[ 4.21178930e-01 -9.06970314e-01 -3.62757357e-03 2.71878094e+02] [ 9.06945169e-01 4.21194322e-01 -6.76776983e-03 8.89437060e+01] [ 7.66607972e-03 -4.39568277e-04 9.99970519e-01 2.05634138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:271.89, Y:88.97, Z:2.06 [[ 4.20848438e-01 -9.07123721e-01 -3.62596059e-03 2.71888871e+02] [ 9.07098575e-01 4.20863827e-01 -6.76863390e-03 8.89681419e+01] [ 7.66602402e-03 -4.40534684e-04 9.99970519e-01 2.05639637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.815898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:271.90, Y:88.99, Z:2.06 [[ 4.20842151e-01 -9.07126644e-01 -3.62444083e-03 2.71896816e+02] [ 9.07101491e-01 4.20857529e-01 -6.76944760e-03 8.89921143e+01] [ 7.66611949e-03 -4.38866792e-04 9.99970519e-01 2.05514629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84589822699996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:271.91, Y:89.02, Z:2.05 [[ 4.20792903e-01 -9.07149496e-01 -3.62284681e-03 2.71907481e+02] [ 9.07124337e-01 4.20808271e-01 -6.77030057e-03 8.90164548e+01] [ 7.66619865e-03 -4.37478082e-04 9.99970519e-01 2.05379163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.875898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:271.92, Y:89.04, Z:2.05 [[ 4.21248211e-01 -9.06938163e-01 -3.62132798e-03 2.71918242e+02] [ 9.06912989e-01 4.21263555e-01 -6.77111288e-03 8.90401899e+01] [ 7.66651417e-03 -4.31910200e-04 9.99970519e-01 2.05070788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90589822699997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:271.93, Y:89.06, Z:2.05 [[ 4.21544617e-01 -9.06800437e-01 -3.61981054e-03 2.71928515e+02] [ 9.06775251e-01 4.21559942e-01 -6.77192400e-03 8.90639647e+01] [ 7.66675076e-03 -4.27686500e-04 9.99970519e-01 2.04985164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.935898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:271.94, Y:89.09, Z:2.05 [[ 4.20988255e-01 -9.07058872e-01 -3.61825045e-03 2.71937396e+02] [ 9.07033689e-01 4.21003583e-01 -6.77275745e-03 8.90879241e+01] [ 7.66658614e-03 -4.30623716e-04 9.99970519e-01 2.04752774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:271.95, Y:89.11, Z:2.05 [[ 4.19689500e-01 -9.07660533e-01 -3.61661872e-03 2.71948321e+02] [ 9.07635364e-01 4.19704853e-01 -6.77362868e-03 8.91122322e+01] [ 7.66606784e-03 -4.39750215e-04 9.99970519e-01 2.04712711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:271.96, Y:89.14, Z:2.05 [[ 4.19489770e-01 -9.07752865e-01 -3.61512752e-03 2.71960703e+02] [ 9.07727693e-01 4.19505116e-01 -6.77442445e-03 8.91359902e+01] [ 7.66606769e-03 -4.39749614e-04 9.99970519e-01 2.04733300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.02589822699997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:271.97, Y:89.16, Z:2.05 [[ 4.17665216e-01 -9.08593809e-01 -3.61363667e-03 2.71971756e+02] [ 9.08568661e-01 4.17680602e-01 -6.77521961e-03 8.91594572e+01] [ 7.66526853e-03 -4.53463468e-04 9.99970519e-01 2.04847612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:271.98, Y:89.18, Z:2.05 [[ 4.14671276e-01 -9.09964112e-01 -3.61209827e-03 2.71981873e+02] [ 9.09939008e-01 4.14686734e-01 -6.77603968e-03 8.91821388e+01] [ 7.66384216e-03 -4.76960098e-04 9.99970519e-01 2.05169130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.085898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:271.99, Y:89.21, Z:2.05 [[ 4.13231205e-01 -9.10618984e-01 -3.61079815e-03 2.71992416e+02] [ 9.10593898e-01 4.13246692e-01 -6.77673241e-03 8.92064061e+01] [ 7.66317158e-03 -4.87613468e-04 9.99970519e-01 2.05434875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.00, Y:89.23, Z:2.06 [[ 4.12144954e-01 -9.11111140e-01 -3.60928775e-03 2.72002152e+02] [ 9.11086066e-01 4.12160461e-01 -6.77753676e-03 8.92305801e+01] [ 7.66269494e-03 -4.95044198e-04 9.99970519e-01 2.05686567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.01, Y:89.25, Z:2.06 [[ 4.11289343e-01 -9.11497702e-01 -3.60778532e-03 2.72011092e+02] [ 9.11472635e-01 4.11304862e-01 -6.77833643e-03 8.92541346e+01] [ 7.66233772e-03 -5.00540049e-04 9.99970519e-01 2.05845332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.02, Y:89.28, Z:2.06 [[ 4.09403124e-01 -9.12346466e-01 -3.60658319e-03 2.72017290e+02] [ 9.12321427e-01 4.09418686e-01 -6.77897599e-03 8.92792007e+01] [ 7.66137734e-03 -5.15029169e-04 9.99970519e-01 2.05895860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.205898227 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:272.03, Y:89.30, Z:2.06 [[ 4.07922242e-01 -9.13009555e-01 -3.60502998e-03 2.72026142e+02] [ 9.12984534e-01 4.07937833e-01 -6.77980188e-03 8.93026600e+01] [ 7.66065202e-03 -5.25704636e-04 9.99970519e-01 2.06007477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.04, Y:89.33, Z:2.06 [[ 4.06188926e-01 -9.13782015e-01 -3.60349198e-03 2.72035616e+02] [ 9.13757016e-01 4.06204553e-01 -6.78061924e-03 8.93273411e+01] [ 7.65976276e-03 -5.38503630e-04 9.99970519e-01 2.06124882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.265898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.04, Y:89.35, Z:2.06 [[ 4.02422188e-01 -9.15447108e-01 -3.60201589e-03 2.72043351e+02] [ 9.15422167e-01 4.02437907e-01 -6.78140328e-03 8.93530508e+01] [ 7.65760376e-03 -5.68378049e-04 9.99970519e-01 2.06200816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.05, Y:89.38, Z:2.06 [[ 4.00490859e-01 -9.16293680e-01 -3.60047610e-03 2.72053537e+02] [ 9.16268765e-01 4.00506619e-01 -6.78222071e-03 8.93766815e+01] [ 7.65652048e-03 -5.82786389e-04 9.99970519e-01 2.06110977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.325898227 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:272.06, Y:89.40, Z:2.06 [[ 3.97360887e-01 -9.17655368e-01 -3.59886856e-03 2.72061716e+02] [ 9.17630499e-01 3.97376720e-01 -6.78307361e-03 8.94025680e+01] [ 7.65463049e-03 -6.07103402e-04 9.99970519e-01 2.05918617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35589822699995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:272.07, Y:89.43, Z:2.06 [[ 3.96475226e-01 -9.18038373e-01 -3.59741033e-03 2.72071303e+02] [ 9.18013513e-01 3.96491072e-01 -6.78384690e-03 8.94275754e+01] [ 7.65417285e-03 -6.12844063e-04 9.99970519e-01 2.05933979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.385898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.08, Y:89.45, Z:2.06 [[ 3.96298343e-01 -9.18114749e-01 -3.59588612e-03 2.72080807e+02] [ 9.18089885e-01 3.96314183e-01 -6.78465473e-03 8.94516461e+01] [ 7.65419225e-03 -6.12599244e-04 9.99970519e-01 2.05800648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.09, Y:89.48, Z:2.05 [[ 3.97200065e-01 -9.17725006e-01 -3.59467259e-03 2.72088594e+02] [ 9.17700120e-01 3.97215872e-01 -6.78529763e-03 8.94767753e+01] [ 7.65489831e-03 -6.03710808e-04 9.99970519e-01 2.05400073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.445898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:272.10, Y:89.50, Z:2.05 [[ 3.97617434e-01 -9.17544258e-01 -3.59319303e-03 2.72098747e+02] [ 9.17519358e-01 3.97633218e-01 -6.78608105e-03 8.95007697e+01] [ 7.65530261e-03 -5.98560029e-04 9.99970519e-01 2.05329100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.11, Y:89.52, Z:2.05 [[ 3.98169432e-01 -9.17304858e-01 -3.59165056e-03 2.72108947e+02] [ 9.17279942e-01 3.98185190e-01 -6.78689733e-03 8.95245078e+01] [ 7.65579596e-03 -5.92213957e-04 9.99970519e-01 2.05080043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.12, Y:89.55, Z:2.05 [[ 3.98594615e-01 -9.17120189e-01 -3.59042406e-03 2.72119438e+02] [ 9.17095260e-01 3.98610353e-01 -6.78754611e-03 8.95486945e+01] [ 7.65617578e-03 -5.87281553e-04 9.99970519e-01 2.05182581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.13, Y:89.57, Z:2.05 [[ 4.00064083e-01 -9.16480141e-01 -3.58893356e-03 2.72127953e+02] [ 9.16455180e-01 4.00079769e-01 -6.78833413e-03 8.95727478e+01] [ 7.65723313e-03 -5.73328081e-04 9.99970519e-01 2.05235219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.565898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.14, Y:89.60, Z:2.05 [[ 4.00826795e-01 -9.16146828e-01 -3.58737561e-03 2.72138057e+02] [ 9.16121847e-01 4.00842450e-01 -6.78915734e-03 8.95974114e+01] [ 7.65783740e-03 -5.65196993e-04 9.99970519e-01 2.05402289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.15, Y:89.62, Z:2.06 [[ 4.01814579e-01 -9.15714030e-01 -3.58591243e-03 2.72147879e+02] [ 9.15689025e-01 4.01830196e-01 -6.78993008e-03 8.96218772e+01] [ 7.65856214e-03 -5.55287762e-04 9.99970519e-01 2.05607952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.625898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.15, Y:89.65, Z:2.06 [[ 4.03384514e-01 -9.15023544e-01 -3.58436640e-03 2.72154220e+02] [ 9.14998505e-01 4.03400076e-01 -6.79074613e-03 8.96480127e+01] [ 7.65962627e-03 -5.40408070e-04 9.99970519e-01 2.06290924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65589822699997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:272.16, Y:89.67, Z:2.07 [[ 4.03107271e-01 -9.15145721e-01 -3.58282102e-03 2.72162690e+02] [ 9.15120680e-01 4.03122830e-01 -6.79156138e-03 8.96730081e+01] [ 7.65958528e-03 -5.40985835e-04 9.99970519e-01 2.06556369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.685898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.17, Y:89.70, Z:2.07 [[ 4.02226884e-01 -9.15533019e-01 -3.58128292e-03 2.72172424e+02] [ 9.15507985e-01 4.02242456e-01 -6.79237234e-03 8.96969092e+01] [ 7.65918519e-03 -5.46618347e-04 9.99970519e-01 2.06681368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71589822699997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:272.18, Y:89.72, Z:2.07 [[ 4.00079464e-01 -9.16473461e-01 -3.58005543e-03 2.72182515e+02] [ 9.16448459e-01 4.00095085e-01 -6.79301925e-03 8.97199268e+01] [ 7.65798445e-03 -5.63188783e-04 9.99970519e-01 2.06742487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.19, Y:89.74, Z:2.06 [[ 3.93195022e-01 -9.19448133e-01 -3.57845861e-03 2.72192820e+02] [ 9.19423241e-01 3.93210819e-01 -6.79386033e-03 8.97437755e+01] [ 7.65369083e-03 -6.18805944e-04 9.99970519e-01 2.06498521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77589822699997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:272.20, Y:89.77, Z:2.06 [[ 3.89690844e-01 -9.20938788e-01 -3.57697939e-03 2.72204082e+02] [ 9.20913949e-01 3.89706724e-01 -6.79463905e-03 8.97678379e+01] [ 7.65141957e-03 -6.46281587e-04 9.99970519e-01 2.06430071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.80589822699994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.22, Y:89.79, Z:2.06 [[ 3.86922814e-01 -9.22105174e-01 -3.57547317e-03 2.72215553e+02] [ 9.22080376e-01 3.86938758e-01 -6.79543156e-03 8.97914117e+01] [ 7.64959175e-03 -6.67566140e-04 9.99970519e-01 2.06419985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.835898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.23, Y:89.81, Z:2.06 [[ 3.83795236e-01 -9.23411308e-01 -3.57396165e-03 2.72228002e+02] [ 9.23386557e-01 3.83811253e-01 -6.79622643e-03 8.98141187e+01] [ 7.64743904e-03 -6.91788813e-04 9.99970519e-01 2.06376269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.86589822699995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.24, Y:89.84, Z:2.06 [[ 3.83061430e-01 -9.23715962e-01 -3.57245969e-03 2.72240595e+02] [ 9.23691217e-01 3.83077456e-01 -6.79701585e-03 8.98362898e+01] [ 7.64704080e-03 -6.96175025e-04 9.99970519e-01 2.06412982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.895898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.25, Y:89.86, Z:2.06 [[ 3.83111232e-01 -9.23695314e-01 -3.57089246e-03 2.72253661e+02] [ 9.23670560e-01 3.83127245e-01 -6.79783911e-03 8.98575018e+01] [ 7.64723832e-03 -6.93999724e-04 9.99970519e-01 2.06210444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.92589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.27, Y:89.88, Z:2.06 [[ 3.83890832e-01 -9.23371588e-01 -3.56933262e-03 2.72266590e+02] [ 9.23346813e-01 3.83906813e-01 -6.79865804e-03 8.98807610e+01] [ 7.64797878e-03 -6.85789405e-04 9.99970519e-01 2.06147235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.955898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:272.28, Y:89.90, Z:2.06 [[ 3.85337542e-01 -9.22768795e-01 -3.56778919e-03 2.72278601e+02] [ 9.22743989e-01 3.85353472e-01 -6.79946790e-03 8.99024615e+01] [ 7.64919676e-03 -6.72065778e-04 9.99970519e-01 2.06102713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.29, Y:89.92, Z:2.06 [[ 3.89500318e-01 -9.21019425e-01 -3.56656359e-03 2.72292305e+02] [ 9.20994541e-01 3.89516128e-01 -6.80011071e-03 8.99235025e+01] [ 7.65226810e-03 -6.36140310e-04 9.99970519e-01 2.05883957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.015898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.31, Y:89.95, Z:2.06 [[ 3.91385622e-01 -9.20219857e-01 -3.56498076e-03 2.72305243e+02] [ 9.20194933e-01 3.91401369e-01 -6.80094041e-03 8.99459774e+01] [ 7.65369876e-03 -6.18686939e-04 9.99970519e-01 2.05830290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.32, Y:89.97, Z:2.06 [[ 3.93138217e-01 -9.19472481e-01 -3.56345402e-03 2.72317631e+02] [ 9.19447521e-01 3.93153905e-01 -6.80174027e-03 8.99676216e+01] [ 7.65499887e-03 -6.02384920e-04 9.99970519e-01 2.05712731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.075898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.33, Y:89.99, Z:2.06 [[ 3.97378544e-01 -9.17647866e-01 -3.56185651e-03 2.72331018e+02] [ 9.17622826e-01 3.97394105e-01 -6.80257674e-03 8.99896948e+01] [ 7.65783081e-03 -5.65242799e-04 9.99970519e-01 2.05819873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.34, Y:90.01, Z:2.06 [[ 3.99642836e-01 -9.16664022e-01 -3.56024692e-03 2.72344292e+02] [ 9.16638936e-01 3.99658323e-01 -6.80341904e-03 9.00127448e+01] [ 7.65933177e-03 -5.44523275e-04 9.99970519e-01 2.05841486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.135898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.36, Y:90.03, Z:2.06 [[ 4.01839831e-01 -9.15703055e-01 -3.55870564e-03 2.72356862e+02] [ 9.15677925e-01 4.01855247e-01 -6.80422515e-03 9.00346192e+01] [ 7.66073429e-03 -5.24419511e-04 9.99970519e-01 2.05741389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16589822699996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.37, Y:90.06, Z:2.06 [[ 4.03381142e-01 -9.15025137e-01 -3.55709705e-03 2.72369495e+02] [ 9.14999974e-01 4.03396503e-01 -6.80506598e-03 9.00580241e+01] [ 7.66172695e-03 -5.09708419e-04 9.99970519e-01 2.05730251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.195898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.38, Y:90.08, Z:2.06 [[ 4.04617098e-01 -9.14479285e-01 -3.55553455e-03 2.72381772e+02] [ 9.14454094e-01 4.04632414e-01 -6.80588227e-03 9.00802691e+01] [ 7.66252287e-03 -4.97596789e-04 9.99970519e-01 2.05682138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.40, Y:90.10, Z:2.06 [[ 4.05461211e-01 -9.14105341e-01 -3.55428740e-03 2.72396228e+02] [ 9.14080130e-01 4.05476494e-01 -6.80653351e-03 9.01026165e+01] [ 7.66306863e-03 -4.89118172e-04 9.99970519e-01 2.05841337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.255898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:272.41, Y:90.12, Z:2.06 [[ 4.05249660e-01 -9.14199153e-01 -3.55273218e-03 2.72409773e+02] [ 9.14173939e-01 4.05264938e-01 -6.80734518e-03 9.01236740e+01] [ 7.66306698e-03 -4.89140851e-04 9.99970519e-01 2.05903285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.43, Y:90.14, Z:2.06 [[ 4.05686664e-01 -9.14005317e-01 -3.55110748e-03 2.72426503e+02] [ 9.13980089e-01 4.05701918e-01 -6.80819261e-03 9.01439785e+01] [ 7.66341536e-03 -4.83648578e-04 9.99970519e-01 2.06207525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.44, Y:90.17, Z:2.06 [[ 4.06316997e-01 -9.13725284e-01 -3.55021867e-03 2.72439916e+02] [ 9.13700041e-01 4.06332226e-01 -6.80865596e-03 9.01652555e+01] [ 7.66380935e-03 -4.77362305e-04 9.99970519e-01 2.06449586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.45, Y:90.19, Z:2.07 [[ 4.07444454e-01 -9.13223099e-01 -3.54804577e-03 2.72453164e+02] [ 9.13197827e-01 4.07459636e-01 -6.80978808e-03 9.01881640e+01] [ 7.66454121e-03 -4.65457304e-04 9.99970519e-01 2.06522944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.375898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.47, Y:90.21, Z:2.06 [[ 4.08700522e-01 -9.12661660e-01 -3.54652433e-03 2.72465394e+02] [ 9.12636361e-01 4.08715658e-01 -6.81058035e-03 9.02104634e+01] [ 7.66527560e-03 -4.53199311e-04 9.99970519e-01 2.06448756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.48, Y:90.23, Z:2.06 [[ 4.11568642e-01 -9.11371870e-01 -3.54493532e-03 2.72477609e+02] [ 9.11346517e-01 4.11583687e-01 -6.81140734e-03 9.02335249e+01] [ 7.66676260e-03 -4.27302781e-04 9.99970519e-01 2.06332591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.49, Y:90.26, Z:2.06 [[ 4.12403601e-01 -9.10994355e-01 -3.54341091e-03 2.72488560e+02] [ 9.10968980e-01 4.12418611e-01 -6.81220027e-03 9.02563004e+01] [ 7.66724460e-03 -4.18561506e-04 9.99970519e-01 2.06373022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.50, Y:90.28, Z:2.07 [[ 4.12935625e-01 -9.10753327e-01 -3.54219142e-03 2.72499358e+02] [ 9.10727939e-01 4.12950611e-01 -6.81283432e-03 9.02792183e+01] [ 7.66756163e-03 -4.12710694e-04 9.99970519e-01 2.06546453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.51, Y:90.30, Z:2.07 [[ 4.12811267e-01 -9.10809705e-01 -3.54099433e-03 2.72509438e+02] [ 9.10784314e-01 4.12826248e-01 -6.81345646e-03 9.03036543e+01] [ 7.66757767e-03 -4.12410492e-04 9.99970519e-01 2.06832638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.52589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.52, Y:90.33, Z:2.07 [[ 4.12124307e-01 -9.11120754e-01 -3.53947418e-03 2.72519325e+02] [ 9.11095367e-01 4.12139296e-01 -6.81424606e-03 9.03270095e+01] [ 7.66735740e-03 -4.16482086e-04 9.99970519e-01 2.06914965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.53, Y:90.35, Z:2.07 [[ 4.10180669e-01 -9.11997424e-01 -3.53788459e-03 2.72526950e+02] [ 9.11972062e-01 4.10195700e-01 -6.81507125e-03 9.03512813e+01] [ 7.66655248e-03 -4.31041423e-04 9.99970519e-01 2.06857986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.54, Y:90.38, Z:2.07 [[ 4.08759239e-01 -9.12635402e-01 -3.53669904e-03 2.72536986e+02] [ 9.12610058e-01 4.08774300e-01 -6.81568644e-03 9.03758755e+01] [ 7.66594841e-03 -4.41652319e-04 9.99970519e-01 2.06878216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.55, Y:90.40, Z:2.07 [[ 4.07431269e-01 -9.13229031e-01 -3.53514365e-03 2.72547855e+02] [ 9.13203703e-01 4.07446356e-01 -6.81649309e-03 9.04008499e+01] [ 7.66540078e-03 -4.51053845e-04 9.99970519e-01 2.06959669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.56, Y:90.43, Z:2.07 [[ 4.05492360e-01 -9.14091603e-01 -3.53369930e-03 2.72557740e+02] [ 9.14066300e-01 4.05507490e-01 -6.81724177e-03 9.04250448e+01] [ 7.66452499e-03 -4.65695984e-04 9.99970519e-01 2.06981186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.57, Y:90.45, Z:2.07 [[ 4.01697483e-01 -9.15765612e-01 -3.53218023e-03 2.72565363e+02] [ 9.15740365e-01 4.01712707e-01 -6.81802875e-03 9.04502092e+01] [ 7.66263795e-03 -4.95775023e-04 9.99970519e-01 2.07216953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.705898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.58, Y:90.47, Z:2.07 [[ 4.00153092e-01 -9.16441508e-01 -3.53065358e-03 2.72575168e+02] [ 9.16416280e-01 4.00168347e-01 -6.81881921e-03 9.04746349e+01] [ 7.66190477e-03 -5.06976826e-04 9.99970519e-01 2.07277213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.59, Y:90.50, Z:2.07 [[ 3.98557624e-01 -9.17136503e-01 -3.52910959e-03 2.72585070e+02] [ 9.17111295e-01 3.98572911e-01 -6.81961822e-03 9.04994461e+01] [ 7.66112829e-03 -5.18575434e-04 9.99970519e-01 2.07249198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.59, Y:90.52, Z:2.07 [[ 3.95742838e-01 -9.18354595e-01 -3.52756112e-03 2.72593311e+02] [ 9.18329427e-01 3.95758191e-01 -6.82041910e-03 9.05239416e+01] [ 7.65962443e-03 -5.40331178e-04 9.99970519e-01 2.06804854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.60, Y:90.55, Z:2.07 [[ 3.94097627e-01 -9.19061820e-01 -3.52594593e-03 2.72603934e+02] [ 9.19036672e-01 3.94113013e-01 -6.82125400e-03 9.05485985e+01] [ 7.65877529e-03 -5.52233597e-04 9.99970519e-01 2.06635031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.825898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.61, Y:90.57, Z:2.06 [[ 3.92466174e-01 -9.19759686e-01 -3.52448546e-03 2.72614309e+02] [ 9.19734559e-01 3.92481594e-01 -6.82200853e-03 9.05716516e+01] [ 7.65790409e-03 -5.64183490e-04 9.99970519e-01 2.06389096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.63, Y:90.59, Z:2.06 [[ 3.89588491e-01 -9.20982300e-01 -3.52288505e-03 2.72626075e+02] [ 9.20957214e-01 3.89603977e-01 -6.82283488e-03 9.05947283e+01] [ 7.65624019e-03 -5.86328462e-04 9.99970519e-01 2.06435967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.64, Y:90.62, Z:2.06 [[ 3.89380907e-01 -9.21070089e-01 -3.52134310e-03 2.72638146e+02] [ 9.21045000e-01 3.89396388e-01 -6.82363061e-03 9.06186265e+01] [ 7.65624033e-03 -5.86323978e-04 9.99970519e-01 2.06456556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.65, Y:90.64, Z:2.06 [[ 3.88159497e-01 -9.21585490e-01 -3.51980495e-03 2.72650524e+02] [ 9.21560414e-01 3.88175000e-01 -6.82442393e-03 9.06415678e+01] [ 7.65559036e-03 -5.94747941e-04 9.99970519e-01 2.06476100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.945898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.66, Y:90.66, Z:2.06 [[ 3.87231224e-01 -9.21975922e-01 -3.51826871e-03 2.72662536e+02] [ 9.21950854e-01 3.87246741e-01 -6.82521583e-03 9.06647818e+01] [ 7.65512275e-03 -6.00734165e-04 9.99970519e-01 2.06414095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.68, Y:90.69, Z:2.06 [[ 3.87956792e-01 -9.21670853e-01 -3.51673230e-03 2.72675191e+02] [ 9.21645766e-01 3.87972277e-01 -6.82600738e-03 9.06862152e+01] [ 7.65572669e-03 -5.92985512e-04 9.99970519e-01 2.06119961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.69, Y:90.71, Z:2.06 [[ 3.88582372e-01 -9.21407284e-01 -3.51512685e-03 2.72687215e+02] [ 9.21382180e-01 3.88597829e-01 -6.82683403e-03 9.07082825e+01] [ 7.65626527e-03 -5.85987873e-04 9.99970519e-01 2.06092106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.70, Y:90.73, Z:2.06 [[ 3.90299787e-01 -9.20681122e-01 -3.51391407e-03 2.72699009e+02] [ 9.20655983e-01 3.90315189e-01 -6.82745822e-03 9.07317389e+01] [ 7.65744592e-03 -5.70350517e-04 9.99970519e-01 2.06369340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.065898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.71, Y:90.76, Z:2.07 [[ 3.91006196e-01 -9.20381344e-01 -3.51239752e-03 2.72708414e+02] [ 9.20356186e-01 3.91021567e-01 -6.82823832e-03 9.07552847e+01] [ 7.65800634e-03 -5.62773298e-04 9.99970519e-01 2.06548605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.72, Y:90.78, Z:2.07 [[ 3.91731369e-01 -9.20072936e-01 -3.51081275e-03 2.72718393e+02] [ 9.20047760e-01 3.91746709e-01 -6.82905305e-03 9.07782736e+01] [ 7.65857623e-03 -5.54961104e-04 9.99970519e-01 2.06672682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.73, Y:90.80, Z:2.07 [[ 3.91342394e-01 -9.20238456e-01 -3.50924050e-03 2.72728672e+02] [ 9.20213279e-01 3.91357732e-01 -6.82986088e-03 9.08020739e+01] [ 7.65846904e-03 -5.56435597e-04 9.99970519e-01 2.06793739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15589822699997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:272.74, Y:90.83, Z:2.07 [[ 3.88913074e-01 -9.21267777e-01 -3.50773259e-03 2.72738766e+02] [ 9.21242634e-01 3.88928467e-01 -6.83063524e-03 9.08258790e+01] [ 7.65710120e-03 -5.74949464e-04 9.99970519e-01 2.06749267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.75, Y:90.85, Z:2.07 [[ 3.87873416e-01 -9.21705983e-01 -3.50622684e-03 2.72749463e+02] [ 9.21680850e-01 3.87888827e-01 -6.83140806e-03 9.08489960e+01] [ 7.65657590e-03 -5.81900556e-04 9.99970519e-01 2.06786112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:90.87, Z:2.07 [[ 3.87078556e-01 -9.22040080e-01 -3.50465827e-03 2.72759539e+02] [ 9.22014953e-01 3.87093977e-01 -6.83221268e-03 9.08723771e+01] [ 7.65620603e-03 -5.86744310e-04 9.99970519e-01 2.06793619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.77, Y:90.90, Z:2.07 [[ 3.86550357e-01 -9.22261649e-01 -3.50310407e-03 2.72770183e+02] [ 9.22236525e-01 3.86565781e-01 -6.83300948e-03 9.08962032e+01] [ 7.65600275e-03 -5.89388270e-04 9.99970519e-01 2.06953434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.78, Y:90.92, Z:2.07 [[ 3.86638250e-01 -9.22224811e-01 -3.50156673e-03 2.72779391e+02] [ 9.22199678e-01 3.86653660e-01 -6.83379720e-03 9.09194715e+01] [ 7.65619092e-03 -5.86936321e-04 9.99970519e-01 2.07077604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.79, Y:90.94, Z:2.07 [[ 3.86115086e-01 -9.22443977e-01 -3.49996003e-03 2.72789827e+02] [ 9.22418845e-01 3.86130499e-01 -6.83461998e-03 9.09427784e+01] [ 7.65599534e-03 -5.89479206e-04 9.99970519e-01 2.06975356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.335898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.80, Y:90.97, Z:2.07 [[ 3.85357044e-01 -9.22760917e-01 -3.49839539e-03 2.72800711e+02] [ 9.22735791e-01 3.85372466e-01 -6.83542077e-03 9.09665619e+01] [ 7.65564439e-03 -5.94017097e-04 9.99970519e-01 2.06901909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.81, Y:90.99, Z:2.07 [[ 3.85210938e-01 -9.22821925e-01 -3.49685883e-03 2.72812731e+02] [ 9.22796795e-01 3.85226352e-01 -6.83620675e-03 9.09896751e+01] [ 7.65568364e-03 -5.93508507e-04 9.99970519e-01 2.06791147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.82, Y:91.01, Z:2.07 [[ 3.85659557e-01 -9.22634537e-01 -3.49532313e-03 2.72824223e+02] [ 9.22609392e-01 3.85674948e-01 -6.83699185e-03 9.10119955e+01] [ 7.65610338e-03 -5.88066701e-04 9.99970519e-01 2.06818640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.42589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.84, Y:91.03, Z:2.07 [[ 3.87578369e-01 -9.21830137e-01 -3.49371980e-03 2.72836350e+02] [ 9.21804953e-01 3.87593695e-01 -6.83781106e-03 9.10347971e+01] [ 7.65744408e-03 -5.70340557e-04 9.99970519e-01 2.07005321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.85, Y:91.06, Z:2.07 [[ 3.88573775e-01 -9.21410997e-01 -3.49218005e-03 2.72847332e+02] [ 9.21385790e-01 3.88589063e-01 -6.83859734e-03 9.10571490e+01] [ 7.65818177e-03 -5.60345492e-04 9.99970519e-01 2.06730701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.86, Y:91.08, Z:2.07 [[ 3.89520735e-01 -9.21011082e-01 -3.49057663e-03 2.72858735e+02] [ 9.20985852e-01 3.89535985e-01 -6.83941567e-03 9.10808995e+01] [ 7.65888283e-03 -5.50677477e-04 9.99970519e-01 2.06695161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.87, Y:91.10, Z:2.07 [[ 3.91688318e-01 -9.20091348e-01 -3.48913682e-03 2.72869850e+02] [ 9.20066075e-01 3.91703498e-01 -6.84015011e-03 9.11048187e+01] [ 7.66027003e-03 -5.31029527e-04 9.99970519e-01 2.06617036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:91.13, Z:2.06 [[ 3.92823641e-01 -9.19607212e-01 -3.48760522e-03 2.72880925e+02] [ 9.19581913e-01 3.92838779e-01 -6.84093094e-03 9.11275342e+01] [ 7.66103601e-03 -5.19859281e-04 9.99970519e-01 2.06489260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.89, Y:91.15, Z:2.07 [[ 3.93638512e-01 -9.19258706e-01 -3.48600806e-03 2.72891945e+02] [ 9.19233388e-01 3.93653616e-01 -6.84174473e-03 9.11513487e+01] [ 7.66161309e-03 -5.11280787e-04 9.99970519e-01 2.06579151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.90, Y:91.17, Z:2.06 [[ 3.93935321e-01 -9.19131558e-01 -3.48444809e-03 2.72902138e+02] [ 9.19106228e-01 3.93950405e-01 -6.84253912e-03 9.11742836e+01] [ 7.66189338e-03 -5.07060100e-04 9.99970519e-01 2.06473193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.91, Y:91.20, Z:2.06 [[ 3.93008514e-01 -9.19528237e-01 -3.48281560e-03 2.72912521e+02] [ 9.19502914e-01 3.93023611e-01 -6.84336995e-03 9.11986124e+01] [ 7.66150066e-03 -5.12956440e-04 9.99970519e-01 2.06420331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.92, Y:91.22, Z:2.06 [[ 3.91886293e-01 -9.20007073e-01 -3.48132011e-03 2.72924135e+02] [ 9.19981762e-01 3.91901410e-01 -6.84413064e-03 9.12223155e+01] [ 7.66098285e-03 -5.20630027e-04 9.99970519e-01 2.06475906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:91.25, Z:2.07 [[ 3.90778617e-01 -9.20478117e-01 -3.47982169e-03 2.72935697e+02] [ 9.20452818e-01 3.90793753e-01 -6.84489241e-03 9.12458085e+01] [ 7.66046625e-03 -5.28174098e-04 9.99970519e-01 2.06550510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.95, Y:91.27, Z:2.07 [[ 3.88348207e-01 -9.21506143e-01 -3.47831228e-03 2.72947551e+02] [ 9.21480877e-01 3.88363399e-01 -6.84565935e-03 9.12695721e+01] [ 7.65916632e-03 -5.46698714e-04 9.99970519e-01 2.06971248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.96, Y:91.29, Z:2.07 [[ 3.86739557e-01 -9.22182426e-01 -3.47684093e-03 2.72958731e+02] [ 9.22157180e-01 3.86754782e-01 -6.84640655e-03 9.12919610e+01] [ 7.65832066e-03 -5.58417593e-04 9.99970519e-01 2.07233072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.97, Y:91.31, Z:2.07 [[ 3.84654911e-01 -9.23053911e-01 -3.47522683e-03 2.72969558e+02] [ 9.23028693e-01 3.84670181e-01 -6.84722577e-03 9.13148065e+01] [ 7.65717466e-03 -5.73915059e-04 9.99970519e-01 2.07454654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.98, Y:91.34, Z:2.08 [[ 3.80262808e-01 -9.24871954e-01 -3.47364033e-03 2.72980040e+02] [ 9.24846801e-01 3.80278187e-01 -6.84803051e-03 9.13394375e+01] [ 7.65450100e-03 -6.08533832e-04 9.99970519e-01 2.07723061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.99, Y:91.36, Z:2.08 [[ 3.77816474e-01 -9.25873996e-01 -3.47218251e-03 2.72991255e+02] [ 9.25848877e-01 3.77831908e-01 -6.84876960e-03 9.13631841e+01] [ 7.65299902e-03 -6.27138302e-04 9.99970519e-01 2.07894105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.00, Y:91.39, Z:2.08 [[ 3.73095441e-01 -9.27786477e-01 -3.47072171e-03 2.73001583e+02] [ 9.27761431e-01 3.73110992e-01 -6.84950980e-03 9.13858407e+01] [ 7.64984698e-03 -6.64480867e-04 9.99970519e-01 2.08221777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.01, Y:91.41, Z:2.08 [[ 3.71033589e-01 -9.28612966e-01 -3.46919808e-03 2.73013265e+02] [ 9.28587948e-01 3.71049184e-01 -6.85028141e-03 9.14089560e+01] [ 7.64850326e-03 -6.79771029e-04 9.99970519e-01 2.08272372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.02, Y:91.43, Z:2.08 [[ 3.69297536e-01 -9.29304743e-01 -3.46765708e-03 2.73024582e+02] [ 9.29279747e-01 3.69313167e-01 -6.85106139e-03 9.14311208e+01] [ 7.64737526e-03 -6.92343405e-04 9.99970519e-01 2.08233417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.04, Y:91.45, Z:2.08 [[ 3.67403528e-01 -9.30055178e-01 -3.46604936e-03 2.73036393e+02] [ 9.30030206e-01 3.67419198e-01 -6.85187466e-03 9.14532806e+01] [ 7.64611459e-03 -7.06127683e-04 9.99970519e-01 2.08016980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.05, Y:91.47, Z:2.08 [[ 3.62148800e-01 -9.32113856e-01 -3.46483110e-03 2.73051243e+02] [ 9.32088968e-01 3.62164602e-01 -6.85249065e-03 9.14749471e+01] [ 7.64214067e-03 -7.47909579e-04 9.99970519e-01 2.07500526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.06, Y:91.50, Z:2.07 [[ 3.58757167e-01 -9.33424502e-01 -3.46336353e-03 2.73064972e+02] [ 9.33399664e-01 3.58773049e-01 -6.85323230e-03 9.14964320e+01] [ 7.63953644e-03 -7.74056152e-04 9.99970519e-01 2.07308007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:91.52, Z:2.07 [[ 3.55766300e-01 -9.34568540e-01 -3.46183092e-03 2.73079402e+02] [ 9.34543746e-01 3.55782251e-01 -6.85400640e-03 9.15186523e+01] [ 7.63719675e-03 -7.96807935e-04 9.99970519e-01 2.07298822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:91.54, Z:2.07 [[ 3.53807973e-01 -9.35311683e-01 -3.46036901e-03 2.73093370e+02] [ 9.35286916e-01 3.53823965e-01 -6.85474439e-03 9.15401064e+01] [ 7.63568399e-03 -8.11174635e-04 9.99970519e-01 2.07347308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.11, Y:91.56, Z:2.07 [[ 3.55159609e-01 -9.34799276e-01 -3.45920555e-03 2.73110866e+02] [ 9.34774480e-01 3.55175557e-01 -6.85533148e-03 9.15598514e+01] [ 7.63698415e-03 -7.98840219e-04 9.99970519e-01 2.07483573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.12, Y:91.58, Z:2.07 [[ 3.57406471e-01 -9.33942535e-01 -3.45763539e-03 2.73124721e+02] [ 9.33917694e-01 3.57422347e-01 -6.85612333e-03 9.15799796e+01] [ 7.63906136e-03 -7.78724023e-04 9.99970519e-01 2.07365581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.14, Y:91.60, Z:2.07 [[ 3.63145789e-01 -9.31725921e-01 -3.45600161e-03 2.73141500e+02] [ 9.31700975e-01 3.63161500e-01 -6.85694677e-03 9.16010966e+01] [ 7.64388178e-03 -7.29888727e-04 9.99970519e-01 2.07188975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:91.62, Z:2.07 [[ 3.65532510e-01 -9.30792163e-01 -3.45453259e-03 2.73155464e+02] [ 9.30767170e-01 3.65548147e-01 -6.85768679e-03 9.16231134e+01] [ 7.64587910e-03 -7.08658053e-04 9.99970519e-01 2.07091920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:91.64, Z:2.07 [[ 3.67314358e-01 -9.30090447e-01 -3.45302569e-03 2.73169576e+02] [ 9.30065417e-01 3.67329936e-01 -6.85844547e-03 9.16442788e+01] [ 7.64737431e-03 -6.92334284e-04 9.99970519e-01 2.07050784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:91.67, Z:2.07 [[ 3.68805641e-01 -9.29500127e-01 -3.45144932e-03 2.73184443e+02] [ 9.29475066e-01 3.68821167e-01 -6.85923867e-03 9.16661667e+01] [ 7.64863078e-03 -6.78310167e-04 9.99970519e-01 2.07244716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:91.69, Z:2.08 [[ 3.71735687e-01 -9.28332202e-01 -3.44992803e-03 2.73203113e+02] [ 9.28307085e-01 3.71751123e-01 -6.86000373e-03 9.16865069e+01] [ 7.65087699e-03 -6.52484435e-04 9.99970519e-01 2.07581652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.325898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:273.22, Y:91.71, Z:2.08 [[ 3.73402834e-01 -9.27662886e-01 -3.44886739e-03 2.73217716e+02] [ 9.27637736e-01 3.73418216e-01 -6.86053693e-03 9.17090392e+01] [ 7.65213539e-03 -6.37555607e-04 9.99970519e-01 2.07764579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.24, Y:91.73, Z:2.08 [[ 3.77884459e-01 -9.25846343e-01 -3.44737660e-03 2.73236000e+02] [ 9.25821113e-01 3.77899709e-01 -6.86128596e-03 9.17290647e+01] [ 7.65525913e-03 -5.98880714e-04 9.99970519e-01 2.07552212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.25, Y:91.75, Z:2.08 [[ 3.79806193e-01 -9.25059664e-01 -3.44582110e-03 2.73249385e+02] [ 9.25034395e-01 3.79821379e-01 -6.86206706e-03 9.17503069e+01] [ 7.65661797e-03 -5.81247468e-04 9.99970519e-01 2.07577545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.26, Y:91.77, Z:2.08 [[ 3.81819682e-01 -9.24230419e-01 -3.44418850e-03 2.73262379e+02] [ 9.24205110e-01 3.81834802e-01 -6.86288639e-03 9.17729526e+01] [ 7.65799940e-03 -5.62751510e-04 9.99970519e-01 2.07716421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.27, Y:91.80, Z:2.08 [[ 3.83842122e-01 -9.23392318e-01 -3.44262943e-03 2.73274510e+02] [ 9.23366969e-01 3.83857174e-01 -6.86366838e-03 9.17951479e+01] [ 7.65933666e-03 -5.44245264e-04 9.99970519e-01 2.07850964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.29, Y:91.82, Z:2.08 [[ 3.88390772e-01 -9.21488344e-01 -3.44099786e-03 2.73287293e+02] [ 9.21462914e-01 3.88405687e-01 -6.86448625e-03 9.18182645e+01] [ 7.66204720e-03 -5.04648806e-04 9.99970519e-01 2.08109515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.30, Y:91.84, Z:2.08 [[ 3.90391962e-01 -9.20642322e-01 -3.43944917e-03 2.73298517e+02] [ 9.20616853e-01 3.90406811e-01 -6.86526213e-03 9.18408004e+01] [ 7.66323525e-03 -4.86271721e-04 9.99970519e-01 2.08154248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.31, Y:91.86, Z:2.08 [[ 3.91803445e-01 -9.20042522e-01 -3.43782476e-03 2.73309328e+02] [ 9.20017023e-01 3.91818242e-01 -6.86607547e-03 9.18642466e+01] [ 7.66408384e-03 -4.72705283e-04 9.99970519e-01 2.08351423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.32, Y:91.89, Z:2.09 [[ 3.92947679e-01 -9.19554411e-01 -3.43628154e-03 2.73317977e+02] [ 9.19528887e-01 3.92962432e-01 -6.86684772e-03 9.18877484e+01] [ 7.66476966e-03 -4.61448263e-04 9.99970519e-01 2.08506191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.33, Y:91.91, Z:2.08 [[ 3.92503914e-01 -9.19743921e-01 -3.43467531e-03 2.73328318e+02] [ 9.19718397e-01 3.92518668e-01 -6.86765103e-03 9.19119905e+01] [ 7.66465447e-03 -4.63354161e-04 9.99970519e-01 2.08401381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.34, Y:91.94, Z:2.08 [[ 3.91498222e-01 -9.20172460e-01 -3.43314595e-03 2.73338218e+02] [ 9.20146946e-01 3.91512992e-01 -6.86841548e-03 9.19351630e+01] [ 7.66424801e-03 -4.70026319e-04 9.99970519e-01 2.08217926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.35, Y:91.96, Z:2.08 [[ 3.90272425e-01 -9.20693032e-01 -3.43154994e-03 2.73348915e+02] [ 9.20667531e-01 3.90287218e-01 -6.86921277e-03 9.19595341e+01] [ 7.66372641e-03 -4.78452284e-04 9.99970519e-01 2.08111009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.36, Y:91.98, Z:2.08 [[ 3.86922633e-01 -9.22105803e-01 -3.43002951e-03 2.73358646e+02] [ 9.22080349e-01 3.86937507e-01 -6.86997189e-03 9.19827235e+01] [ 7.66204801e-03 -5.04615188e-04 9.99970519e-01 2.08033507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.37, Y:92.01, Z:2.08 [[ 3.84884058e-01 -9.22958561e-01 -3.42881831e-03 2.73370084e+02] [ 9.22933135e-01 3.84898979e-01 -6.87057635e-03 9.20068514e+01] [ 7.66100593e-03 -5.20194726e-04 9.99970519e-01 2.07980680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.38, Y:92.03, Z:2.08 [[ 3.81864523e-01 -9.24211956e-01 -3.42732141e-03 2.73380273e+02] [ 9.24186572e-01 3.81879516e-01 -6.87132298e-03 9.20308366e+01] [ 7.65938270e-03 -5.43569949e-04 9.99970519e-01 2.07930610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.39, Y:92.05, Z:2.08 [[ 3.80643483e-01 -9.24715525e-01 -3.42581578e-03 2.73390372e+02] [ 9.24690155e-01 3.80658498e-01 -6.87207356e-03 9.20536872e+01] [ 7.65877900e-03 -5.52008114e-04 9.99970519e-01 2.07879961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.40, Y:92.08, Z:2.08 [[ 3.80424886e-01 -9.24805483e-01 -3.42424341e-03 2.73401676e+02] [ 9.24780109e-01 3.80439896e-01 -6.87285696e-03 9.20770418e+01] [ 7.65877460e-03 -5.52066371e-04 9.99970519e-01 2.07899908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.41, Y:92.10, Z:2.08 [[ 3.78937542e-01 -9.25415920e-01 -3.42261855e-03 2.73412045e+02] [ 9.25390563e-01 3.78952581e-01 -6.87366603e-03 9.21017737e+01] [ 7.65801010e-03 -5.62568799e-04 9.99970519e-01 2.07981140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.42, Y:92.12, Z:2.08 [[ 3.77456084e-01 -9.26021167e-01 -3.42111723e-03 2.73421934e+02] [ 9.25995827e-01 3.77471152e-01 -6.87441317e-03 9.21249143e+01] [ 7.65722517e-03 -5.73151206e-04 9.99970519e-01 2.07997196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.43, Y:92.15, Z:2.08 [[ 3.75006501e-01 -9.27015873e-01 -3.41992532e-03 2.73432297e+02] [ 9.26990568e-01 3.75021627e-01 -6.87500608e-03 9.21492353e+01] [ 7.65578572e-03 -5.92066541e-04 9.99970519e-01 2.08269195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.92589822699995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:273.44, Y:92.17, Z:2.08 [[ 3.73682498e-01 -9.27550379e-01 -3.41834318e-03 2.73443023e+02] [ 9.27525089e-01 3.73697649e-01 -6.87579265e-03 9.21725284e+01] [ 7.65507089e-03 -6.01235693e-04 9.99970519e-01 2.08451657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.45, Y:92.20, Z:2.08 [[ 3.72707326e-01 -9.27942658e-01 -3.41669500e-03 2.73454464e+02] [ 9.27917376e-01 3.72722491e-01 -6.87661156e-03 9.21954689e+01] [ 7.65458028e-03 -6.07447155e-04 9.99970519e-01 2.08494294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.47, Y:92.22, Z:2.09 [[ 3.72230950e-01 -9.28133856e-01 -3.41546922e-03 2.73465091e+02] [ 9.28108577e-01 3.72246120e-01 -6.87722033e-03 9.22187386e+01] [ 7.65437618e-03 -6.10012020e-04 9.99970519e-01 2.08622852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.47, Y:92.24, Z:2.09 [[ 3.72241958e-01 -9.28129447e-01 -3.41385102e-03 2.73472831e+02] [ 9.28104161e-01 3.72257115e-01 -6.87802351e-03 9.22419476e+01] [ 7.65452649e-03 -6.08120393e-04 9.99970519e-01 2.08593580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.48, Y:92.27, Z:2.09 [[ 3.71934541e-01 -9.28252689e-01 -3.41216563e-03 2.73482274e+02] [ 9.28227400e-01 3.71949694e-01 -6.87885952e-03 9.22653844e+01] [ 7.65447381e-03 -6.08780177e-04 9.99970519e-01 2.08720631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.49, Y:92.29, Z:2.09 [[ 3.71522072e-01 -9.28417857e-01 -3.41057206e-03 2.73492559e+02] [ 9.28392568e-01 3.71537225e-01 -6.87964953e-03 9.22898067e+01] [ 7.65434396e-03 -6.10408109e-04 9.99970519e-01 2.09137238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.50, Y:92.31, Z:2.09 [[ 3.71244578e-01 -9.28528838e-01 -3.41468542e-03 2.73502876e+02] [ 9.28503572e-01 3.71259768e-01 -6.87761152e-03 9.23135543e+01] [ 7.65379595e-03 -6.17271629e-04 9.99970519e-01 2.09131058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.51, Y:92.34, Z:2.09 [[ 3.71038447e-01 -9.28611255e-01 -3.40719112e-03 2.73513361e+02] [ 9.28585959e-01 3.71053588e-01 -6.88132222e-03 9.23364188e+01] [ 7.65432375e-03 -6.10634721e-04 9.99970519e-01 2.09027741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.52, Y:92.36, Z:2.09 [[ 3.71274960e-01 -9.28516724e-01 -3.40560180e-03 2.73524323e+02] [ 9.28491417e-01 3.71290083e-01 -6.88210870e-03 9.23598533e+01] [ 7.65461919e-03 -6.06917406e-04 9.99970519e-01 2.08912961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.53, Y:92.38, Z:2.08 [[ 3.72160402e-01 -9.28162188e-01 -3.40409333e-03 2.73533713e+02] [ 9.28136860e-01 3.72175490e-01 -6.88285474e-03 9.23844421e+01] [ 7.65532562e-03 -5.97938509e-04 9.99970519e-01 2.08390674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.54, Y:92.41, Z:2.09 [[ 3.72952249e-01 -9.27844267e-01 -3.41120737e-03 2.73543993e+02] [ 9.27818957e-01 3.72967368e-01 -6.87933802e-03 9.24083696e+01] [ 7.65522337e-03 -5.99318275e-04 9.99970519e-01 2.08611608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.55, Y:92.43, Z:2.09 [[ 3.73859965e-01 -9.27478926e-01 -3.40127830e-03 2.73553637e+02] [ 9.27453558e-01 3.73874986e-01 -6.88424364e-03 9.24312741e+01] [ 7.65664378e-03 -5.80784572e-04 9.99970519e-01 2.08719961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.56, Y:92.46, Z:2.09 [[ 3.76015794e-01 -9.26607017e-01 -3.39971790e-03 2.73563344e+02] [ 9.26581608e-01 3.76030744e-01 -6.88501414e-03 9.24555280e+01] [ 7.65810087e-03 -5.61242021e-04 9.99970519e-01 2.09078471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.57, Y:92.48, Z:2.09 [[ 3.77125329e-01 -9.26156001e-01 -3.39823243e-03 2.73574718e+02] [ 9.26130568e-01 3.77140237e-01 -6.88574725e-03 9.24797127e+01] [ 7.65888632e-03 -5.50417240e-04 9.99970519e-01 2.09186757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34589822699996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:273.58, Y:92.50, Z:2.09 [[ 3.78038910e-01 -9.25783476e-01 -3.39665861e-03 2.73584881e+02] [ 9.25758021e-01 3.78053782e-01 -6.88652351e-03 9.25026969e+01] [ 7.65954931e-03 -5.41110107e-04 9.99970519e-01 2.09079371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.59, Y:92.53, Z:2.09 [[ 3.80234030e-01 -9.24884077e-01 -3.39501502e-03 2.73594881e+02] [ 9.24858580e-01 3.80248830e-01 -6.88733369e-03 9.25268448e+01] [ 7.66093576e-03 -5.21110120e-04 9.99970519e-01 2.08639602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.61, Y:92.55, Z:2.09 [[ 3.80368934e-01 -9.24828639e-01 -3.38572577e-03 2.73605067e+02] [ 9.24803099e-01 3.80383661e-01 -6.89191007e-03 9.25514611e+01] [ 7.66171057e-03 -5.09661195e-04 9.99970519e-01 2.08543802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.61, Y:92.57, Z:2.09 [[ 3.80495709e-01 -9.24776465e-01 -3.39207649e-03 2.73614457e+02] [ 9.24750950e-01 3.80510479e-01 -6.88878294e-03 9.25738152e+01] [ 7.66130498e-03 -5.15673608e-04 9.99970519e-01 2.08568827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.63, Y:92.60, Z:2.09 [[ 3.80351324e-01 -9.24835863e-01 -3.39069721e-03 2.73625367e+02] [ 9.24810345e-01 3.80366088e-01 -6.88946176e-03 9.25976667e+01] [ 7.66132755e-03 -5.15335949e-04 9.99970519e-01 2.08990047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.64, Y:92.62, Z:2.09 [[ 3.79941304e-01 -9.25004389e-01 -3.38915748e-03 2.73636194e+02] [ 9.24978871e-01 3.79956068e-01 -6.89021912e-03 9.26201194e+01] [ 7.66121388e-03 -5.17020223e-04 9.99970519e-01 2.08955014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.65, Y:92.64, Z:2.09 [[ 3.79699492e-01 -9.25103681e-01 -3.38754717e-03 2.73647083e+02] [ 9.25078160e-01 3.79714250e-01 -6.89101074e-03 9.26432395e+01] [ 7.66119933e-03 -5.17232626e-04 9.99970519e-01 2.08877495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.66, Y:92.67, Z:2.09 [[ 3.79792413e-01 -9.25065543e-01 -3.38595828e-03 2.73657186e+02] [ 9.25040013e-01 3.79807158e-01 -6.89179136e-03 9.26671723e+01] [ 7.66136990e-03 -5.14696817e-04 9.99970519e-01 2.09027377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.66, Y:92.69, Z:2.09 [[ 3.81553174e-01 -9.24340695e-01 -3.38437228e-03 2.73662300e+02] [ 9.24315131e-01 3.81567858e-01 -6.89257011e-03 9.26924908e+01] [ 7.66245073e-03 -4.98344505e-04 9.99970519e-01 2.09008884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61589822699995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:273.67, Y:92.72, Z:2.09 [[ 3.82395250e-01 -9.23992656e-01 -3.38310594e-03 2.73669317e+02] [ 9.23967073e-01 3.82409901e-01 -6.89319162e-03 9.27186894e+01] [ 7.66299164e-03 -4.89954757e-04 9.99970519e-01 2.09159106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.68, Y:92.74, Z:2.09 [[ 3.82852650e-01 -9.23803233e-01 -3.38159930e-03 2.73676688e+02] [ 9.23777637e-01 3.82867277e-01 -6.89393065e-03 9.27434751e+01] [ 7.66333914e-03 -4.84486194e-04 9.99970519e-01 2.09107044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.68, Y:92.77, Z:2.09 [[ 3.82229500e-01 -9.24061245e-01 -3.38003107e-03 2.73684068e+02] [ 9.24035652e-01 3.82244133e-01 -6.89469946e-03 9.27665413e+01] [ 7.66312161e-03 -4.87911690e-04 9.99970519e-01 2.09125043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.69, Y:92.79, Z:2.09 [[ 3.77411804e-01 -9.26039370e-01 -3.37867983e-03 2.73691855e+02] [ 9.26013848e-01 3.77426560e-01 -6.89536155e-03 9.27912131e+01] [ 7.66057978e-03 -5.26313470e-04 9.99970519e-01 2.09095850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.70, Y:92.81, Z:2.09 [[ 3.73274644e-01 -9.27714738e-01 -3.37710801e-03 2.73702935e+02] [ 9.27689275e-01 3.73289502e-01 -6.89613129e-03 9.28146975e+01] [ 7.65828160e-03 -5.58755927e-04 9.99970519e-01 2.08966740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.72, Y:92.84, Z:2.09 [[ 3.62749047e-01 -9.31880751e-01 -3.37563542e-03 2.73715208e+02] [ 9.31855451e-01 3.62764181e-01 -6.89685205e-03 9.28380038e+01] [ 7.65160328e-03 -6.43777761e-04 9.99970519e-01 2.08571055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.73, Y:92.86, Z:2.09 [[ 3.57826661e-01 -9.33781932e-01 -3.37414985e-03 2.73728019e+02] [ 9.33756706e-01 3.57841918e-01 -6.89757876e-03 9.28610488e+01] [ 7.64824667e-03 -6.82497468e-04 9.99970519e-01 2.08524187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.74, Y:92.88, Z:2.09 [[ 3.53652298e-01 -9.35370879e-01 -3.37203293e-03 2.73741164e+02] [ 9.35345712e-01 3.53667652e-01 -6.89861374e-03 9.28832403e+01] [ 7.64534136e-03 -7.14305938e-04 9.99970519e-01 2.08781774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.76, Y:92.91, Z:2.09 [[ 3.49578310e-01 -9.36901084e-01 -3.37096734e-03 2.73756935e+02] [ 9.36875979e-01 3.49593766e-01 -6.89913439e-03 9.29060842e+01] [ 7.64227566e-03 -7.46390582e-04 9.99970519e-01 2.09266579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.77, Y:92.93, Z:2.09 [[ 3.49697824e-01 -9.36856487e-01 -3.36960726e-03 2.73770239e+02] [ 9.36831374e-01 3.49713267e-01 -6.89979860e-03 9.29285617e+01] [ 7.64251744e-03 -7.43909241e-04 9.99970519e-01 2.09490046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.78, Y:92.95, Z:2.10 [[ 3.50821331e-01 -9.36436357e-01 -3.36806599e-03 2.73783522e+02] [ 9.36411218e-01 3.50836733e-01 -6.90055087e-03 9.29506248e+01] [ 7.64356799e-03 -7.33034336e-04 9.99970519e-01 2.09523339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.945898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:273.80, Y:92.97, Z:2.10 [[ 3.52727312e-01 -9.35720101e-01 -3.36684116e-03 2.73796691e+02] [ 9.35694926e-01 3.52742654e-01 -6.90114843e-03 9.29736167e+01] [ 7.64517179e-03 -7.16112652e-04 9.99970519e-01 2.09658744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.81, Y:92.99, Z:2.10 [[ 3.57869628e-01 -9.33765497e-01 -3.36537661e-03 2.73811622e+02] [ 9.33740232e-01 3.57884820e-01 -6.90186255e-03 9.29943106e+01] [ 7.64913832e-03 -6.72420548e-04 9.99970519e-01 2.09616075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.82, Y:93.02, Z:2.10 [[ 3.59184861e-01 -9.33260400e-01 -3.35577931e-03 2.73824587e+02] [ 9.33235071e-01 3.59199947e-01 -6.90654034e-03 9.30179860e+01] [ 7.65099635e-03 -6.51006218e-04 9.99970519e-01 2.09586928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.84, Y:93.04, Z:2.10 [[ 3.60127805e-01 -9.32896916e-01 -3.36289761e-03 2.73836931e+02] [ 9.32871603e-01 3.60142917e-01 -6.90307259e-03 9.30399263e+01] [ 7.65097889e-03 -6.51163307e-04 9.99970519e-01 2.09533610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.85, Y:93.06, Z:2.09 [[ 3.60043636e-01 -9.32929409e-01 -3.36128566e-03 2.73852205e+02] [ 9.32904090e-01 3.60058738e-01 -6.90385740e-03 9.30616013e+01] [ 7.65107188e-03 -6.50067224e-04 9.99970519e-01 2.09308189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.87, Y:93.09, Z:2.09 [[ 3.59165550e-01 -9.33267818e-01 -3.35974770e-03 2.73865823e+02] [ 9.33242507e-01 3.59180665e-01 -6.90460577e-03 9.30856415e+01] [ 7.65060277e-03 -6.55562843e-04 9.99970519e-01 2.09305177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.88, Y:93.11, Z:2.09 [[ 3.58032290e-01 -9.33703165e-01 -3.35830671e-03 2.73878166e+02] [ 9.33677866e-01 3.58047426e-01 -6.90530657e-03 9.31077154e+01] [ 7.64993968e-03 -6.63253920e-04 9.99970519e-01 2.09055807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.89, Y:93.13, Z:2.09 [[ 3.57019172e-01 -9.34091025e-01 -3.35662835e-03 2.73893872e+02] [ 9.34065735e-01 3.57034323e-01 -6.90612232e-03 9.31295419e+01] [ 7.64937841e-03 -6.69693459e-04 9.99970519e-01 2.09286795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.91, Y:93.15, Z:2.09 [[ 3.56884947e-01 -9.34142322e-01 -3.35512517e-03 2.73907006e+02] [ 9.34117028e-01 3.56900090e-01 -6.90685251e-03 9.31514368e+01] [ 7.64942772e-03 -6.69127861e-04 9.99970519e-01 2.09384420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.92, Y:93.17, Z:2.09 [[ 3.57231264e-01 -9.34009945e-01 -3.35355993e-03 2.73920446e+02] [ 9.33984638e-01 3.57246386e-01 -6.90761242e-03 9.31737739e+01] [ 7.64982587e-03 -6.64558339e-04 9.99970519e-01 2.09402273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.93, Y:93.20, Z:2.09 [[ 3.57765819e-01 -9.33805324e-01 -3.35207352e-03 2.73933454e+02] [ 9.33780001e-01 3.57780916e-01 -6.90833366e-03 9.31967547e+01] [ 7.65034668e-03 -6.58533565e-04 9.99970519e-01 2.09365191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.95, Y:93.22, Z:2.09 [[ 3.59416719e-01 -9.33171150e-01 -3.35064934e-03 2.73948476e+02] [ 9.33145795e-01 3.59431761e-01 -6.90902434e-03 9.32173854e+01] [ 7.65163198e-03 -6.43425484e-04 9.99970519e-01 2.08947652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.96, Y:93.24, Z:2.09 [[ 3.59676589e-01 -9.33071024e-01 -3.34907479e-03 2.73962292e+02] [ 9.33045658e-01 3.59691612e-01 -6.90978750e-03 9.32396127e+01] [ 7.65195661e-03 -6.39550896e-04 9.99970519e-01 2.08793483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.98, Y:93.26, Z:2.09 [[ 3.59900888e-01 -9.32984536e-01 -3.34756453e-03 2.73976038e+02] [ 9.32959160e-01 3.59915894e-01 -6.91051909e-03 9.32624674e+01] [ 7.65224913e-03 -6.36039042e-04 9.99970519e-01 2.08804675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.99, Y:93.28, Z:2.09 [[ 3.60933429e-01 -9.32585580e-01 -3.34604065e-03 2.73990885e+02] [ 9.32560180e-01 3.60948396e-01 -6.91125687e-03 9.32831562e+01] [ 7.65308650e-03 -6.25880633e-04 9.99970519e-01 2.09277979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.00, Y:93.31, Z:2.10 [[ 3.61423769e-01 -9.32395664e-01 -3.34445138e-03 2.74003798e+02] [ 9.32370250e-01 3.61438711e-01 -6.91202585e-03 9.33063981e+01] [ 7.65355713e-03 -6.20096536e-04 9.99970519e-01 2.09631976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.02, Y:93.33, Z:2.10 [[ 3.62056525e-01 -9.32150148e-01 -3.34294268e-03 2.74015949e+02] [ 9.32124717e-01 3.62071438e-01 -6.91275545e-03 9.33285441e+01] [ 7.65411008e-03 -6.13231287e-04 9.99970519e-01 2.09773877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.03, Y:93.35, Z:2.10 [[ 3.63555392e-01 -9.31566590e-01 -3.34136204e-03 2.74028880e+02] [ 9.31541129e-01 3.63570253e-01 -6.91351938e-03 9.33514074e+01] [ 7.65522352e-03 -5.99168922e-04 9.99970519e-01 2.09622647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.04, Y:93.37, Z:2.09 [[ 3.64155459e-01 -9.31332190e-01 -3.33978296e-03 2.74039410e+02] [ 9.31306712e-01 3.64170292e-01 -6.91428212e-03 9.33745053e+01] [ 7.65574324e-03 -5.92488712e-04 9.99970519e-01 2.09427437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.05, Y:93.40, Z:2.09 [[ 3.64743792e-01 -9.31101940e-01 -3.33821438e-03 2.74050414e+02] [ 9.31076446e-01 3.64758597e-01 -6.91503935e-03 9.33988108e+01] [ 7.65624895e-03 -5.85915100e-04 9.99970519e-01 2.09364793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.06, Y:93.42, Z:2.09 [[ 3.64846164e-01 -9.31061836e-01 -3.33669843e-03 2.74060975e+02] [ 9.31036334e-01 3.64860955e-01 -6.91577076e-03 9.34230076e+01] [ 7.65644120e-03 -5.83395049e-04 9.99970519e-01 2.09472749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.07, Y:93.45, Z:2.10 [[ 3.63275914e-01 -9.31675634e-01 -3.33510855e-03 2.74069412e+02] [ 9.31650150e-01 3.63290737e-01 -6.91653739e-03 9.34465436e+01] [ 7.65558340e-03 -5.94542943e-04 9.99970519e-01 2.09517100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.08, Y:93.47, Z:2.09 [[ 3.61823251e-01 -9.32240754e-01 -3.33344978e-03 2.74078646e+02] [ 9.32215286e-01 3.61838101e-01 -6.91733675e-03 9.34704785e+01] [ 7.65479236e-03 -6.04639572e-04 9.99970519e-01 2.09476715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.09, Y:93.49, Z:2.09 [[ 3.60218859e-01 -9.32861872e-01 -3.33180800e-03 2.74087402e+02] [ 9.32836423e-01 3.60233741e-01 -6.91812744e-03 9.34940488e+01] [ 7.65388697e-03 -6.15991886e-04 9.99970519e-01 2.09290579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.10, Y:93.52, Z:2.09 [[ 3.56862458e-01 -9.34151002e-01 -3.33055995e-03 2.74096761e+02] [ 9.34125600e-01 3.56877421e-01 -6.91872823e-03 9.35183063e+01] [ 7.65173855e-03 -6.42126959e-04 9.99970519e-01 2.09291479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.11, Y:93.54, Z:2.09 [[ 3.56652412e-01 -9.34231221e-01 -3.32899932e-03 2.74108163e+02] [ 9.34205817e-01 3.56667370e-01 -6.91947906e-03 9.35425415e+01] [ 7.65173880e-03 -6.42121631e-04 9.99970519e-01 2.09312068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.12, Y:93.57, Z:2.09 [[ 3.54695811e-01 -9.34975834e-01 -3.32744331e-03 2.74118684e+02] [ 9.34950454e-01 3.54710811e-01 -6.92022723e-03 9.35657603e+01] [ 7.65052534e-03 -6.56419030e-04 9.99970519e-01 2.09452562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.13, Y:93.59, Z:2.10 [[ 3.52854023e-01 -9.35672473e-01 -3.32581769e-03 2.74128889e+02] [ 9.35647116e-01 3.52869061e-01 -6.92100840e-03 9.35900184e+01] [ 7.64937522e-03 -6.69686074e-04 9.99970519e-01 2.09604595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.14, Y:93.61, Z:2.09 [[ 3.50767052e-01 -9.36456846e-01 -3.32426960e-03 2.74136893e+02] [ 9.36431516e-01 3.50782135e-01 -6.92175190e-03 9.36140075e+01] [ 7.64801634e-03 -6.85028317e-04 9.99970519e-01 2.09404533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.15, Y:93.64, Z:2.09 [[ 3.50038380e-01 -9.36729466e-01 -3.32265604e-03 2.74147102e+02] [ 9.36704140e-01 3.50053471e-01 -6.92252637e-03 9.36377477e+01] [ 7.64764171e-03 -6.89195751e-04 9.99970519e-01 2.09227223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.16, Y:93.66, Z:2.09 [[ 3.48695449e-01 -9.37230203e-01 -3.32115728e-03 2.74157429e+02] [ 9.37204892e-01 3.48710566e-01 -6.92324534e-03 9.36622834e+01] [ 7.64679727e-03 -6.98500709e-04 9.99970519e-01 2.09199362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.17, Y:93.69, Z:2.09 [[ 3.47664600e-01 -9.37613090e-01 -3.31965215e-03 2.74168056e+02] [ 9.37587789e-01 3.47679733e-01 -6.92396697e-03 9.36866091e+01] [ 7.64617783e-03 -7.05247110e-04 9.99970519e-01 2.09359110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.18, Y:93.71, Z:2.09 [[ 3.46389397e-01 -9.38084951e-01 -3.31815977e-03 2.74177843e+02] [ 9.38059665e-01 3.46404553e-01 -6.92468208e-03 9.37091477e+01] [ 7.64536571e-03 -7.13995391e-04 9.99970519e-01 2.09471363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.19, Y:93.73, Z:2.10 [[ 3.44863100e-01 -9.38647135e-01 -3.31644732e-03 2.74188464e+02] [ 9.38621865e-01 3.44878286e-01 -6.92550213e-03 9.37321824e+01] [ 7.64437340e-03 -7.24539829e-04 9.99970519e-01 2.09701912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.20, Y:93.75, Z:2.10 [[ 3.42577262e-01 -9.39483811e-01 -3.31481967e-03 2.74200761e+02] [ 9.39458572e-01 3.42592497e-01 -6.92628110e-03 9.37531859e+01] [ 7.64276132e-03 -7.41349331e-04 9.99970519e-01 2.09615373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.21, Y:93.78, Z:2.10 [[ 3.42095766e-01 -9.39659252e-01 -3.31312308e-03 2.74213346e+02] [ 9.39634013e-01 3.42111002e-01 -6.92709256e-03 9.37755345e+01] [ 7.64256247e-03 -7.43394094e-04 9.99970519e-01 2.09645535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.02589822699997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:274.23, Y:93.80, Z:2.10 [[ 3.42015254e-01 -9.39688565e-01 -3.31148751e-03 2.74225891e+02] [ 9.39663320e-01 3.42030480e-01 -6.92787435e-03 9.37982901e+01] [ 7.64267397e-03 -7.42244637e-04 9.99970519e-01 2.09714011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.24, Y:93.82, Z:2.10 [[ 3.44316144e-01 -9.38847931e-01 -3.30995334e-03 2.74241004e+02] [ 9.38822642e-01 3.44331297e-01 -6.92860726e-03 9.38193213e+01] [ 7.64462911e-03 -7.21827801e-04 9.99970519e-01 2.09671416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.25, Y:93.84, Z:2.10 [[ 3.45949075e-01 -9.38247458e-01 -3.30842649e-03 2.74254708e+02] [ 9.38222136e-01 3.45964172e-01 -6.92933626e-03 9.38429370e+01] [ 7.64602916e-03 -7.06841497e-04 9.99970519e-01 2.09713032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.27, Y:93.86, Z:2.10 [[ 3.47871249e-01 -9.37536459e-01 -3.31384891e-03 2.74267288e+02] [ 9.37511130e-01 3.47886334e-01 -6.92674845e-03 9.38644084e+01] [ 7.64692197e-03 -6.97153599e-04 9.99970519e-01 2.09726558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.28, Y:93.89, Z:2.10 [[ 3.49136340e-01 -9.37066113e-01 -3.30396375e-03 2.74280487e+02] [ 9.37040720e-01 3.49151318e-01 -6.93146322e-03 9.38877300e+01] [ 7.64882260e-03 -6.75922875e-04 9.99970519e-01 2.10063067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.30, Y:93.91, Z:2.10 [[ 3.50634336e-01 -9.36506619e-01 -3.30394054e-03 2.74295759e+02] [ 9.36481202e-01 3.50649273e-01 -6.93147429e-03 9.39100402e+01] [ 7.64989589e-03 -6.63665327e-04 9.99970519e-01 2.10422287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.31, Y:93.93, Z:2.10 [[ 3.50364429e-01 -9.36607635e-01 -3.30239325e-03 2.74309144e+02] [ 9.36582216e-01 3.50379363e-01 -6.93221139e-03 9.39326625e+01] [ 7.64985255e-03 -6.64162499e-04 9.99970519e-01 2.10498119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.32, Y:93.95, Z:2.10 [[ 3.49751252e-01 -9.36836787e-01 -3.30082059e-03 2.74321882e+02] [ 9.36811371e-01 3.49766191e-01 -6.93296014e-03 9.39540994e+01] [ 7.64956755e-03 -6.67434777e-04 9.99970519e-01 2.10408722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.34, Y:93.97, Z:2.10 [[ 3.48915679e-01 -9.37148315e-01 -3.29917734e-03 2.74336971e+02] [ 9.37122905e-01 3.48930628e-01 -6.93374202e-03 9.39739452e+01] [ 7.64912868e-03 -6.72443353e-04 9.99970519e-01 2.09957190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.35, Y:94.00, Z:2.10 [[ 3.48297463e-01 -9.37378261e-01 -3.29743320e-03 2.74350430e+02] [ 9.37352854e-01 3.48312417e-01 -6.93457137e-03 9.39969229e+01] [ 7.64885338e-03 -6.75564803e-04 9.99970519e-01 2.09777015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.36, Y:94.02, Z:2.10 [[ 3.48177491e-01 -9.37422835e-01 -3.29590632e-03 2.74363119e+02] [ 9.37397423e-01 3.48192436e-01 -6.93529700e-03 9.40182587e+01] [ 7.64891543e-03 -6.74859788e-04 9.99970519e-01 2.09755285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.38, Y:94.04, Z:2.10 [[ 3.48149466e-01 -9.37433250e-01 -3.29416261e-03 2.74375317e+02] [ 9.37407831e-01 3.48164400e-01 -6.93612514e-03 9.40390231e+01] [ 7.64906448e-03 -6.73165554e-04 9.99970519e-01 2.09826269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.39, Y:94.06, Z:2.10 [[ 3.48995358e-01 -9.37118669e-01 -3.29242593e-03 2.74389811e+02] [ 9.37093229e-01 3.49010255e-01 -6.93694941e-03 9.40601988e+01] [ 7.64983521e-03 -6.64346908e-04 9.99970519e-01 2.09937867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.40, Y:94.08, Z:2.10 [[ 3.49909635e-01 -9.36777678e-01 -3.29079310e-03 2.74402576e+02] [ 9.36752217e-01 3.49924496e-01 -6.93772391e-03 9.40838048e+01] [ 7.65063401e-03 -6.55081286e-04 9.99970519e-01 2.09985405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.41, Y:94.11, Z:2.10 [[ 3.50997582e-01 -9.36370587e-01 -3.28954287e-03 2.74414120e+02] [ 9.36345103e-01 3.51012404e-01 -6.93831666e-03 9.41069956e+01] [ 7.65150600e-03 -6.44814986e-04 9.99970519e-01 2.09907253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47589822699996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:274.43, Y:94.13, Z:2.10 [[ 3.54502991e-01 -9.35049126e-01 -3.28049884e-03 2.74426475e+02] [ 9.35023548e-01 3.54517651e-01 -6.94260166e-03 9.41298586e+01] [ 7.65466835e-03 -6.06170610e-04 9.99970519e-01 2.09855458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.44, Y:94.15, Z:2.10 [[ 3.56736910e-01 -9.34199110e-01 -3.28633571e-03 2.74438400e+02] [ 9.34173522e-01 3.56751551e-01 -6.93983763e-03 9.41523691e+01] [ 7.65559550e-03 -5.94311579e-04 9.99970519e-01 2.09654188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.45, Y:94.17, Z:2.10 [[ 3.59098659e-01 -9.33293825e-01 -3.28466521e-03 2.74449547e+02] [ 9.33268193e-01 3.59113224e-01 -6.94062819e-03 9.41747574e+01] [ 7.65721215e-03 -5.73103288e-04 9.99970519e-01 2.09746959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.46, Y:94.20, Z:2.10 [[ 3.66019996e-01 -9.30601195e-01 -3.28301592e-03 2.74462918e+02] [ 9.30575449e-01 3.66034357e-01 -6.94140824e-03 9.41973573e+01] [ 7.66137943e-03 -5.14399803e-04 9.99970519e-01 2.10088571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.47, Y:94.22, Z:2.10 [[ 3.69719245e-01 -9.29137725e-01 -3.28142522e-03 2.74474017e+02] [ 9.29111915e-01 3.69733493e-01 -6.94216014e-03 9.42209312e+01] [ 7.66347568e-03 -4.82161061e-04 9.99970519e-01 2.10185471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.48, Y:94.24, Z:2.10 [[ 3.73570019e-01 -9.27596186e-01 -3.27983902e-03 2.74484366e+02] [ 9.27570310e-01 3.73584147e-01 -6.94290946e-03 9.42434964e+01] [ 7.66551220e-03 -4.48618482e-04 9.99970519e-01 2.10203041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.50, Y:94.27, Z:2.11 [[ 3.79488448e-01 -9.25190666e-01 -3.27857232e-03 2.74495067e+02] [ 9.25164696e-01 3.79502401e-01 -6.94350757e-03 9.42671625e+01] [ 7.66829446e-03 -3.98238459e-04 9.99970519e-01 2.10723212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.51, Y:94.29, Z:2.11 [[ 3.80729698e-01 -9.24680571e-01 -3.27700390e-03 2.74506923e+02] [ 9.24654576e-01 3.80743605e-01 -6.94424771e-03 9.42907394e+01] [ 7.66890921e-03 -3.86215322e-04 9.99970519e-01 2.10857382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.52, Y:94.31, Z:2.11 [[ 3.80896309e-01 -9.24611959e-01 -3.27536607e-03 2.74519380e+02] [ 9.24585955e-01 3.80910199e-01 -6.94502013e-03 9.43133599e+01] [ 7.66906901e-03 -3.83024929e-04 9.99970519e-01 2.10811349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.54, Y:94.34, Z:2.11 [[ 3.79867266e-01 -9.25035212e-01 -3.27365603e-03 2.74535443e+02] [ 9.25009217e-01 3.79881171e-01 -6.94582610e-03 9.43352531e+01] [ 7.66873400e-03 -3.89670030e-04 9.99970519e-01 2.10991884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.55, Y:94.36, Z:2.11 [[ 3.79638690e-01 -9.25129050e-01 -3.27202608e-03 2.74548789e+02] [ 9.25103052e-01 3.79652590e-01 -6.94659384e-03 9.43565559e+01] [ 7.66872894e-03 -3.89765527e-04 9.99970519e-01 2.11141043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.56, Y:94.38, Z:2.11 [[ 3.80352756e-01 -9.24835708e-01 -3.27032479e-03 2.74562095e+02] [ 9.24809692e-01 3.80366623e-01 -6.94739469e-03 9.43793119e+01] [ 7.66912108e-03 -3.81967348e-04 9.99970519e-01 2.11251296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.57, Y:94.40, Z:2.11 [[ 3.82661678e-01 -9.23882761e-01 -3.26874075e-03 2.74574774e+02] [ 9.23856704e-01 3.82675468e-01 -6.94813990e-03 9.44023272e+01] [ 7.67013357e-03 -3.61061180e-04 9.99970519e-01 2.11214117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.59, Y:94.42, Z:2.11 [[ 3.91478079e-01 -9.20181634e-01 -3.26712874e-03 2.74586862e+02] [ 9.20155440e-01 3.91491608e-01 -6.94889781e-03 9.44243181e+01] [ 7.67330162e-03 -2.85925119e-04 9.99970519e-01 2.11024816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.60, Y:94.45, Z:2.11 [[ 3.96574650e-01 -9.17996668e-01 -3.26551400e-03 2.74598246e+02] [ 9.17970394e-01 3.96588021e-01 -6.94965654e-03 9.44477993e+01] [ 7.67482529e-03 -2.41587556e-04 9.99970519e-01 2.11058979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.61, Y:94.47, Z:2.11 [[ 4.01059655e-01 -9.16046123e-01 -3.26392944e-03 2.74609491e+02] [ 9.16019778e-01 4.01072885e-01 -6.95040066e-03 9.44710962e+01] [ 7.67596118e-03 -2.02298624e-04 9.99970519e-01 2.11134703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.62, Y:94.49, Z:2.11 [[ 4.08845870e-01 -9.12597618e-01 -3.26225643e-03 2.74619906e+02] [ 9.12571154e-01 4.08858863e-01 -6.95118582e-03 9.44942874e+01] [ 7.67743807e-03 -1.35077498e-04 9.99970519e-01 2.11248354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.63, Y:94.52, Z:2.11 [[ 4.12106488e-01 -9.11129855e-01 -3.26050083e-03 2.74630872e+02] [ 9.11103338e-01 4.12119372e-01 -6.95200919e-03 9.45177538e+01] [ 7.67789868e-03 -1.05685101e-04 9.99970519e-01 2.11343150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.64, Y:94.54, Z:2.11 [[ 4.14994661e-01 -9.09818010e-01 -3.25889699e-03 2.74641582e+02] [ 9.09791446e-01 4.15007450e-01 -6.95276095e-03 9.45413128e+01] [ 7.67821365e-03 -7.95579343e-05 9.99970519e-01 2.11359998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.65, Y:94.57, Z:2.11 [[ 4.20091346e-01 -9.07475978e-01 -3.25728135e-03 2.74650506e+02] [ 9.07449338e-01 4.20103973e-01 -6.95351777e-03 9.45652574e+01] [ 7.67854718e-03 -3.47051658e-05 9.99970519e-01 2.11116857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.075898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:274.66, Y:94.59, Z:2.11 [[ 4.22113521e-01 -9.06537135e-01 -3.25559309e-03 2.74658938e+02] [ 9.06510460e-01 4.22126075e-01 -6.95430811e-03 9.45897246e+01] [ 7.67860929e-03 -1.57217096e-05 9.99970519e-01 2.10927445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.67, Y:94.62, Z:2.11 [[ 4.24114656e-01 -9.05602656e-01 -3.25385112e-03 2.74667502e+02] [ 9.05575948e-01 4.24127138e-01 -6.95512307e-03 9.46152204e+01] [ 7.67862449e-03 3.16031300e-06 9.99970519e-01 2.10860666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.135898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:274.68, Y:94.64, Z:2.11 [[ 4.25792455e-01 -9.04815013e-01 -3.25224118e-03 2.74675628e+02] [ 9.04788276e-01 4.25804875e-01 -6.95587580e-03 9.46399923e+01] [ 7.67860100e-03 1.91697383e-05 9.99970519e-01 2.10874808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.68, Y:94.66, Z:2.11 [[ 4.28450290e-01 -9.03559507e-01 -3.25058601e-03 2.74682440e+02] [ 9.03532728e-01 4.28462618e-01 -6.95664920e-03 9.46643988e+01] [ 7.67850112e-03 4.35675253e-05 9.99970519e-01 2.11018753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.69, Y:94.69, Z:2.11 [[ 4.28526211e-01 -9.03523508e-01 -3.24926621e-03 2.74691105e+02] [ 9.03496722e-01 4.28538527e-01 -6.95726559e-03 9.46889246e+01] [ 7.67848877e-03 4.56692881e-05 9.99970519e-01 2.11085758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.70, Y:94.71, Z:2.11 [[ 4.26919389e-01 -9.04283854e-01 -3.24762943e-03 2.74699435e+02] [ 9.04257085e-01 4.26931740e-01 -6.95802955e-03 9.47142568e+01] [ 7.67854986e-03 3.38258086e-05 9.99970519e-01 2.10967937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.255898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:274.71, Y:94.74, Z:2.11 [[ 4.24591580e-01 -9.05379177e-01 -3.24599863e-03 2.74708967e+02] [ 9.05352434e-01 4.24603987e-01 -6.95879025e-03 9.47378764e+01] [ 7.67860775e-03 1.58709887e-05 9.99970519e-01 2.10877830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.72, Y:94.76, Z:2.11 [[ 4.22352007e-01 -9.06426090e-01 -3.24429436e-03 2.74719592e+02] [ 9.06399372e-01 4.22364467e-01 -6.95958472e-03 9.47605959e+01] [ 7.67862383e-03 -1.23179326e-06 9.99970519e-01 2.10825852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.73, Y:94.78, Z:2.11 [[ 4.18814120e-01 -9.08066197e-01 -3.24260196e-03 2.74729585e+02] [ 9.08039522e-01 4.18826671e-01 -6.96037315e-03 9.47823970e+01] [ 7.67856776e-03 -2.93081761e-05 9.99970519e-01 2.10877553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.74, Y:94.81, Z:2.11 [[ 4.18359436e-01 -9.08275772e-01 -3.24108980e-03 2.74741270e+02] [ 9.08249097e-01 4.18371989e-01 -6.96107722e-03 9.48058700e+01] [ 7.67855897e-03 -3.14845420e-05 9.99970519e-01 2.11059679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.75, Y:94.83, Z:2.11 [[ 4.18883419e-01 -9.08034244e-01 -3.23948386e-03 2.74752112e+02] [ 9.08007556e-01 4.18895944e-01 -6.96182449e-03 9.48284457e+01] [ 7.67858169e-03 -2.52829824e-05 9.99970519e-01 2.11316950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.76, Y:94.85, Z:2.12 [[ 4.23621360e-01 -9.05833570e-01 -3.23820592e-03 2.74762404e+02] [ 9.05806813e-01 4.23633736e-01 -6.96241886e-03 9.48515744e+01] [ 7.67860601e-03 1.62403616e-05 9.99970519e-01 2.11764049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.77, Y:94.88, Z:2.12 [[ 4.26949592e-01 -9.04269634e-01 -3.23647013e-03 2.74772893e+02] [ 9.04242825e-01 4.26961857e-01 -6.96322565e-03 9.48751437e+01] [ 7.67848280e-03 4.63914636e-05 9.99970519e-01 2.11743534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.78, Y:94.90, Z:2.12 [[ 4.30360563e-01 -9.02651274e-01 -3.23473798e-03 2.74783842e+02] [ 9.02624413e-01 4.30372713e-01 -6.96403022e-03 9.48979754e+01] [ 7.67823371e-03 7.72905027e-05 9.99970519e-01 2.11557125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.80, Y:94.92, Z:2.11 [[ 4.33370159e-01 -9.01210216e-01 -3.23309098e-03 2.74795241e+02] [ 9.01183308e-01 4.33382206e-01 -6.96479476e-03 9.49211980e+01] [ 7.67790829e-03 1.04726588e-04 9.99970519e-01 2.11383931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.81, Y:94.94, Z:2.11 [[ 4.37518253e-01 -8.99203724e-01 -3.23136505e-03 2.74807594e+02] [ 8.99176755e-01 4.37530163e-01 -6.96559543e-03 9.49432742e+01] [ 7.67730902e-03 1.42006802e-04 9.99970519e-01 2.11091912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.82, Y:94.97, Z:2.11 [[ 4.38371071e-01 -8.98788281e-01 -3.22960903e-03 2.74818752e+02] [ 8.98761295e-01 4.38382941e-01 -6.96640951e-03 9.49666934e+01] [ 7.67713274e-03 1.51224803e-04 9.99970519e-01 2.11112189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.83, Y:94.99, Z:2.11 [[ 4.39238372e-01 -8.98364756e-01 -3.22785674e-03 2.74829461e+02] [ 8.98337753e-01 4.39250202e-01 -6.96722134e-03 9.49891526e+01] [ 7.67694282e-03 1.60565384e-04 9.99970519e-01 2.11222976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.84, Y:95.01, Z:2.11 [[ 4.39013947e-01 -8.98474456e-01 -3.22602902e-03 2.74840051e+02] [ 8.98447449e-01 4.39025770e-01 -6.96806752e-03 9.50128541e+01] [ 7.67694055e-03 1.60661284e-04 9.99970519e-01 2.11242925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.85, Y:95.03, Z:2.11 [[ 4.40106069e-01 -8.97940005e-01 -3.22428814e-03 2.74850689e+02] [ 8.97912978e-01 4.40117846e-01 -6.96887297e-03 9.50344353e+01] [ 7.67669658e-03 1.71913122e-04 9.99970519e-01 2.11364887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.86, Y:95.06, Z:2.12 [[ 4.44495251e-01 -8.95775411e-01 -3.22247734e-03 2.74862066e+02] [ 8.95748322e-01 4.44506881e-01 -6.96971020e-03 9.50569913e+01] [ 7.67570838e-03 2.11474412e-04 9.99970519e-01 2.11617415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.87, Y:95.08, Z:2.12 [[ 4.46796380e-01 -8.94629880e-01 -3.22074871e-03 2.74872142e+02] [ 8.94602754e-01 4.46807928e-01 -6.97050893e-03 9.50796223e+01] [ 7.67508162e-03 2.33107488e-04 9.99970519e-01 2.11526676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.88, Y:95.10, Z:2.11 [[ 4.48007327e-01 -8.94024090e-01 -3.21895213e-03 2.74882541e+02] [ 8.93996943e-01 4.48018824e-01 -6.97133848e-03 9.51025182e+01] [ 7.67469569e-03 2.45477356e-04 9.99970519e-01 2.11377587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.90, Y:95.12, Z:2.12 [[ 4.46945731e-01 -8.94555288e-01 -3.21723639e-03 2.74896067e+02] [ 8.94528149e-01 4.46957247e-01 -6.97213020e-03 9.51226628e+01] [ 7.67492305e-03 2.38255314e-04 9.99970519e-01 2.11583698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.91, Y:95.14, Z:2.12 [[ 4.44984514e-01 -8.95532490e-01 -3.21576035e-03 2.74909881e+02] [ 8.95505372e-01 4.44996078e-01 -6.97281092e-03 9.51446584e+01] [ 7.67537947e-03 2.23062215e-04 9.99970519e-01 2.11875270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.92, Y:95.17, Z:2.12 [[ 4.42097242e-01 -8.96961370e-01 -3.21406771e-03 2.74923284e+02] [ 8.96934283e-01 4.42108879e-01 -6.97359105e-03 9.51658710e+01] [ 7.67600965e-03 2.00197849e-04 9.99970519e-01 2.12015671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.94, Y:95.19, Z:2.12 [[ 4.36205288e-01 -8.99841446e-01 -3.21230504e-03 2.74940596e+02] [ 8.99814430e-01 4.36217089e-01 -6.97440291e-03 9.51862696e+01] [ 7.67711915e-03 1.51792994e-04 9.99970519e-01 2.11627213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.96, Y:95.21, Z:2.12 [[ 4.33851927e-01 -9.00978466e-01 -3.21071755e-03 2.74955279e+02] [ 9.00951476e-01 4.33863787e-01 -6.97513364e-03 9.52089274e+01] [ 7.67745929e-03 1.33474455e-04 9.99970519e-01 2.11535084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.97, Y:95.23, Z:2.12 [[ 4.32583690e-01 -9.01588073e-01 -3.20908159e-03 2.74970103e+02] [ 9.01561094e-01 4.32595575e-01 -6.97588623e-03 9.52306143e+01] [ 7.67761031e-03 1.24471500e-04 9.99970519e-01 2.11515135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.99, Y:95.25, Z:2.12 [[ 4.32250922e-01 -9.01747666e-01 -3.20743543e-03 2.74985272e+02] [ 9.01720685e-01 4.32262805e-01 -6.97664303e-03 9.52525692e+01] [ 7.67762660e-03 1.23449507e-04 9.99970519e-01 2.11680977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.00, Y:95.27, Z:2.12 [[ 4.33607798e-01 -9.01096000e-01 -3.20579175e-03 2.75004786e+02] [ 9.01068996e-01 4.33619627e-01 -6.97739822e-03 9.52714445e+01] [ 7.67739985e-03 1.36814726e-04 9.99970519e-01 2.12008263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.02, Y:95.29, Z:2.12 [[ 4.34526099e-01 -9.00653542e-01 -3.20398694e-03 2.75019418e+02] [ 9.00626521e-01 4.34537887e-01 -6.97822689e-03 9.52917262e+01] [ 7.67721848e-03 1.46626102e-04 9.99970519e-01 2.11994505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03589822699996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:275.03, Y:95.31, Z:2.12 [[ 4.35860710e-01 -9.00008438e-01 -3.20211259e-03 2.75034460e+02] [ 8.99981392e-01 4.35872443e-01 -6.97908686e-03 9.53142739e+01] [ 7.67694970e-03 1.60068008e-04 9.99970519e-01 2.11990190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.05, Y:95.33, Z:2.12 [[ 4.40917286e-01 -8.97542035e-01 -3.20046895e-03 2.75053869e+02] [ 8.97514918e-01 4.40928853e-01 -6.97984052e-03 9.53339105e+01] [ 7.67587937e-03 2.05063707e-04 9.99970519e-01 2.12038302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.07, Y:95.36, Z:2.12 [[ 4.43727390e-01 -8.96156109e-01 -3.19883567e-03 2.75067628e+02] [ 8.96128950e-01 4.43738860e-01 -6.98058897e-03 9.53552230e+01] [ 7.67514514e-03 2.30909274e-04 9.99970519e-01 2.12097696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.08, Y:95.38, Z:2.12 [[ 4.48657654e-01 -8.93697985e-01 -3.19704928e-03 2.75084471e+02] [ 8.93670758e-01 4.48668960e-01 -6.98140702e-03 9.53763903e+01] [ 7.67368617e-03 2.75152241e-04 9.99970519e-01 2.12102326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.10, Y:95.40, Z:2.12 [[ 4.50118417e-01 -8.92963157e-01 -3.19538229e-03 2.75097943e+02] [ 8.92935907e-01 4.50129666e-01 -6.98216992e-03 9.53982993e+01] [ 7.67315686e-03 2.89531689e-04 9.99970519e-01 2.12023916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.11, Y:95.42, Z:2.12 [[ 4.50742821e-01 -8.92648144e-01 -3.19364218e-03 2.75111790e+02] [ 8.92620880e-01 4.50754037e-01 -6.98296576e-03 9.54210428e+01] [ 7.67287853e-03 2.96809992e-04 9.99970519e-01 2.11986543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.12, Y:95.44, Z:2.12 [[ 4.50934697e-01 -8.92551237e-01 -3.19200938e-03 2.75124932e+02] [ 8.92523965e-01 4.50945894e-01 -6.98371205e-03 9.54425123e+01] [ 7.67274435e-03 3.00253211e-04 9.99970519e-01 2.11944397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.14, Y:95.46, Z:2.12 [[ 4.51052664e-01 -8.92491634e-01 -3.19031229e-03 2.75140644e+02] [ 8.92464355e-01 4.51063844e-01 -6.98448723e-03 9.54638601e+01] [ 7.67263095e-03 3.03131566e-04 9.99970519e-01 2.12050420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.15, Y:95.49, Z:2.12 [[ 4.51229561e-01 -8.92402216e-01 -3.18869012e-03 2.75153282e+02] [ 8.92374930e-01 4.51240724e-01 -6.98522774e-03 9.54868756e+01] [ 7.67249955e-03 3.06434120e-04 9.99970519e-01 2.12031477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.17, Y:95.51, Z:2.12 [[ 4.52156558e-01 -8.91932895e-01 -3.18706430e-03 2.75166402e+02] [ 8.91905593e-01 4.52167679e-01 -6.98596946e-03 9.55100000e+01] [ 7.67210343e-03 3.16191429e-04 9.99970519e-01 2.11905490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.18, Y:95.53, Z:2.12 [[ 4.52828557e-01 -8.91591920e-01 -3.18543395e-03 2.75177209e+02] [ 8.91564603e-01 4.52839645e-01 -6.98671278e-03 9.55334244e+01] [ 7.67178743e-03 3.23762908e-04 9.99970519e-01 2.11882237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.19, Y:95.56, Z:2.12 [[ 4.53845249e-01 -8.91074831e-01 -3.18373043e-03 2.75188359e+02] [ 8.91047496e-01 4.53856293e-01 -6.98748895e-03 9.55572764e+01] [ 7.67133163e-03 3.34383634e-04 9.99970519e-01 2.11804269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.20, Y:95.58, Z:2.12 [[ 4.54377379e-01 -8.90803610e-01 -3.18211675e-03 2.75199652e+02] [ 8.90776264e-01 4.54388394e-01 -6.98822375e-03 9.55812515e+01] [ 7.67105186e-03 3.40736720e-04 9.99970519e-01 2.11701055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.42589822699995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:275.21, Y:95.60, Z:2.12 [[ 4.54355548e-01 -8.90814751e-01 -3.18048534e-03 2.75210587e+02] [ 8.90787400e-01 4.54366551e-01 -6.98896616e-03 9.56041112e+01] [ 7.67098030e-03 3.42339291e-04 9.99970519e-01 2.11527840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.23, Y:95.63, Z:2.11 [[ 4.53189965e-01 -8.91408295e-01 -3.17918877e-03 2.75226091e+02] [ 8.91380954e-01 4.53200994e-01 -6.98955590e-03 9.56251652e+01] [ 7.67135962e-03 3.33728273e-04 9.99970519e-01 2.11450453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.24, Y:95.65, Z:2.11 [[ 4.52011705e-01 -8.92006347e-01 -3.17743745e-03 2.75239461e+02] [ 8.91979015e-01 4.52022755e-01 -6.99035196e-03 9.56479695e+01] [ 7.67171235e-03 3.25513378e-04 9.99970519e-01 2.11401186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.26, Y:95.67, Z:2.11 [[ 4.51181987e-01 -8.92426315e-01 -3.17583664e-03 2.75255529e+02] [ 8.92398989e-01 4.51193051e-01 -6.99107916e-03 9.56680280e+01] [ 7.67193844e-03 3.20135579e-04 9.99970519e-01 2.11271510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.27, Y:95.69, Z:2.11 [[ 4.51883647e-01 -8.92071239e-01 -3.17400621e-03 2.75267730e+02] [ 8.92043898e-01 4.51894674e-01 -6.99191009e-03 9.56897043e+01] [ 7.67159840e-03 3.28176959e-04 9.99970519e-01 2.11360579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.28, Y:95.71, Z:2.12 [[ 4.53306272e-01 -8.91349180e-01 -3.17218820e-03 2.75279561e+02] [ 8.91321816e-01 4.53317242e-01 -6.99273481e-03 9.57126158e+01] [ 7.67097605e-03 3.42410000e-04 9.99970519e-01 2.11507151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.29, Y:95.74, Z:2.12 [[ 4.57939911e-01 -8.88977495e-01 -3.17046162e-03 2.75292538e+02] [ 8.88950069e-01 4.57950724e-01 -6.99351755e-03 9.57361522e+01] [ 7.66899490e-03 3.84228723e-04 9.99970519e-01 2.11777721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.30, Y:95.76, Z:2.12 [[ 4.60482282e-01 -8.87663239e-01 -3.16885081e-03 2.75303798e+02] [ 8.87635777e-01 4.60493005e-01 -6.99424735e-03 9.57590532e+01] [ 7.66776989e-03 4.07941626e-04 9.99970519e-01 2.11763617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.32, Y:95.78, Z:2.12 [[ 4.63134126e-01 -8.86282546e-01 -3.16717603e-03 2.75315129e+02] [ 8.86255047e-01 4.63144753e-01 -6.99500565e-03 9.57819848e+01] [ 7.66641237e-03 4.32700091e-04 9.99970519e-01 2.11804428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.33, Y:95.80, Z:2.12 [[ 4.67541821e-01 -8.83965285e-01 -3.16543695e-03 2.75326581e+02] [ 8.83937728e-01 4.67552298e-01 -6.99579254e-03 9.58041472e+01] [ 7.66404507e-03 4.72776436e-04 9.99970519e-01 2.11756113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.34, Y:95.83, Z:2.12 [[ 4.68887472e-01 -8.83252244e-01 -3.16418461e-03 2.75337048e+02] [ 8.83224667e-01 4.68897897e-01 -6.99635893e-03 9.58277751e+01] [ 7.66322923e-03 4.85819154e-04 9.99970519e-01 2.11866242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.35, Y:95.85, Z:2.12 [[ 4.69777751e-01 -8.82779057e-01 -3.16260647e-03 2.75347421e+02] [ 8.82751465e-01 4.69788135e-01 -6.99707223e-03 9.58509644e+01] [ 7.66262382e-03 4.95273360e-04 9.99970519e-01 2.11846680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.36, Y:95.87, Z:2.12 [[ 4.70409525e-01 -8.82442569e-01 -3.16095657e-03 2.75357308e+02] [ 8.82414965e-01 4.70419876e-01 -6.99781750e-03 9.58732906e+01] [ 7.66214885e-03 5.02564620e-04 9.99970519e-01 2.11773645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.37, Y:95.90, Z:2.12 [[ 4.71265627e-01 -8.81985673e-01 -3.15918448e-03 2.75368355e+02] [ 8.81958054e-01 4.71275938e-01 -6.99861743e-03 9.58957672e+01] [ 7.66152793e-03 5.11939637e-04 9.99970519e-01 2.11539699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.38, Y:95.92, Z:2.12 [[ 4.71031492e-01 -8.82110743e-01 -3.15750369e-03 2.75379395e+02] [ 8.82083122e-01 4.71041797e-01 -6.99937565e-03 9.59195182e+01] [ 7.66154067e-03 5.11745643e-04 9.99970519e-01 2.11544133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.39, Y:95.94, Z:2.12 [[ 4.70182239e-01 -8.82563710e-01 -3.15595266e-03 2.75389791e+02] [ 8.82536094e-01 4.70192558e-01 -7.00007493e-03 9.59421680e+01] [ 7.66191755e-03 5.06068768e-04 9.99970519e-01 2.11619002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.40, Y:95.96, Z:2.12 [[ 4.69079918e-01 -8.83150090e-01 -3.15417584e-03 2.75399830e+02] [ 8.83122482e-01 4.69090257e-01 -7.00087545e-03 9.59641959e+01] [ 7.66241695e-03 4.98446483e-04 9.99970519e-01 2.11931919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.41, Y:95.99, Z:2.12 [[ 4.68950581e-01 -8.83218781e-01 -3.15246239e-03 2.75411030e+02] [ 8.83191169e-01 4.68960911e-01 -7.00164693e-03 9.59875217e+01] [ 7.66236770e-03 4.99199455e-04 9.99970519e-01 2.12397685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.42, Y:96.01, Z:2.12 [[ 4.70024927e-01 -8.82647517e-01 -3.15087071e-03 2.75420890e+02] [ 8.82619888e-01 4.70035211e-01 -7.00236314e-03 9.60113220e+01] [ 7.66163862e-03 5.10264071e-04 9.99970519e-01 2.12382134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.43, Y:96.04, Z:2.12 [[ 4.73209309e-01 -8.80944398e-01 -3.14921388e-03 2.75429886e+02] [ 8.80916727e-01 4.73219480e-01 -7.00310820e-03 9.60364923e+01] [ 7.65961829e-03 5.39740807e-04 9.99970519e-01 2.12050000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.44, Y:96.06, Z:2.12 [[ 4.74180296e-01 -8.80422137e-01 -3.14763035e-03 2.75439077e+02] [ 8.80394450e-01 4.74190424e-01 -7.00381986e-03 9.60608369e+01] [ 7.65889422e-03 5.49917077e-04 9.99970519e-01 2.11905062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.45, Y:96.09, Z:2.12 [[ 4.74397246e-01 -8.80305263e-01 -3.14602787e-03 2.75448625e+02] [ 8.80277569e-01 4.74407354e-01 -7.00453960e-03 9.60850516e+01] [ 7.65863183e-03 5.53556532e-04 9.99970519e-01 2.11880309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.46, Y:96.11, Z:2.12 [[ 4.73728476e-01 -8.80665341e-01 -3.14442720e-03 2.75458479e+02] [ 8.80637651e-01 4.73738593e-01 -7.00525809e-03 9.61094599e+01] [ 7.65892452e-03 5.49489263e-04 9.99970519e-01 2.12040668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.47, Y:96.13, Z:2.12 [[ 4.71065396e-01 -8.82092691e-01 -3.14282520e-03 2.75467058e+02] [ 8.82065026e-01 4.71075584e-01 -7.00597674e-03 9.61344427e+01] [ 7.66042909e-03 5.28097015e-04 9.99970519e-01 2.12454962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.48, Y:96.16, Z:2.13 [[ 4.68940482e-01 -8.83224183e-01 -3.14120695e-03 2.75475642e+02] [ 8.83196538e-01 4.68950724e-01 -7.00670222e-03 9.61582592e+01] [ 7.66156011e-03 5.11423209e-04 9.99970519e-01 2.12524148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.48, Y:96.18, Z:2.13 [[ 4.66747431e-01 -8.84385086e-01 -3.13951327e-03 2.75483834e+02] [ 8.84357461e-01 4.66757728e-01 -7.00746103e-03 9.61821615e+01] [ 7.66268610e-03 4.94262447e-04 9.99970519e-01 2.12537598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.49, Y:96.21, Z:2.13 [[ 4.64648907e-01 -8.85489439e-01 -3.13785185e-03 2.75492815e+02] [ 8.85461835e-01 4.64659256e-01 -7.00820491e-03 9.62073206e+01] [ 7.66372335e-03 4.77906692e-04 9.99970519e-01 2.12543611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.50, Y:96.23, Z:2.13 [[ 4.60931624e-01 -8.87430111e-01 -3.13624725e-03 2.75500053e+02] [ 8.87402545e-01 4.60942076e-01 -7.00892291e-03 9.62322484e+01] [ 7.66555756e-03 4.47520421e-04 9.99970519e-01 2.12658740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.51, Y:96.26, Z:2.13 [[ 4.59211812e-01 -8.88321273e-01 -3.13496963e-03 2.75507838e+02] [ 8.88293723e-01 4.59222308e-01 -7.00949433e-03 9.62551150e+01] [ 7.66633091e-03 4.34068749e-04 9.99970519e-01 2.12760783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.51, Y:96.28, Z:2.13 [[ 4.57151235e-01 -8.89383456e-01 -3.13316387e-03 2.75514932e+02] [ 8.89355926e-01 4.57161780e-01 -7.01030139e-03 9.62807672e+01] [ 7.66720885e-03 4.18270087e-04 9.99970519e-01 2.12718298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.52, Y:96.31, Z:2.13 [[ 4.57196552e-01 -8.89360167e-01 -3.13157957e-03 2.75523123e+02] [ 8.89332631e-01 4.57207084e-01 -7.01100904e-03 9.63056170e+01] [ 7.66709253e-03 4.20393264e-04 9.99970519e-01 2.12584912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.53, Y:96.33, Z:2.12 [[ 4.58207796e-01 -8.88839591e-01 -3.12997626e-03 2.75530656e+02] [ 8.88812039e-01 4.58218284e-01 -7.01172475e-03 9.63303176e+01] [ 7.66651090e-03 4.30866368e-04 9.99970519e-01 2.12409185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.53, Y:96.36, Z:2.12 [[ 4.61791648e-01 -8.86982913e-01 -3.12829875e-03 2.75533556e+02] [ 8.86955313e-01 4.61802012e-01 -7.01247309e-03 9.63568051e+01] [ 7.66459846e-03 4.63640315e-04 9.99970519e-01 2.12210815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.54, Y:96.38, Z:2.12 [[ 4.63820322e-01 -8.85923774e-01 -3.12665177e-03 2.75539865e+02] [ 8.85896146e-01 4.63830609e-01 -7.01320735e-03 9.63832048e+01] [ 7.66340392e-03 4.82979342e-04 9.99970519e-01 2.12197927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.55, Y:96.41, Z:2.12 [[ 4.65909076e-01 -8.84827083e-01 -3.12506024e-03 2.75546673e+02] [ 8.84799426e-01 4.65919286e-01 -7.01391646e-03 9.64087980e+01] [ 7.66212907e-03 5.02795838e-04 9.99970519e-01 2.12138702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.55, Y:96.43, Z:2.12 [[ 4.67735019e-01 -8.83863223e-01 -3.12347238e-03 2.75553887e+02] [ 8.83835540e-01 4.67745158e-01 -7.01462350e-03 9.64342844e+01] [ 7.66095682e-03 5.20349157e-04 9.99970519e-01 2.12196534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.56, Y:96.46, Z:2.12 [[ 4.67534939e-01 -8.83969080e-01 -3.12188488e-03 2.75564547e+02] [ 8.83941396e-01 4.67545072e-01 -7.01532995e-03 9.64588880e+01] [ 7.66095666e-03 5.20348581e-04 9.99970519e-01 2.12217123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.57, Y:96.49, Z:2.12 [[ 4.70198962e-01 -8.82554927e-01 -3.12029671e-03 2.75569297e+02] [ 8.82527208e-01 4.70208999e-01 -7.01603627e-03 9.64854949e+01] [ 7.65922898e-03 5.45186234e-04 9.99970519e-01 2.12490123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.58, Y:96.51, Z:2.13 [[ 4.70690465e-01 -8.82292899e-01 -3.11867787e-03 2.75576323e+02] [ 8.82265170e-01 4.70700473e-01 -7.01675579e-03 9.65095296e+01] [ 7.65879696e-03 5.51219183e-04 9.99970519e-01 2.12660447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.58, Y:96.54, Z:2.13 [[ 4.70767702e-01 -8.82251696e-01 -3.11698590e-03 2.75581097e+02] [ 8.82223960e-01 4.70777695e-01 -7.01750731e-03 9.65352898e+01] [ 7.65861517e-03 5.53736148e-04 9.99970519e-01 2.12867685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.59, Y:96.56, Z:2.13 [[ 4.70648926e-01 -8.82315069e-01 -3.11570782e-03 2.75588431e+02] [ 8.82287331e-01 4.70658913e-01 -7.01807472e-03 9.65601524e+01] [ 7.65858874e-03 5.54099794e-04 9.99970519e-01 2.12806133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.60, Y:96.58, Z:2.13 [[ 4.70509696e-01 -8.82389330e-01 -3.11404962e-03 2.75595094e+02] [ 8.82361589e-01 4.70519674e-01 -7.01881042e-03 9.65839041e+01] [ 7.65854503e-03 5.54700589e-04 9.99970519e-01 2.12812142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.60, Y:96.61, Z:2.13 [[ 4.70239052e-01 -8.82533596e-01 -3.11232414e-03 2.75602593e+02] [ 8.82505853e-01 4.70249025e-01 -7.01957546e-03 9.66097330e+01] [ 7.65857856e-03 5.54234240e-04 9.99970519e-01 2.12870821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.61, Y:96.64, Z:2.13 [[ 4.70566007e-01 -8.82359313e-01 -3.11073116e-03 2.75608683e+02] [ 8.82331562e-01 4.70575957e-01 -7.02028132e-03 9.66357150e+01] [ 7.65824589e-03 5.58809463e-04 9.99970519e-01 2.12718533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.62, Y:96.66, Z:2.13 [[ 4.70586758e-01 -8.82348252e-01 -3.10912882e-03 2.75616872e+02] [ 8.82320496e-01 4.70596694e-01 -7.02099089e-03 9.66600804e+01] [ 7.65810478e-03 5.60737258e-04 9.99970519e-01 2.12607906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77589822699997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:275.62, Y:96.68, Z:2.13 [[ 4.70635438e-01 -8.82322293e-01 -3.10745263e-03 2.75624664e+02] [ 8.82294532e-01 4.70645360e-01 -7.02173268e-03 9.66847432e+01] [ 7.65793944e-03 5.62987769e-04 9.99970519e-01 2.12795868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.63, Y:96.71, Z:2.13 [[ 4.69980062e-01 -8.82671591e-01 -3.09907970e-03 2.75631802e+02] [ 8.82643813e-01 4.69989938e-01 -7.02543549e-03 9.67107633e+01] [ 7.65768860e-03 5.66431082e-04 9.99970519e-01 2.12591678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.64, Y:96.74, Z:2.12 [[ 4.68761112e-01 -8.83319525e-01 -3.10431756e-03 2.75640766e+02] [ 8.83291776e-01 4.68771068e-01 -7.02312029e-03 9.67353348e+01] [ 7.65887353e-03 5.50147507e-04 9.99970519e-01 2.12442180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.65, Y:96.76, Z:2.12 [[ 4.65422148e-01 -8.85083384e-01 -3.10275890e-03 2.75650386e+02] [ 8.85055669e-01 4.65432196e-01 -7.02380882e-03 9.67594444e+01] [ 7.66078037e-03 5.22921831e-04 9.99970519e-01 2.12287304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.66, Y:96.78, Z:2.12 [[ 4.63884582e-01 -8.85890218e-01 -3.10117047e-03 2.75660763e+02] [ 8.85862515e-01 4.63894666e-01 -7.02451008e-03 9.67825883e+01] [ 7.66156120e-03 5.11351249e-04 9.99970519e-01 2.12208753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.67, Y:96.81, Z:2.12 [[ 4.61813716e-01 -8.86971552e-01 -3.09167198e-03 2.75671915e+02] [ 8.86943845e-01 4.61823790e-01 -7.02870103e-03 9.68069395e+01] [ 7.66206553e-03 5.03811101e-04 9.99970519e-01 2.12398497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.68, Y:96.83, Z:2.12 [[ 4.60146248e-01 -8.87837728e-01 -3.09830215e-03 2.75683572e+02] [ 8.87810060e-01 4.60156426e-01 -7.02577718e-03 9.68307853e+01] [ 7.66345370e-03 4.82181188e-04 9.99970519e-01 2.12432030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98589822699995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:275.70, Y:96.85, Z:2.12 [[ 4.57465513e-01 -8.89221972e-01 -3.09664180e-03 2.75696125e+02] [ 8.89194329e-01 4.57475762e-01 -7.02650891e-03 9.68527477e+01] [ 7.66476468e-03 4.60869180e-04 9.99970519e-01 2.12285104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.71, Y:96.88, Z:2.12 [[ 4.57312318e-01 -8.89300773e-01 -3.09490202e-03 2.75708623e+02] [ 8.89273128e-01 4.57322558e-01 -7.02727513e-03 9.68759685e+01] [ 7.66472972e-03 4.61446281e-04 9.99970519e-01 2.12115342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.72, Y:96.90, Z:2.12 [[ 4.57662358e-01 -8.89120688e-01 -3.09327886e-03 2.75720131e+02] [ 8.89093034e-01 4.57672574e-01 -7.02798955e-03 9.68997090e+01] [ 7.66443980e-03 4.66233579e-04 9.99970519e-01 2.12053061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.73, Y:96.92, Z:2.12 [[ 4.61391818e-01 -8.87191091e-01 -3.09163847e-03 2.75731759e+02] [ 8.87163390e-01 4.61401904e-01 -7.02871109e-03 9.69233232e+01] [ 7.66229774e-03 5.00201321e-04 9.99970519e-01 2.12110938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.74, Y:96.95, Z:2.12 [[ 4.63406356e-01 -8.86140509e-01 -3.09000778e-03 2.75741544e+02] [ 8.86112780e-01 4.63416367e-01 -7.02942791e-03 9.69464649e+01] [ 7.66102100e-03 5.19386185e-04 9.99970519e-01 2.12203552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.75, Y:96.97, Z:2.12 [[ 4.65233993e-01 -8.85182351e-01 -3.08830293e-03 2.75751023e+02] [ 8.85154596e-01 4.65243933e-01 -7.03017684e-03 9.69695697e+01] [ 7.65980266e-03 5.37051702e-04 9.99970519e-01 2.12395047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.76, Y:96.99, Z:2.13 [[ 4.66698001e-01 -8.84411357e-01 -3.08661133e-03 2.75761309e+02] [ 8.84383581e-01 4.66707882e-01 -7.03091946e-03 9.69937151e+01] [ 7.65877086e-03 5.51567675e-04 9.99970519e-01 2.12623266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.77, Y:97.02, Z:2.13 [[ 4.67726471e-01 -8.83867881e-01 -3.08499983e-03 2.75771705e+02] [ 8.83840089e-01 4.67736307e-01 -7.03162647e-03 9.70167947e+01] [ 7.65799522e-03 5.62231313e-04 9.99970519e-01 2.12822330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.78, Y:97.04, Z:2.13 [[ 4.67291083e-01 -8.84098149e-01 -3.08331756e-03 2.75783027e+02] [ 8.84070357e-01 4.67300919e-01 -7.03236406e-03 9.70398292e+01] [ 7.65813718e-03 5.60291358e-04 9.99970519e-01 2.12770907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.255898227 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:275.79, Y:97.06, Z:2.13 [[ 4.66686673e-01 -8.84417352e-01 -3.08166077e-03 2.75794550e+02] [ 8.84389562e-01 4.66696516e-01 -7.03309001e-03 9.70630791e+01] [ 7.65838719e-03 5.56860763e-04 9.99970519e-01 2.12776033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.81, Y:97.08, Z:2.12 [[ 4.66293208e-01 -8.84624868e-01 -3.08006443e-03 2.75808986e+02] [ 8.84597079e-01 4.66303050e-01 -7.03378904e-03 9.70839550e+01] [ 7.65850814e-03 5.55192053e-04 9.99970519e-01 2.12404793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.82, Y:97.11, Z:2.12 [[ 4.66194434e-01 -8.84676938e-01 -3.07648444e-03 2.75820486e+02] [ 8.84649140e-01 4.66204250e-01 -7.03535581e-03 9.71061768e+01] [ 7.65828716e-03 5.58234402e-04 9.99970519e-01 2.12441143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34589822699996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:275.83, Y:97.13, Z:2.13 [[ 4.66593988e-01 -8.84466269e-01 -3.07723129e-03 2.75831951e+02] [ 8.84438468e-01 4.66603798e-01 -7.03502912e-03 9.71303652e+01] [ 7.65809377e-03 5.60880559e-04 9.99970519e-01 2.12663758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.85, Y:97.15, Z:2.13 [[ 4.69157302e-01 -8.83109261e-01 -3.07563838e-03 2.75846046e+02] [ 8.83081427e-01 4.69167019e-01 -7.03572546e-03 9.71529457e+01] [ 7.65630240e-03 5.84822850e-04 9.99970519e-01 2.12722386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.86, Y:97.18, Z:2.13 [[ 4.70932369e-01 -8.82163961e-01 -3.07403029e-03 2.75856886e+02] [ 8.82136104e-01 4.70942017e-01 -7.03642799e-03 9.71758247e+01] [ 7.65497321e-03 6.01968597e-04 9.99970519e-01 2.12620428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.87, Y:97.20, Z:2.12 [[ 4.74988664e-01 -8.79986551e-01 -3.07235241e-03 2.75866931e+02] [ 8.79958645e-01 4.74998171e-01 -7.03716054e-03 9.72000728e+01] [ 7.65196840e-03 6.39028426e-04 9.99970519e-01 2.12382209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.88, Y:97.22, Z:2.12 [[ 4.76689240e-01 -8.79066516e-01 -3.07074592e-03 2.75876114e+02] [ 8.79038587e-01 4.76698680e-01 -7.03786148e-03 9.72237075e+01] [ 7.65056889e-03 6.55568685e-04 9.99970519e-01 2.12406804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.88, Y:97.25, Z:2.12 [[ 4.78114512e-01 -8.78292146e-01 -3.06906332e-03 2.75884968e+02] [ 8.78264198e-01 4.78123893e-01 -7.03859515e-03 9.72471546e+01] [ 7.64933534e-03 6.69806057e-04 9.99970519e-01 2.12446988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.89, Y:97.27, Z:2.13 [[ 4.79527728e-01 -8.77521367e-01 -3.06740819e-03 2.75893787e+02] [ 8.77493399e-01 4.79537051e-01 -7.03931637e-03 9.72704435e+01] [ 7.64808640e-03 6.83916950e-04 9.99970519e-01 2.12618577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.90, Y:97.30, Z:2.13 [[ 4.80336590e-01 -8.77078904e-01 -3.05873719e-03 2.75901190e+02] [ 8.77050905e-01 4.80345819e-01 -7.04309229e-03 9.72966887e+01] [ 7.64659929e-03 7.00386720e-04 9.99970519e-01 2.12877084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.91, Y:97.32, Z:2.13 [[ 4.79607768e-01 -8.77477634e-01 -3.06444527e-03 2.75908898e+02] [ 8.77449657e-01 4.79617065e-01 -7.04060783e-03 9.73210819e+01] [ 7.64773615e-03 6.87833757e-04 9.99970519e-01 2.12869050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.92, Y:97.35, Z:2.13 [[ 4.78105547e-01 -8.78297047e-01 -3.06318813e-03 2.75917040e+02] [ 8.78269083e-01 4.78114881e-01 -7.04115474e-03 9.73457348e+01] [ 7.64878125e-03 6.76111705e-04 9.99970519e-01 2.12811237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.92, Y:97.37, Z:2.12 [[ 4.73095983e-01 -8.81005572e-01 -3.06159629e-03 2.75924987e+02] [ 8.80977657e-01 4.73105464e-01 -7.04184682e-03 9.73697303e+01] [ 7.65236422e-03 6.34271518e-04 9.99970519e-01 2.12498373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.94, Y:97.39, Z:2.12 [[ 4.70126251e-01 -8.82593872e-01 -3.06032484e-03 2.75935691e+02] [ 8.82565986e-01 4.70135816e-01 -7.04239934e-03 9.73949492e+01] [ 7.65434682e-03 6.09878188e-04 9.99970519e-01 2.12458674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.95, Y:97.42, Z:2.12 [[ 4.65131117e-01 -8.85236515e-01 -3.05881280e-03 2.75945455e+02] [ 8.85208679e-01 4.65140828e-01 -7.04305602e-03 9.74185250e+01] [ 7.65754909e-03 5.68256876e-04 9.99970519e-01 2.12368298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.95, Y:97.44, Z:2.13 [[ 4.63674756e-01 -8.86000211e-01 -3.05714359e-03 2.75954411e+02] [ 8.85972387e-01 4.63684499e-01 -7.04378049e-03 9.74416796e+01] [ 7.65834110e-03 5.57478395e-04 9.99970519e-01 2.12501129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.96, Y:97.47, Z:2.13 [[ 4.63086951e-01 -8.86307588e-01 -3.05544299e-03 2.75963487e+02] [ 8.86279765e-01 4.63096699e-01 -7.04451810e-03 9.74661841e+01] [ 7.65857541e-03 5.54247109e-04 9.99970519e-01 2.12803372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.97, Y:97.49, Z:2.13 [[ 4.62019904e-01 -8.86864298e-01 -3.05389089e-03 2.75970721e+02] [ 8.86836482e-01 4.62029673e-01 -7.04519090e-03 9.74914792e+01] [ 7.65911648e-03 5.46716567e-04 9.99970519e-01 2.12990908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.98, Y:97.52, Z:2.13 [[ 4.61042974e-01 -8.87372560e-01 -3.05230174e-03 2.75979158e+02] [ 8.87344751e-01 4.61052761e-01 -7.04587932e-03 9.75168628e+01] [ 7.65959211e-03 5.40009225e-04 9.99970519e-01 2.12940379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.99, Y:97.54, Z:2.13 [[ 4.59303470e-01 -8.88274178e-01 -3.05071130e-03 2.75986999e+02] [ 8.88246384e-01 4.59313299e-01 -7.04656788e-03 9.75418360e+01] [ 7.66051656e-03 5.26729799e-04 9.99970519e-01 2.12988785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.00, Y:97.57, Z:2.13 [[ 4.57658900e-01 -8.89122620e-01 -3.04911686e-03 2.75995611e+02] [ 8.89094840e-01 4.57668769e-01 -7.04725774e-03 9.75660069e+01] [ 7.66136183e-03 5.14286161e-04 9.99970519e-01 2.12932267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.01, Y:97.59, Z:2.13 [[ 4.52587169e-01 -8.91714962e-01 -3.04653596e-03 2.76005878e+02] [ 8.91687231e-01 4.52597175e-01 -7.04837377e-03 9.75906397e+01] [ 7.66399392e-03 4.73446314e-04 9.99970519e-01 2.12646769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.02, Y:97.61, Z:2.13 [[ 4.49055017e-01 -8.93498917e-01 -3.04592026e-03 2.76016770e+02] [ 8.93471224e-01 4.49065128e-01 -7.04863983e-03 9.76140367e+01] [ 7.66576863e-03 4.43784972e-04 9.99970519e-01 2.12580897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.03, Y:97.64, Z:2.13 [[ 4.45069808e-01 -8.95490703e-01 -3.04423508e-03 2.76027867e+02] [ 8.95463050e-01 4.45080029e-01 -7.04936757e-03 9.76381597e+01] [ 7.66757136e-03 4.11460641e-04 9.99970519e-01 2.12671445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.005898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:276.04, Y:97.66, Z:2.13 [[ 4.37702867e-01 -8.99114533e-01 -3.04264745e-03 2.76038373e+02] [ 8.99086960e-01 4.37713302e-01 -7.05005276e-03 9.76604261e+01] [ 7.67061215e-03 3.50223658e-04 9.99970519e-01 2.13092912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.05, Y:97.68, Z:2.13 [[ 4.35153307e-01 -9.00351239e-01 -3.04082691e-03 2.76050668e+02] [ 9.00323690e-01 4.35163806e-01 -7.05083790e-03 9.76826532e+01] [ 7.67148845e-03 3.30466922e-04 9.99970519e-01 2.13075829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.07, Y:97.70, Z:2.13 [[ 4.32736986e-01 -9.01515094e-01 -3.03909606e-03 2.76066912e+02] [ 9.01487569e-01 4.32747545e-01 -7.05158387e-03 9.77029252e+01] [ 7.67227065e-03 3.11773825e-04 9.99970519e-01 2.12936782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.08, Y:97.72, Z:2.13 [[ 4.32919851e-01 -9.01427300e-01 -3.03735697e-03 2.76080059e+02] [ 9.01399768e-01 4.32930391e-01 -7.05233287e-03 9.77243740e+01] [ 7.67212952e-03 3.15222032e-04 9.99970519e-01 2.12862508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.09, Y:97.75, Z:2.13 [[ 4.33793214e-01 -9.01007344e-01 -3.03554980e-03 2.76092665e+02] [ 9.00979796e-01 4.33803713e-01 -7.05311065e-03 9.77464144e+01] [ 7.67173726e-03 3.24622496e-04 9.99970519e-01 2.12813509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.11, Y:97.77, Z:2.13 [[ 4.36454605e-01 -8.99721164e-01 -3.03383624e-03 2.76108866e+02] [ 8.99693581e-01 4.36465009e-01 -7.05384765e-03 9.77672279e+01] [ 7.67065938e-03 3.49161304e-04 9.99970519e-01 2.13027364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.185898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:276.12, Y:97.79, Z:2.13 [[ 4.37165825e-01 -8.99375810e-01 -3.03205296e-03 2.76121482e+02] [ 8.99348213e-01 4.37176194e-01 -7.05461410e-03 9.77887759e+01] [ 7.67029064e-03 3.57164784e-04 9.99970519e-01 2.13343739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.14, Y:97.81, Z:2.13 [[ 4.37925623e-01 -8.99006100e-01 -3.03020394e-03 2.76136277e+02] [ 8.98978488e-01 4.37935953e-01 -7.05540823e-03 9.78106012e+01] [ 7.66989028e-03 3.65655886e-04 9.99970519e-01 2.13342064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.15, Y:97.83, Z:2.13 [[ 4.40046435e-01 -8.97969912e-01 -3.02858995e-03 2.76153948e+02] [ 8.97942271e-01 4.40056688e-01 -7.05610098e-03 9.78295727e+01] [ 7.66891763e-03 3.85513144e-04 9.99970519e-01 2.13380932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.17, Y:97.85, Z:2.13 [[ 4.41568289e-01 -8.97222539e-01 -3.02674018e-03 2.76166983e+02] [ 8.97194876e-01 4.41578481e-01 -7.05689435e-03 9.78506248e+01] [ 7.66814800e-03 4.00524988e-04 9.99970519e-01 2.13285917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.18, Y:97.87, Z:2.13 [[ 4.43476162e-01 -8.96281063e-01 -3.02491283e-03 2.76180595e+02] [ 8.96253373e-01 4.43486280e-01 -7.05767755e-03 9.78736139e+01] [ 7.66717008e-03 4.18823423e-04 9.99970519e-01 2.13261082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.19, Y:97.90, Z:2.13 [[ 4.45473718e-01 -8.95289912e-01 -3.02330616e-03 2.76193504e+02] [ 8.95262195e-01 4.45483762e-01 -7.05836573e-03 9.78962601e+01] [ 7.66611744e-03 4.37664715e-04 9.99970519e-01 2.13358219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.21, Y:97.92, Z:2.13 [[ 4.50573682e-01 -8.92734133e-01 -3.02066862e-03 2.76208419e+02] [ 8.92706352e-01 4.50583547e-01 -7.05949478e-03 9.79182165e+01] [ 7.66331554e-03 4.84252488e-04 9.99970519e-01 2.13320189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.22, Y:97.94, Z:2.13 [[ 4.53345835e-01 -8.91329588e-01 -3.02000146e-03 2.76220523e+02] [ 8.91301774e-01 4.53355608e-01 -7.05978018e-03 9.79409871e+01] [ 7.66172555e-03 5.08789282e-04 9.99970519e-01 2.13219639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.23, Y:97.97, Z:2.13 [[ 4.53131136e-01 -8.91438760e-01 -3.01829912e-03 2.76230443e+02] [ 8.91410944e-01 4.53140903e-01 -7.06050791e-03 9.79650052e+01] [ 7.66172521e-03 5.08791097e-04 9.99970519e-01 2.13239587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.24, Y:97.99, Z:2.13 [[ 4.57554807e-01 -8.89176304e-01 -3.01659830e-03 2.76244093e+02] [ 8.89148435e-01 4.57564421e-01 -7.06123451e-03 9.79862215e+01] [ 7.65897046e-03 5.48698132e-04 9.99970519e-01 2.13027969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.26, Y:98.01, Z:2.13 [[ 4.59414743e-01 -8.88216755e-01 -3.01482885e-03 2.76255859e+02] [ 8.88188862e-01 4.59424286e-01 -7.06198991e-03 9.80096456e+01] [ 7.65766335e-03 5.66644873e-04 9.99970519e-01 2.13155874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.27, Y:98.03, Z:2.13 [[ 4.61086187e-01 -8.87350240e-01 -3.01321840e-03 2.76267142e+02] [ 8.87322324e-01 4.61095664e-01 -7.06267699e-03 9.80334600e+01] [ 7.65645006e-03 5.82806848e-04 9.99970519e-01 2.13297736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.28, Y:98.06, Z:2.14 [[ 4.64083143e-01 -8.85786525e-01 -3.01160245e-03 2.76277935e+02] [ 8.85758572e-01 4.64092513e-01 -7.06336598e-03 9.80565297e+01] [ 7.65429655e-03 6.10436391e-04 9.99970519e-01 2.13565066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.29, Y:98.08, Z:2.14 [[ 4.65180822e-01 -8.85210564e-01 -3.00992023e-03 2.76287868e+02] [ 8.85182596e-01 4.65190144e-01 -7.06408275e-03 9.80808379e+01] [ 7.65338591e-03 6.21746821e-04 9.99970519e-01 2.13725409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.30, Y:98.10, Z:2.14 [[ 4.66246481e-01 -8.84649744e-01 -3.00827958e-03 2.76297370e+02] [ 8.84621760e-01 4.66255756e-01 -7.06478136e-03 9.81044986e+01] [ 7.65248469e-03 6.32739865e-04 9.99970519e-01 2.13723018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.31, Y:98.13, Z:2.13 [[ 4.67561929e-01 -8.83955203e-01 -3.00697128e-03 2.76305458e+02] [ 8.83927202e-01 4.67571153e-01 -7.06533817e-03 9.81283473e+01] [ 7.65141546e-03 6.45539430e-04 9.99970519e-01 2.13321401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.31, Y:98.15, Z:2.13 [[ 4.67834204e-01 -8.83811137e-01 -3.00527980e-03 2.76314443e+02] [ 8.83783129e-01 4.67843406e-01 -7.06605758e-03 9.81527091e+01] [ 7.65106072e-03 6.49727839e-04 9.99970519e-01 2.13025627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.32, Y:98.18, Z:2.13 [[ 4.67719118e-01 -8.83872052e-01 -3.00369415e-03 2.76323611e+02] [ 8.83844041e-01 4.67728310e-01 -7.06673155e-03 9.81775522e+01] [ 7.65099931e-03 6.50448274e-04 9.99970519e-01 2.12906813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.33, Y:98.20, Z:2.13 [[ 4.67390142e-01 -8.84046063e-01 -3.00208879e-03 2.76332257e+02] [ 8.84018052e-01 4.67399333e-01 -7.06741348e-03 9.82010917e+01] [ 7.65109336e-03 6.49338708e-04 9.99970519e-01 2.12808287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.34, Y:98.23, Z:2.13 [[ 4.67006288e-01 -8.84248904e-01 -3.00040820e-03 2.76340695e+02] [ 8.84220892e-01 4.67015477e-01 -7.06812688e-03 9.82258236e+01] [ 7.65122052e-03 6.47836083e-04 9.99970519e-01 2.13025018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.35, Y:98.25, Z:2.13 [[ 4.66144144e-01 -8.84703704e-01 -2.99881714e-03 2.76349797e+02] [ 8.84675697e-01 4.66153347e-01 -7.06880186e-03 9.82492830e+01] [ 7.65170384e-03 6.42099944e-04 9.99970519e-01 2.13183689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.36, Y:98.27, Z:2.14 [[ 4.62991053e-01 -8.86357885e-01 -2.99754957e-03 2.76358824e+02] [ 8.86329907e-01 4.63000346e-01 -7.06933934e-03 9.82743587e+01] [ 7.65383115e-03 6.16223034e-04 9.99970519e-01 2.13584684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.37, Y:98.30, Z:2.14 [[ 4.60833291e-01 -8.87481663e-01 -2.99594083e-03 2.76368110e+02] [ 8.87453704e-01 4.60842639e-01 -7.07002105e-03 9.82982757e+01] [ 7.65517132e-03 5.99342278e-04 9.99970519e-01 2.13613829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.38, Y:98.32, Z:2.14 [[ 4.58187274e-01 -8.88850638e-01 -2.99425848e-03 2.76378061e+02] [ 8.88822702e-01 4.58196692e-01 -7.07073348e-03 9.83231582e+01] [ 7.65678529e-03 5.78355182e-04 9.99970519e-01 2.13565542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.39, Y:98.35, Z:2.14 [[ 4.53241284e-01 -8.91382849e-01 -2.99261544e-03 2.76388899e+02] [ 8.91354961e-01 4.53250845e-01 -7.07142881e-03 9.83474771e+01] [ 7.65975583e-03 5.37580854e-04 9.99970519e-01 2.13505363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.40, Y:98.37, Z:2.14 [[ 4.50507240e-01 -8.92767765e-01 -2.99094882e-03 2.76398974e+02] [ 8.92739902e-01 4.50516873e-01 -7.07213365e-03 9.83709798e+01] [ 7.66124586e-03 5.15908056e-04 9.99970519e-01 2.13617869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.41, Y:98.39, Z:2.14 [[ 4.48254464e-01 -8.93901001e-01 -2.98920180e-03 2.76408731e+02] [ 8.93873158e-01 4.48264154e-01 -7.07287199e-03 9.83947464e+01] [ 7.66239937e-03 4.98479191e-04 9.99970519e-01 2.13807645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.42, Y:98.42, Z:2.14 [[ 4.44149385e-01 -8.95947766e-01 -2.98752138e-03 2.76418476e+02] [ 8.95919963e-01 4.44159188e-01 -7.07358172e-03 9.84194409e+01] [ 7.66449481e-03 4.65146928e-04 9.99970519e-01 2.13959310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.43, Y:98.44, Z:2.14 [[ 4.42256605e-01 -8.96883594e-01 -2.98584367e-03 2.76429003e+02] [ 8.96855807e-01 4.42266454e-01 -7.07428983e-03 9.84422459e+01] [ 7.66535298e-03 4.50780163e-04 9.99970519e-01 2.13900349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.44, Y:98.47, Z:2.14 [[ 4.40119123e-01 -8.97934436e-01 -2.98450883e-03 2.76439975e+02] [ 8.97906668e-01 4.40129028e-01 -7.07485293e-03 9.84656476e+01] [ 7.66632304e-03 4.33967687e-04 9.99970519e-01 2.13866857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.085898227 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:276.45, Y:98.49, Z:2.14 [[ 4.36107044e-01 -8.99889854e-01 -2.98283783e-03 2.76452808e+02] [ 8.99862127e-01 4.36117059e-01 -7.07555737e-03 9.84882124e+01] [ 7.66808875e-03 4.01557618e-04 9.99970519e-01 2.13900001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.47, Y:98.51, Z:2.14 [[ 4.34376378e-01 -9.00726527e-01 -2.98109187e-03 2.76465513e+02] [ 9.00698814e-01 4.34386433e-01 -7.07629291e-03 9.85106772e+01] [ 7.66875060e-03 3.88708570e-04 9.99970519e-01 2.13591489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.48, Y:98.53, Z:2.13 [[ 4.31800122e-01 -9.01964398e-01 -2.97977445e-03 2.76481549e+02] [ 9.01936710e-01 4.31810246e-01 -7.07684762e-03 9.85317859e+01] [ 7.66976174e-03 3.68215700e-04 9.99970519e-01 2.13372105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.49, Y:98.55, Z:2.14 [[ 4.31139899e-01 -9.02280178e-01 -2.97806684e-03 2.76493669e+02] [ 9.02252492e-01 4.31150030e-01 -7.07756614e-03 9.85543914e+01] [ 7.66994124e-03 3.64452924e-04 9.99970519e-01 2.13524461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.51, Y:98.58, Z:2.14 [[ 4.31026502e-01 -9.02334360e-01 -2.97627723e-03 2.76505327e+02] [ 9.02306670e-01 4.31036622e-01 -7.07831863e-03 9.85774483e+01] [ 7.66989459e-03 3.65428125e-04 9.99970519e-01 2.13680526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.52, Y:98.60, Z:2.14 [[ 4.31544730e-01 -9.02086636e-01 -2.97448112e-03 2.76516738e+02] [ 9.02058935e-01 4.31554821e-01 -7.07907332e-03 9.86003400e+01] [ 7.66958910e-03 3.71779518e-04 9.99970519e-01 2.13854443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.53, Y:98.62, Z:2.14 [[ 4.33987559e-01 -9.00913959e-01 -2.97268358e-03 2.76529157e+02] [ 9.00886227e-01 4.33997560e-01 -7.07982807e-03 9.86219191e+01] [ 7.66845336e-03 3.94507611e-04 9.99970519e-01 2.14108728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.54, Y:98.64, Z:2.14 [[ 4.34710119e-01 -9.00565537e-01 -2.97081238e-03 2.76539542e+02] [ 9.00537792e-01 4.34720083e-01 -7.08061317e-03 9.86449653e+01] [ 7.66802801e-03 4.02685370e-04 9.99970519e-01 2.14105079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.55, Y:98.67, Z:2.14 [[ 4.36461453e-01 -8.99718059e-01 -2.96902582e-03 2.76549912e+02] [ 8.99690289e-01 4.36471349e-01 -7.08136223e-03 9.86667964e+01] [ 7.66712418e-03 4.19537947e-04 9.99970519e-01 2.13841745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.56, Y:98.69, Z:2.14 [[ 4.37160239e-01 -8.99378741e-01 -2.96752362e-03 2.76560189e+02] [ 8.99350959e-01 4.37170102e-01 -7.08199169e-03 9.86907656e+01] [ 7.66670537e-03 4.27119959e-04 9.99970519e-01 2.13914181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.57, Y:98.71, Z:2.14 [[ 4.38161237e-01 -8.98891503e-01 -2.96588494e-03 2.76570438e+02] [ 8.98863706e-01 4.38171056e-01 -7.08267789e-03 9.87135030e+01] [ 7.66612391e-03 4.37428574e-04 9.99970519e-01 2.14037573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.58, Y:98.74, Z:2.14 [[ 4.39553509e-01 -8.98211516e-01 -2.96417591e-03 2.76582596e+02] [ 8.98183698e-01 4.39563272e-01 -7.08339306e-03 9.87374553e+01] [ 7.66532808e-03 4.51155794e-04 9.99970519e-01 2.14312844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.445898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:276.59, Y:98.76, Z:2.14 [[ 4.39946004e-01 -8.98019341e-01 -2.96254238e-03 2.76593655e+02] [ 8.97991515e-01 4.39955742e-01 -7.08407620e-03 9.87604976e+01] [ 7.66502497e-03 4.56273100e-04 9.99970519e-01 2.14293960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.61, Y:98.78, Z:2.14 [[ 4.40421569e-01 -8.97786208e-01 -2.96084133e-03 2.76607886e+02] [ 8.97758372e-01 4.40431279e-01 -7.08478709e-03 9.87826727e+01] [ 7.66467127e-03 4.62172958e-04 9.99970519e-01 2.13791016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.62, Y:98.80, Z:2.14 [[ 4.40544252e-01 -8.97726019e-01 -2.95906361e-03 2.76619058e+02] [ 8.97698177e-01 4.40553945e-01 -7.08552951e-03 9.88046002e+01] [ 7.66449134e-03 4.65143295e-04 9.99970519e-01 2.13690219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.63, Y:98.83, Z:2.14 [[ 4.40709192e-01 -8.97645065e-01 -2.95721454e-03 2.76630097e+02] [ 8.97617216e-01 4.40718864e-01 -7.08630115e-03 9.88268639e+01] [ 7.66428349e-03 4.68551374e-04 9.99970519e-01 2.13660744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.64, Y:98.85, Z:2.14 [[ 4.41125179e-01 -8.97440718e-01 -2.95538343e-03 2.76641272e+02] [ 8.97412860e-01 4.41134824e-01 -7.08706474e-03 9.88498076e+01] [ 7.66394302e-03 4.74083606e-04 9.99970519e-01 2.13865025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.65, Y:98.87, Z:2.14 [[ 4.41826955e-01 -8.97095434e-01 -2.95361198e-03 2.76651779e+02] [ 8.97067563e-01 4.41836565e-01 -7.08780294e-03 9.88719794e+01] [ 7.66344942e-03 4.81992892e-04 9.99970519e-01 2.13993788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.66, Y:98.89, Z:2.15 [[ 4.44564469e-01 -8.95741994e-01 -2.95176392e-03 2.76663247e+02] [ 8.95714089e-01 4.44573978e-01 -7.08857249e-03 9.88944198e+01] [ 7.66180949e-03 5.07390935e-04 9.99970519e-01 2.14665654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.67, Y:98.92, Z:2.15 [[ 4.46280665e-01 -8.94888186e-01 -2.95008720e-03 2.76672493e+02] [ 8.94860258e-01 4.46290108e-01 -7.08927023e-03 9.89169278e+01] [ 7.66069891e-03 5.23888446e-04 9.99970519e-01 2.14838837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.68, Y:98.94, Z:2.14 [[ 4.49089013e-01 -8.93482157e-01 -2.94834330e-03 2.76681510e+02] [ 8.93454196e-01 4.49098355e-01 -7.08999543e-03 9.89410938e+01] [ 7.65888053e-03 5.49829359e-04 9.99970519e-01 2.14420519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.69, Y:98.97, Z:2.14 [[ 4.49334516e-01 -8.93358725e-01 -2.94660908e-03 2.76691429e+02] [ 8.93330756e-01 4.49343836e-01 -7.09071610e-03 9.89656454e+01] [ 7.65859371e-03 5.53806969e-04 9.99970519e-01 2.14135629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74589822699994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:276.70, Y:98.99, Z:2.14 [[ 4.48039355e-01 -8.94008984e-01 -2.94500217e-03 2.76701018e+02] [ 8.93981024e-01 4.48048703e-01 -7.09138344e-03 9.89896588e+01] [ 7.65926490e-03 5.44442805e-04 9.99970519e-01 2.14059399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.71, Y:99.01, Z:2.14 [[ 4.42804027e-01 -8.96613590e-01 -2.94335695e-03 2.76713545e+02] [ 8.96585681e-01 4.42813526e-01 -7.09206623e-03 9.90121275e+01] [ 7.66220124e-03 5.01423794e-04 9.99970519e-01 2.13909641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.72, Y:99.03, Z:2.14 [[ 4.39381526e-01 -8.98295732e-01 -2.94163018e-03 2.76724788e+02] [ 8.98267855e-01 4.39391117e-01 -7.09278239e-03 9.90345801e+01] [ 7.66394232e-03 4.74065720e-04 9.99970519e-01 2.13842974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.74, Y:99.06, Z:2.14 [[ 4.36232871e-01 -8.99829005e-01 -2.93992406e-03 2.76736269e+02] [ 8.99801157e-01 4.36242547e-01 -7.09348950e-03 9.90568659e+01] [ 7.66544756e-03 4.49066218e-04 9.99970519e-01 2.14051742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.75, Y:99.08, Z:2.14 [[ 4.33289511e-01 -9.01250003e-01 -2.93812102e-03 2.76748144e+02] [ 9.01222182e-01 4.33299263e-01 -7.09423624e-03 9.90788457e+01] [ 7.66676610e-03 4.25958314e-04 9.99970519e-01 2.14096294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.76, Y:99.10, Z:2.14 [[ 4.33813857e-01 -9.00997733e-01 -2.93632486e-03 2.76756635e+02] [ 9.00969902e-01 4.33823579e-01 -7.09497959e-03 9.91030276e+01] [ 7.66640749e-03 4.32360144e-04 9.99970519e-01 2.14204453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.76, Y:99.13, Z:2.14 [[ 4.35565850e-01 -9.00152087e-01 -2.93454868e-03 2.76763610e+02] [ 9.00124231e-01 4.35575503e-01 -7.09571416e-03 9.91266499e+01] [ 7.66543943e-03 4.49192387e-04 9.99970519e-01 2.14128483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.77, Y:99.15, Z:2.14 [[ 4.40704489e-01 -8.97647455e-01 -2.93270247e-03 2.76769806e+02] [ 8.97619539e-01 4.40713969e-01 -7.09647713e-03 9.91519249e+01] [ 7.66261758e-03 4.94998289e-04 9.99970519e-01 2.14341419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.78, Y:99.18, Z:2.14 [[ 4.42643751e-01 -8.96692768e-01 -2.93092491e-03 2.76778988e+02] [ 8.96664828e-01 4.42653156e-01 -7.09721121e-03 9.91763387e+01] [ 7.66140112e-03 5.13478908e-04 9.99970519e-01 2.14353882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.79, Y:99.20, Z:2.14 [[ 4.43735121e-01 -8.96153202e-01 -2.92929047e-03 2.76788087e+02] [ 8.96125246e-01 4.43744480e-01 -7.09788574e-03 9.92006821e+01] [ 7.66064951e-03 5.24570042e-04 9.99970519e-01 2.14321522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.80, Y:99.23, Z:2.14 [[ 4.43944080e-01 -8.96049710e-01 -2.92764781e-03 2.76796339e+02] [ 8.96021748e-01 4.43953419e-01 -7.09856322e-03 9.92255411e+01] [ 7.66040477e-03 5.28129003e-04 9.99970519e-01 2.14237545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.80, Y:99.25, Z:2.14 [[ 4.42805826e-01 -8.96612759e-01 -2.92597392e-03 2.76801731e+02] [ 8.96584804e-01 4.42815187e-01 -7.09925312e-03 9.92508876e+01] [ 7.66094661e-03 5.20206884e-04 9.99970519e-01 2.14190672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.81, Y:99.28, Z:2.14 [[ 4.41812627e-01 -8.97102587e-01 -2.92423028e-03 2.76809308e+02] [ 8.97074638e-01 4.41822006e-01 -7.09997126e-03 9.92758250e+01] [ 7.66139187e-03 5.13604138e-04 9.99970519e-01 2.14351903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.82, Y:99.30, Z:2.15 [[ 4.41127984e-01 -8.97439446e-01 -2.92260498e-03 2.76816758e+02] [ 8.97411500e-01 4.41137372e-01 -7.10064023e-03 9.92996449e+01] [ 7.66166492e-03 5.09511795e-04 9.99970519e-01 2.14575873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.82, Y:99.32, Z:2.15 [[ 4.41167791e-01 -8.97419883e-01 -2.92130725e-03 2.76822809e+02] [ 8.97391933e-01 4.41177166e-01 -7.10117409e-03 9.93244554e+01] [ 7.66154888e-03 5.11251722e-04 9.99970519e-01 2.14881596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.83, Y:99.35, Z:2.15 [[ 4.41584187e-01 -8.97215070e-01 -2.91954637e-03 2.76831089e+02] [ 8.97187111e-01 4.41593536e-01 -7.10189798e-03 9.93496749e+01] [ 7.66118270e-03 5.16706481e-04 9.99970519e-01 2.14820836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.84, Y:99.37, Z:2.15 [[ 4.42150363e-01 -8.96936197e-01 -2.91792116e-03 2.76838854e+02] [ 8.96908228e-01 4.42159682e-01 -7.10256566e-03 9.93733461e+01] [ 7.66073533e-03 5.23294492e-04 9.99970519e-01 2.14738228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.85, Y:99.40, Z:2.15 [[ 4.43990787e-01 -8.96026605e-01 -2.91621748e-03 2.76845606e+02] [ 8.95998612e-01 4.44000034e-01 -7.10326510e-03 9.93988797e+01] [ 7.65951517e-03 5.40857444e-04 9.99970519e-01 2.14847932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.85, Y:99.42, Z:2.15 [[ 4.44977892e-01 -8.95536812e-01 -2.91454217e-03 2.76852207e+02] [ 8.95508804e-01 4.44987095e-01 -7.10395243e-03 9.94231563e+01] [ 7.65878456e-03 5.51103606e-04 9.99970519e-01 2.14942590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.86, Y:99.45, Z:2.15 [[ 4.44771565e-01 -8.95639309e-01 -2.91279111e-03 2.76862152e+02] [ 8.95611299e-01 4.44780761e-01 -7.10467033e-03 9.94480707e+01] [ 7.65877547e-03 5.51226707e-04 9.99970519e-01 2.14963178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.87, Y:99.47, Z:2.15 [[ 4.46456251e-01 -8.94800727e-01 -2.91115412e-03 2.76865261e+02] [ 8.94772696e-01 4.46465381e-01 -7.10534103e-03 9.94737524e+01] [ 7.65759386e-03 5.67402696e-04 9.99970519e-01 2.14832646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.87, Y:99.50, Z:2.15 [[ 4.46835889e-01 -8.94611214e-01 -2.90944413e-03 2.76871554e+02] [ 8.94583174e-01 4.46844994e-01 -7.10604116e-03 9.94993540e+01] [ 7.65721465e-03 5.72494455e-04 9.99970519e-01 2.14770823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.88, Y:99.52, Z:2.15 [[ 4.46898690e-01 -8.94579849e-01 -2.90780970e-03 2.76877092e+02] [ 8.94551804e-01 4.46907780e-01 -7.10670991e-03 9.95241335e+01] [ 7.65704225e-03 5.74792937e-04 9.99970519e-01 2.14596093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.88, Y:99.55, Z:2.14 [[ 4.46348711e-01 -8.94854391e-01 -2.90651425e-03 2.76880544e+02] [ 8.94826349e-01 4.46357808e-01 -7.10723968e-03 9.95514505e+01] [ 7.65728997e-03 5.71481736e-04 9.99970519e-01 2.14257247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.89, Y:99.58, Z:2.14 [[ 4.45775596e-01 -8.95140033e-01 -2.90490162e-03 2.76888106e+02] [ 8.95111993e-01 4.45784699e-01 -7.10789874e-03 9.95772875e+01] [ 7.65752541e-03 5.68315517e-04 9.99970519e-01 2.14072231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.90, Y:99.60, Z:2.14 [[ 4.45365952e-01 -8.95343922e-01 -2.90328972e-03 2.76895782e+02] [ 8.95315882e-01 4.45375055e-01 -7.10855708e-03 9.96028790e+01] [ 7.65765620e-03 5.66547896e-04 9.99970519e-01 2.14026050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.90, Y:99.63, Z:2.14 [[ 4.45128888e-01 -8.95461810e-01 -2.90166103e-03 2.76903246e+02] [ 8.95433768e-01 4.45137986e-01 -7.10922184e-03 9.96281808e+01] [ 7.65767620e-03 5.66274745e-04 9.99970519e-01 2.14102925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.91, Y:99.65, Z:2.15 [[ 4.45953173e-01 -8.95051595e-01 -2.90004093e-03 2.76908426e+02] [ 8.95023540e-01 4.45962231e-01 -7.10988266e-03 9.96539615e+01] [ 7.65702053e-03 5.75069826e-04 9.99970519e-01 2.14595116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.92, Y:99.68, Z:2.15 [[ 4.46198686e-01 -8.94929233e-01 -2.89850939e-03 2.76916273e+02] [ 8.94901172e-01 4.46207725e-01 -7.11050697e-03 9.96788997e+01] [ 7.65673783e-03 5.78819414e-04 9.99970519e-01 2.14749731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:276.92, Y:99.70, Z:2.15 [[ 4.46018310e-01 -8.95019148e-01 -2.89689100e-03 2.76923995e+02] [ 8.94991085e-01 4.46027342e-01 -7.11116626e-03 9.97037072e+01] [ 7.65672255e-03 5.79018741e-04 9.99970519e-01 2.14889340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.93, Y:99.73, Z:2.15 [[ 4.45582516e-01 -8.95236192e-01 -2.89527555e-03 2.76933226e+02] [ 8.95208129e-01 4.45591549e-01 -7.11182392e-03 9.97284363e+01] [ 7.65687248e-03 5.77030182e-04 9.99970519e-01 2.14795204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.94, Y:99.75, Z:2.15 [[ 4.43354311e-01 -8.96341777e-01 -2.89365545e-03 2.76942719e+02] [ 8.96313733e-01 4.43363401e-01 -7.11248304e-03 9.97524087e+01] [ 7.65815661e-03 5.59726900e-04 9.99970519e-01 2.14975591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.95, Y:99.77, Z:2.15 [[ 4.41966436e-01 -8.97026925e-01 -2.89236569e-03 2.76953720e+02] [ 8.96998891e-01 4.41975559e-01 -7.11300750e-03 9.97747312e+01] [ 7.65891418e-03 5.49261752e-04 9.99970519e-01 2.15131302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.97, Y:99.80, Z:2.15 [[ 4.39422383e-01 -8.98275967e-01 -2.87337362e-03 2.76966329e+02] [ 8.98247911e-01 4.39431436e-01 -7.12072399e-03 9.97992212e+01] [ 7.65902593e-03 5.48003651e-04 9.99970519e-01 2.15417008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.98, Y:99.82, Z:2.16 [[ 4.36422389e-01 -8.99737267e-01 -2.88931716e-03 2.76980464e+02] [ 8.99709282e-01 4.36431661e-01 -7.11424883e-03 9.98195105e+01] [ 7.66194429e-03 5.05272003e-04 9.99970519e-01 2.15776515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.99, Y:99.84, Z:2.16 [[ 4.36401924e-01 -8.99747199e-01 -2.88781179e-03 2.76991117e+02] [ 8.99719210e-01 4.36411185e-01 -7.11485984e-03 9.98427246e+01] [ 7.66184857e-03 5.06718775e-04 9.99970519e-01 2.15877794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.00, Y:99.87, Z:2.16 [[ 4.37342615e-01 -8.99290336e-01 -2.88609132e-03 2.77001093e+02] [ 8.99262333e-01 4.37351832e-01 -7.11555767e-03 9.98672856e+01] [ 7.66118957e-03 5.16583383e-04 9.99970519e-01 2.15820736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85589822699995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:277.01, Y:99.89, Z:2.16 [[ 4.42154699e-01 -8.96934168e-01 -2.88449068e-03 2.77010299e+02] [ 8.96906112e-01 4.42163754e-01 -7.11620647e-03 9.98914467e+01] [ 7.65818596e-03 5.59346811e-04 9.99970519e-01 2.15699898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.02, Y:99.92, Z:2.15 [[ 4.44106423e-01 -8.95969405e-01 -2.88273898e-03 2.77021473e+02] [ 8.95941325e-01 4.44115403e-01 -7.11691600e-03 9.99158609e+01] [ 7.65680778e-03 5.77903122e-04 9.99970519e-01 2.15435895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.03, Y:99.94, Z:2.15 [[ 4.45069368e-01 -8.95491461e-01 -2.88108986e-03 2.77032044e+02] [ 8.95463368e-01 4.45078304e-01 -7.11758354e-03 9.99384836e+01] [ 7.65604588e-03 5.87907980e-04 9.99970519e-01 2.15342872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.05, Y:99.96, Z:2.15 [[ 4.42810046e-01 -8.96610826e-01 -2.87936571e-03 2.77045672e+02] [ 8.96582750e-01 4.42819040e-01 -7.11828097e-03 9.99588918e+01] [ 7.65736573e-03 5.70456693e-04 9.99970519e-01 2.15119536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.06, Y:99.98, Z:2.15 [[ 4.40297162e-01 -8.97847497e-01 -2.87758674e-03 2.77058531e+02] [ 8.97819443e-01 4.40306221e-01 -7.11900005e-03 9.99813528e+01] [ 7.65879572e-03 5.50922189e-04 9.99970519e-01 2.15100907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.07, Y:100.00, Z:2.15 [[ 4.37651921e-01 -8.99139881e-01 -2.87586237e-03 2.77070873e+02] [ 8.99111849e-01 4.37661049e-01 -7.11969657e-03 1.00002582e+02] [ 7.66025607e-03 5.30226952e-04 9.99970519e-01 2.15233420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.09, Y:100.03, Z:2.15 [[ 4.33905900e-01 -9.00953611e-01 -2.87406732e-03 2.77086216e+02] [ 9.00925613e-01 4.33915130e-01 -7.12042112e-03 1.00025113e+02] [ 7.66227042e-03 5.00271875e-04 9.99970519e-01 2.15330594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.10, Y:100.05, Z:2.15 [[ 4.33292385e-01 -9.01248833e-01 -2.87236528e-03 2.77097307e+02] [ 9.01220836e-01 4.33301621e-01 -7.12110766e-03 1.00047687e+02] [ 7.66249049e-03 4.96886283e-04 9.99970519e-01 2.15145375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.11, Y:100.07, Z:2.15 [[ 4.33908624e-01 -9.00952311e-01 -2.87058538e-03 2.77108134e+02] [ 9.00924303e-01 4.33917827e-01 -7.12182508e-03 1.00070635e+02] [ 7.66202293e-03 5.04041185e-04 9.99970519e-01 2.14767620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.12, Y:100.09, Z:2.14 [[ 4.36958222e-01 -8.99477227e-01 -2.86882644e-03 2.77120279e+02] [ 8.99449184e-01 4.36967315e-01 -7.12253355e-03 1.00092124e+02] [ 7.66014011e-03 5.31885995e-04 9.99970519e-01 2.14483544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.13, Y:100.12, Z:2.15 [[ 4.38296744e-01 -8.98825758e-01 -2.86706171e-03 2.77131383e+02] [ 8.98797697e-01 4.38305783e-01 -7.12324384e-03 1.00115425e+02] [ 7.65920477e-03 5.45186126e-04 9.99970519e-01 2.14557803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.14, Y:100.14, Z:2.15 [[ 4.39455675e-01 -8.98259706e-01 -2.86539624e-03 2.77143008e+02] [ 8.98231629e-01 4.39464664e-01 -7.12391373e-03 1.00138995e+02] [ 7.65836505e-03 5.56854788e-04 9.99970519e-01 2.14869067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.15, Y:100.16, Z:2.15 [[ 4.40186576e-01 -8.97901764e-01 -2.86373075e-03 2.77154108e+02] [ 8.97873675e-01 4.40195529e-01 -7.12458317e-03 1.00161491e+02] [ 7.65777727e-03 5.64877420e-04 9.99970519e-01 2.14910654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.17, Y:100.18, Z:2.15 [[ 4.41163970e-01 -8.97421953e-01 -2.86199606e-03 2.77165841e+02] [ 8.97393850e-01 4.41172878e-01 -7.12527994e-03 1.00184929e+02] [ 7.65701768e-03 5.75079118e-04 9.99970519e-01 2.15231707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.18, Y:100.21, Z:2.15 [[ 4.42032757e-01 -8.96994348e-01 -2.86037372e-03 2.77175631e+02] [ 8.96966233e-01 4.42041626e-01 -7.12593116e-03 1.00209133e+02] [ 7.65632422e-03 5.84236356e-04 9.99970519e-01 2.15255514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.18, Y:100.23, Z:2.15 [[ 4.42963582e-01 -8.96535048e-01 -2.85872104e-03 2.77184378e+02] [ 8.96506920e-01 4.42972408e-01 -7.12659410e-03 1.00233293e+02] [ 7.65557593e-03 5.93958454e-04 9.99970519e-01 2.15214073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.19, Y:100.26, Z:2.15 [[ 4.44954599e-01 -8.95548571e-01 -2.85699264e-03 2.77192837e+02] [ 8.95520418e-01 4.44963349e-01 -7.12728694e-03 1.00258048e+02] [ 7.65408864e-03 6.12823856e-04 9.99970519e-01 2.15134003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.20, Y:100.28, Z:2.15 [[ 4.45642900e-01 -8.95206262e-01 -2.85534142e-03 2.77201797e+02] [ 8.95178099e-01 4.45651616e-01 -7.12794839e-03 1.00281811e+02] [ 7.65347155e-03 6.20480491e-04 9.99970519e-01 2.15079872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.21, Y:100.31, Z:2.15 [[ 4.44077745e-01 -8.95983713e-01 -2.85362028e-03 2.77210835e+02] [ 8.95955561e-01 4.44086496e-01 -7.12863737e-03 1.00306252e+02] [ 7.65439721e-03 6.08952246e-04 9.99970519e-01 2.14991091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.22, Y:100.33, Z:2.15 [[ 4.41808508e-01 -8.97104848e-01 -2.85200787e-03 2.77220776e+02] [ 8.97076714e-01 4.41817317e-01 -7.12928240e-03 1.00330307e+02] [ 7.65578027e-03 5.91307770e-04 9.99970519e-01 2.14923028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.23, Y:100.35, Z:2.15 [[ 4.39291194e-01 -8.98340204e-01 -2.85038802e-03 2.77231682e+02] [ 8.98312091e-01 4.39300069e-01 -7.12992998e-03 1.00354796e+02] [ 7.65727841e-03 5.71577429e-04 9.99970519e-01 2.14932513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.24, Y:100.38, Z:2.15 [[ 4.36852906e-01 -8.99528445e-01 -2.84875984e-03 2.77242284e+02] [ 8.99500352e-01 4.36861845e-01 -7.13058046e-03 1.00377623e+02] [ 7.65867443e-03 5.52554319e-04 9.99970519e-01 2.15050038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.25, Y:100.40, Z:2.15 [[ 4.34072432e-01 -9.00873475e-01 -2.84705603e-03 2.77253979e+02] [ 9.00845406e-01 4.34081444e-01 -7.13126068e-03 1.00401473e+02] [ 7.66021778e-03 5.30726328e-04 9.99970519e-01 2.15033614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.26, Y:100.42, Z:2.15 [[ 4.33600548e-01 -9.01100698e-01 -2.84540565e-03 2.77263715e+02] [ 9.01072629e-01 4.33609562e-01 -7.13191913e-03 1.00424943e+02] [ 7.66037240e-03 5.28486895e-04 9.99970519e-01 2.14957367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.27, Y:100.45, Z:2.15 [[ 4.34410033e-01 -9.00710740e-01 -2.84367443e-03 2.77273570e+02] [ 9.00682659e-01 4.34419008e-01 -7.13260934e-03 1.00447477e+02] [ 7.65976406e-03 5.37228814e-04 9.99970519e-01 2.15089563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60589822699995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:277.28, Y:100.47, Z:2.15 [[ 4.35351813e-01 -9.00255921e-01 -2.84187244e-03 2.77283596e+02] [ 9.00227826e-01 4.35360744e-01 -7.13332725e-03 1.00471446e+02] [ 7.65905979e-03 5.47174302e-04 9.99970519e-01 2.15368868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.635898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:277.29, Y:100.50, Z:2.15 [[ 4.36530340e-01 -8.99685053e-01 -2.84024461e-03 2.77294813e+02] [ 8.99656943e-01 4.36539222e-01 -7.13397533e-03 1.00495608e+02] [ 7.65820915e-03 5.58950899e-04 9.99970519e-01 2.15354344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.31, Y:100.52, Z:2.15 [[ 4.37972512e-01 -8.98983882e-01 -2.83862258e-03 2.77305292e+02] [ 8.98955753e-01 4.37981336e-01 -7.13462068e-03 1.00518404e+02] [ 7.65717271e-03 5.72971650e-04 9.99970519e-01 2.15163330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.31, Y:100.54, Z:2.15 [[ 4.39982569e-01 -8.98001832e-01 -2.83692602e-03 2.77314607e+02] [ 8.97973679e-01 4.39991317e-01 -7.13529522e-03 1.00541263e+02] [ 7.65573099e-03 5.91920627e-04 9.99970519e-01 2.14934032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.32, Y:100.57, Z:2.15 [[ 4.40040304e-01 -8.97973548e-01 -2.83508226e-03 2.77324408e+02] [ 8.97945390e-01 4.40049036e-01 -7.13602773e-03 1.00565282e+02] [ 7.65553935e-03 5.94390769e-04 9.99970519e-01 2.14966153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.33, Y:100.59, Z:2.15 [[ 4.39243099e-01 -8.98363775e-01 -2.83332634e-03 2.77334333e+02] [ 8.98335620e-01 4.39251842e-01 -7.13672484e-03 1.00587322e+02] [ 7.65591888e-03 5.89479158e-04 9.99970519e-01 2.15071410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.35, Y:100.61, Z:2.15 [[ 4.36865781e-01 -8.99522247e-01 -2.83149912e-03 2.77347594e+02] [ 8.99494111e-01 4.36874583e-01 -7.13744972e-03 1.00610010e+02] [ 7.65730480e-03 5.71190762e-04 9.99970519e-01 2.15216614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.36, Y:100.63, Z:2.15 [[ 4.35604388e-01 -9.00133773e-01 -2.82976266e-03 2.77359331e+02] [ 9.00105646e-01 4.35613216e-01 -7.13813810e-03 1.00633190e+02] [ 7.65796119e-03 5.62318929e-04 9.99970519e-01 2.15109356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.37, Y:100.66, Z:2.15 [[ 4.34778384e-01 -9.00533042e-01 -2.82802991e-03 2.77370469e+02] [ 9.00504918e-01 4.34787224e-01 -7.13882452e-03 1.00655158e+02] [ 7.65833864e-03 5.57151742e-04 9.99970519e-01 2.14969760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.38, Y:100.68, Z:2.15 [[ 4.35931756e-01 -8.99975286e-01 -2.82655448e-03 2.77382576e+02] [ 8.99947147e-01 4.35940549e-01 -7.13940866e-03 1.00677565e+02] [ 7.65750106e-03 5.68545317e-04 9.99970519e-01 2.15014697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.39, Y:100.70, Z:2.15 [[ 4.38582809e-01 -8.98686341e-01 -2.82483272e-03 2.77391623e+02] [ 8.98658172e-01 4.38591505e-01 -7.14008984e-03 1.00700392e+02] [ 7.65564885e-03 5.92961650e-04 9.99970519e-01 2.15160640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.40, Y:100.72, Z:2.15 [[ 4.42351468e-01 -8.96837337e-01 -2.82304352e-03 2.77400259e+02] [ 8.96809127e-01 4.42360032e-01 -7.14079718e-03 1.00723977e+02] [ 7.65293515e-03 6.27010918e-04 9.99970519e-01 2.15199199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96589822699997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:277.41, Y:100.75, Z:2.15 [[ 4.50785062e-01 -8.92628068e-01 -2.82134731e-03 2.77405179e+02] [ 8.92599775e-01 4.50793346e-01 -7.14146730e-03 1.00749912e+02] [ 7.64651875e-03 7.00932800e-04 9.99970519e-01 2.14963400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.41, Y:100.77, Z:2.15 [[ 4.54087835e-01 -8.90952461e-01 -2.81966284e-03 2.77411043e+02] [ 8.90924134e-01 4.54096000e-01 -7.14213231e-03 1.00774990e+02] [ 7.64369798e-03 7.31049724e-04 9.99970519e-01 2.14787286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.42, Y:100.80, Z:2.15 [[ 4.56715288e-01 -8.89608456e-01 -2.81798585e-03 2.77416472e+02] [ 8.89580101e-01 4.56723357e-01 -7.14279392e-03 1.00799037e+02] [ 7.64132983e-03 7.55399042e-04 9.99970519e-01 2.14839881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.42, Y:100.82, Z:2.15 [[ 4.58415504e-01 -8.88733533e-01 -2.81654780e-03 2.77422252e+02] [ 8.88705159e-01 4.58423507e-01 -7.14336093e-03 1.00822742e+02] [ 7.63971612e-03 7.71546840e-04 9.99970519e-01 2.15092320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.43, Y:100.85, Z:2.15 [[ 4.58524099e-01 -8.88677515e-01 -2.81511818e-03 2.77425763e+02] [ 8.88649137e-01 4.58532087e-01 -7.14392428e-03 1.00848323e+02] [ 7.63946689e-03 7.74009105e-04 9.99970519e-01 2.15348565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.43, Y:100.87, Z:2.15 [[ 4.56479612e-01 -8.89729424e-01 -2.81347514e-03 2.77432084e+02] [ 8.89701061e-01 4.56487653e-01 -7.14457130e-03 1.00872400e+02] [ 7.64105197e-03 7.58199318e-04 9.99970519e-01 2.15227897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.44, Y:100.90, Z:2.15 [[ 4.49316356e-01 -8.93368295e-01 -2.81100631e-03 2.77436413e+02] [ 8.93339992e-01 4.49324605e-01 -7.14554285e-03 1.00896731e+02] [ 7.64665573e-03 6.99424921e-04 9.99970519e-01 2.15111405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.44, Y:100.92, Z:2.15 [[ 4.45152953e-01 -8.95450140e-01 -2.81005058e-03 2.77444341e+02] [ 8.95421873e-01 4.45161325e-01 -7.14591868e-03 1.00920092e+02] [ 7.64973972e-03 6.64846047e-04 9.99970519e-01 2.15237616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.45, Y:100.94, Z:2.15 [[ 4.40891067e-01 -8.97556226e-01 -2.80865299e-03 2.77453354e+02] [ 8.97527996e-01 4.40899563e-01 -7.14646795e-03 1.00944353e+02] [ 7.65269067e-03 6.29969192e-04 9.99970519e-01 2.15472664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.46, Y:100.97, Z:2.15 [[ 4.40686286e-01 -8.97656793e-01 -2.80702670e-03 2.77462552e+02] [ 8.97628561e-01 4.40694776e-01 -7.14710667e-03 1.00968665e+02] [ 7.65269086e-03 6.29964557e-04 9.99970519e-01 2.15492611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.47, Y:100.99, Z:2.16 [[ 4.36774804e-01 -8.99566507e-01 -2.80539595e-03 2.77471414e+02] [ 8.99538308e-01 4.36783404e-01 -7.14774672e-03 1.00991954e+02] [ 7.65522394e-03 5.98394544e-04 9.99970519e-01 2.15692208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.48, Y:101.02, Z:2.16 [[ 4.31236767e-01 -9.02234443e-01 -2.80369900e-03 2.77480085e+02] [ 9.02206293e-01 4.31245527e-01 -7.14841229e-03 1.01015893e+02] [ 7.65862643e-03 5.53143325e-04 9.99970519e-01 2.15952268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.49, Y:101.04, Z:2.16 [[ 4.29694943e-01 -9.02969769e-01 -2.80216012e-03 2.77489789e+02] [ 9.02941631e-01 4.29703738e-01 -7.14901547e-03 1.01040881e+02] [ 7.65944353e-03 5.41708763e-04 9.99970519e-01 2.15977927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.50, Y:101.07, Z:2.16 [[ 4.28557813e-01 -9.03510021e-01 -2.80051953e-03 2.77499548e+02] [ 9.03481890e-01 4.28566631e-01 -7.14965809e-03 1.01065474e+02] [ 7.65999695e-03 5.33823150e-04 9.99970519e-01 2.15971070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.51, Y:101.09, Z:2.16 [[ 4.27822843e-01 -9.03858275e-01 -2.79887880e-03 2.77508163e+02] [ 9.03830147e-01 4.27831670e-01 -7.15030033e-03 1.01089366e+02] [ 7.66030712e-03 5.29350772e-04 9.99970519e-01 2.15963164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.52, Y:101.11, Z:2.16 [[ 4.27691383e-01 -9.03920493e-01 -2.79716282e-03 2.77515005e+02] [ 9.03892362e-01 4.27700201e-01 -7.15097155e-03 1.01114023e+02] [ 7.66025683e-03 5.30074799e-04 9.99970519e-01 2.15851380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.52, Y:101.14, Z:2.16 [[ 4.27582657e-01 -9.03971934e-01 -2.79538860e-03 2.77523289e+02] [ 9.03943800e-01 4.27591465e-01 -7.15166504e-03 1.01139450e+02] [ 7.66018879e-03 5.31053747e-04 9.99970519e-01 2.15902015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.53, Y:101.16, Z:2.16 [[ 4.26686623e-01 -9.04395224e-01 -2.79373994e-03 2.77530996e+02] [ 9.04367094e-01 4.26695446e-01 -7.15230902e-03 1.01163708e+02] [ 7.66059023e-03 5.25228110e-04 9.99970519e-01 2.16079854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.54, Y:101.19, Z:2.16 [[ 4.24938711e-01 -9.05217817e-01 -2.79201499e-03 2.77540084e+02] [ 9.05189700e-01 4.24947575e-01 -7.15298232e-03 1.01188809e+02] [ 7.66146704e-03 5.12275879e-04 9.99970519e-01 2.16250284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.55, Y:101.21, Z:2.16 [[ 4.21895739e-01 -9.06640060e-01 -2.79038155e-03 2.77548885e+02] [ 9.06611970e-01 4.21904684e-01 -7.15361947e-03 1.01213595e+02] [ 7.66303303e-03 4.88288263e-04 9.99970519e-01 2.16333316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.56, Y:101.24, Z:2.16 [[ 4.13055693e-01 -9.10701497e-01 -2.78873702e-03 2.77557103e+02] [ 9.10673491e-01 4.13064898e-01 -7.15426051e-03 1.01236303e+02] [ 7.66732513e-03 4.15479156e-04 9.99970519e-01 2.16348495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.57, Y:101.26, Z:2.16 [[ 4.07967594e-01 -9.12992155e-01 -2.78693155e-03 2.77566113e+02] [ 9.12964195e-01 4.07976941e-01 -7.15496376e-03 1.01258994e+02] [ 7.66942959e-03 3.74624630e-04 9.99970519e-01 2.16306444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.58, Y:101.28, Z:2.16 [[ 4.02834045e-01 -9.15268800e-01 -2.78504933e-03 2.77575971e+02] [ 9.15240888e-01 4.02843534e-01 -7.15569633e-03 1.01283197e+02] [ 7.67132471e-03 3.33567078e-04 9.99970519e-01 2.16176248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.59, Y:101.31, Z:2.16 [[ 3.94619815e-01 -9.18840277e-01 -2.78335005e-03 2.77586819e+02] [ 9.18812447e-01 3.94629541e-01 -7.15635724e-03 1.01305946e+02] [ 7.67394142e-03 2.66663704e-04 9.99970519e-01 2.16016634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.60, Y:101.33, Z:2.16 [[ 3.91289615e-01 -9.20263386e-01 -2.78165885e-03 2.77596232e+02] [ 9.20235587e-01 3.91299428e-01 -7.15701454e-03 1.01329522e+02] [ 7.67479995e-03 2.40683997e-04 9.99970519e-01 2.16021653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.61, Y:101.35, Z:2.16 [[ 3.89538898e-01 -9.21005790e-01 -2.78974219e-03 2.77606051e+02] [ 9.20978031e-01 3.89548827e-01 -7.15387509e-03 1.01350696e+02] [ 7.67550118e-03 2.17421348e-04 9.99970519e-01 2.15819011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.62, Y:101.37, Z:2.16 [[ 3.88344410e-01 -9.21510122e-01 -2.77739148e-03 2.77616050e+02] [ 9.21482343e-01 3.88354279e-01 -7.15866687e-03 1.01373506e+02] [ 7.67539585e-03 2.20711055e-04 9.99970519e-01 2.15715514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.63, Y:101.40, Z:2.16 [[ 3.86323265e-01 -9.22359274e-01 -2.77562571e-03 2.77627358e+02] [ 9.22331511e-01 3.86333182e-01 -7.15935145e-03 1.01399141e+02] [ 7.67581052e-03 2.05776975e-04 9.99970519e-01 2.15935796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.64, Y:101.42, Z:2.16 [[ 3.87026357e-01 -9.22064389e-01 -2.80386790e-03 2.77636260e+02] [ 9.22036697e-01 3.87036471e-01 -7.14840672e-03 1.01419892e+02] [ 7.67649041e-03 1.81352713e-04 9.99970519e-01 2.15929812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.64, Y:101.44, Z:2.16 [[ 3.87023413e-01 -9.22065722e-01 -2.77161199e-03 2.77644676e+02] [ 9.22037941e-01 3.87033277e-01 -7.16089133e-03 1.01443464e+02] [ 7.67551850e-03 2.15901195e-04 9.99970519e-01 2.15887501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.65, Y:101.47, Z:2.16 [[ 3.88018645e-01 -9.21647362e-01 -2.76984212e-03 2.77651349e+02] [ 9.21619565e-01 3.88028465e-01 -7.16157585e-03 1.01467756e+02] [ 7.67522507e-03 2.26084265e-04 9.99970519e-01 2.15604787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.66, Y:101.49, Z:2.15 [[ 3.88584367e-01 -9.21408991e-01 -2.76801489e-03 2.77658740e+02] [ 9.21381183e-01 3.88594156e-01 -7.16228202e-03 1.01492173e+02] [ 7.67502545e-03 2.32753990e-04 9.99970519e-01 2.15492724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.67, Y:101.52, Z:2.16 [[ 3.88797234e-01 -9.21319195e-01 -2.76619875e-03 2.77665822e+02] [ 9.21291380e-01 3.88807002e-01 -7.16298338e-03 1.01515879e+02] [ 7.67491152e-03 2.36473061e-04 9.99970519e-01 2.15515317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.67, Y:101.54, Z:2.16 [[ 3.88702673e-01 -9.21359100e-01 -2.76430983e-03 2.77672981e+02] [ 9.21331281e-01 3.88712429e-01 -7.16371226e-03 1.01540194e+02] [ 7.67487307e-03 2.37708985e-04 9.99970519e-01 2.15699539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.68, Y:101.56, Z:2.16 [[ 3.87501241e-01 -9.21865047e-01 -2.76097182e-03 2.77677662e+02] [ 9.21837231e-01 3.87511008e-01 -7.16499944e-03 1.01564687e+02] [ 7.67506951e-03 2.31279562e-04 9.99970519e-01 2.15842719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.68, Y:101.59, Z:2.16 [[ 3.86086838e-01 -9.22458310e-01 -2.76060488e-03 2.77684808e+02] [ 9.22430508e-01 3.86096644e-01 -7.16514081e-03 1.01588935e+02] [ 7.67540396e-03 2.19900392e-04 9.99970519e-01 2.15845028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04589822699995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:277.69, Y:101.61, Z:2.16 [[ 3.83887141e-01 -9.23375900e-01 -2.75877315e-03 2.77691017e+02] [ 9.23348117e-01 3.83897000e-01 -7.16584601e-03 1.01612427e+02] [ 7.67585424e-03 2.03568145e-04 9.99970519e-01 2.15849155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.70, Y:101.64, Z:2.16 [[ 3.81589280e-01 -9.24327875e-01 -2.75687051e-03 2.77699174e+02] [ 9.24300111e-01 3.81599193e-01 -7.16657792e-03 1.01636884e+02] [ 7.67628731e-03 1.86513587e-04 9.99970519e-01 2.15999114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.71, Y:101.66, Z:2.16 [[ 3.76228598e-01 -9.26522783e-01 -2.75227760e-03 2.77705742e+02] [ 9.26495064e-01 3.76238636e-01 -7.16834345e-03 1.01661058e+02] [ 7.67714669e-03 1.46964198e-04 9.99970519e-01 2.16259192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.71, Y:101.68, Z:2.16 [[ 3.74132804e-01 -9.27371049e-01 -2.75359667e-03 2.77714242e+02] [ 9.27343357e-01 3.74142915e-01 -7.16783671e-03 1.01684816e+02] [ 7.67748294e-03 1.28193268e-04 9.99970519e-01 2.16443368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.72, Y:101.71, Z:2.17 [[ 3.72669681e-01 -9.27959987e-01 -2.75173354e-03 2.77723143e+02] [ 9.27932305e-01 3.72679822e-01 -7.16855190e-03 1.01708238e+02] [ 7.67764489e-03 1.18079507e-04 9.99970519e-01 2.16661659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.73, Y:101.73, Z:2.17 [[ 3.71524846e-01 -9.28418939e-01 -2.74983422e-03 2.77731447e+02] [ 9.28391265e-01 3.71535006e-01 -7.16928040e-03 1.01731141e+02] [ 7.67775538e-03 1.10643731e-04 9.99970519e-01 2.16925520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.74, Y:101.76, Z:2.17 [[ 3.71729845e-01 -9.28336885e-01 -2.74785524e-03 2.77739358e+02] [ 9.28309202e-01 3.71739983e-01 -7.17003882e-03 1.01755415e+02] [ 7.67769917e-03 1.14458116e-04 9.99970519e-01 2.16783584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.75, Y:101.78, Z:2.17 [[ 3.71683055e-01 -9.28355630e-01 -2.74437485e-03 2.77746801e+02] [ 9.28327938e-01 3.71693168e-01 -7.17137172e-03 1.01779973e+02] [ 7.67764869e-03 1.17797500e-04 9.99970519e-01 2.16742767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.75, Y:101.80, Z:2.16 [[ 3.70276221e-01 -9.28917644e-01 -2.74432635e-03 2.77753797e+02] [ 9.28889967e-01 3.70286376e-01 -7.17139029e-03 1.01804480e+02] [ 7.67781762e-03 1.06218086e-04 9.99970519e-01 2.16323667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.76, Y:101.83, Z:2.16 [[ 3.67587336e-01 -9.29984989e-01 -2.73328647e-03 2.77762307e+02] [ 9.29957311e-01 3.67597485e-01 -7.17561188e-03 1.01829289e+02] [ 7.67796057e-03 9.58243154e-05 9.99970519e-01 2.16358185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.77, Y:101.85, Z:2.16 [[ 3.63641329e-01 -9.31535026e-01 -2.73479649e-03 2.77770879e+02] [ 9.31507395e-01 3.63651607e-01 -7.17503495e-03 1.01853016e+02] [ 7.67830951e-03 6.16560815e-05 9.99970519e-01 2.16419817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.375898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:277.78, Y:101.88, Z:2.16 [[ 3.53645530e-01 -9.35375505e-01 -2.73910510e-03 2.77781138e+02] [ 9.35347999e-01 3.53656137e-01 -7.17338974e-03 1.01876610e+02] [ 7.67851438e-03 -2.51792584e-05 9.99970519e-01 2.16309527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.79, Y:101.90, Z:2.16 [[ 3.47627104e-01 -9.37628900e-01 -2.72818528e-03 2.77792850e+02] [ 9.37601429e-01 3.47637803e-01 -7.17755615e-03 1.01900855e+02] [ 7.67830441e-03 -6.28373611e-05 9.99970519e-01 2.16355764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.81, Y:101.92, Z:2.16 [[ 3.37599395e-01 -9.41285890e-01 -2.74252484e-03 2.77806289e+02] [ 9.41258580e-01 3.37610496e-01 -7.17208833e-03 1.01922442e+02] [ 7.67689072e-03 -1.60132356e-04 9.99970519e-01 2.16454876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.82, Y:101.94, Z:2.17 [[ 3.34349846e-01 -9.42445069e-01 -2.73366022e-03 2.77817506e+02] [ 9.42417769e-01 3.34360974e-01 -7.17546551e-03 1.01943864e+02] [ 7.67651138e-03 -1.77134182e-04 9.99970519e-01 2.16543283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.83, Y:101.97, Z:2.17 [[ 3.31737636e-01 -9.43367758e-01 -2.72300451e-03 2.77829592e+02] [ 9.43340456e-01 3.31748759e-01 -7.17952180e-03 1.01967869e+02] [ 7.67628274e-03 -1.87002729e-04 9.99970519e-01 2.16571547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.84, Y:101.99, Z:2.16 [[ 3.30982982e-01 -9.43632774e-01 -2.73012521e-03 2.77841477e+02] [ 9.43605503e-01 3.30994181e-01 -7.17681301e-03 1.01991047e+02] [ 7.67593153e-03 -2.00758203e-04 9.99970519e-01 2.16459174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.86, Y:102.01, Z:2.16 [[ 3.33338287e-01 -9.42803343e-01 -2.72826216e-03 2.77855712e+02] [ 9.42776039e-01 3.33349403e-01 -7.17752118e-03 1.02012289e+02] [ 7.67645553e-03 -1.79597581e-04 9.99970519e-01 2.16108088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.87, Y:102.04, Z:2.16 [[ 3.35643091e-01 -9.41985288e-01 -2.72632357e-03 2.77866617e+02] [ 9.41957951e-01 3.35654125e-01 -7.17825747e-03 1.02035602e+02] [ 7.67691468e-03 -1.58749641e-04 9.99970519e-01 2.15929218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.88, Y:102.06, Z:2.16 [[ 3.38548717e-01 -9.40944921e-01 -2.72447370e-03 2.77876594e+02] [ 9.40917544e-01 3.38559653e-01 -7.17895951e-03 1.02058641e+02] [ 7.67740235e-03 -1.33077574e-04 9.99970519e-01 2.15833162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.89, Y:102.08, Z:2.16 [[ 3.42050377e-01 -9.39677672e-01 -2.72261903e-03 2.77886446e+02] [ 9.39650249e-01 3.42061197e-01 -7.17966282e-03 1.02080652e+02] [ 7.67787117e-03 -1.02503278e-04 9.99970519e-01 2.15813379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.90, Y:102.10, Z:2.16 [[ 3.47429907e-01 -9.37702032e-01 -2.71259709e-03 2.77898250e+02] [ 9.37674518e-01 3.47440493e-01 -7.18345996e-03 1.02103529e+02] [ 7.67841107e-03 -4.77843416e-05 9.99970519e-01 2.15994615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.91, Y:102.13, Z:2.16 [[ 3.49032977e-01 -9.37106521e-01 -2.71087028e-03 2.77907877e+02] [ 9.37078984e-01 3.49043503e-01 -7.18411373e-03 1.02126823e+02] [ 7.67849149e-03 -3.28069654e-05 9.99970519e-01 2.16062754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.92, Y:102.15, Z:2.16 [[ 3.50198473e-01 -9.36671600e-01 -2.70992282e-03 2.77917686e+02] [ 9.36644047e-01 3.50208957e-01 -7.18447216e-03 1.02151841e+02] [ 7.67853028e-03 -2.22418954e-05 9.99970519e-01 2.16178105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.765898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:277.92, Y:102.18, Z:2.16 [[ 3.51158406e-01 -9.36312127e-01 -2.71547011e-03 2.77924313e+02] [ 9.36284580e-01 3.51168905e-01 -7.18237488e-03 1.02176760e+02] [ 7.67853336e-03 -2.03014714e-05 9.99970519e-01 2.16242420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.93, Y:102.20, Z:2.16 [[ 3.50499779e-01 -9.36558883e-01 -2.71365913e-03 2.77932210e+02] [ 9.36531337e-01 3.50510283e-01 -7.18305904e-03 1.02201062e+02] [ 7.67852318e-03 -2.37662100e-05 9.99970519e-01 2.16245953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.94, Y:102.23, Z:2.16 [[ 3.48313782e-01 -9.37374074e-01 -2.71182586e-03 2.77938525e+02] [ 9.37346548e-01 3.48324336e-01 -7.18375109e-03 1.02225118e+02] [ 7.67845697e-03 -3.97210972e-05 9.99970519e-01 2.16160174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.94, Y:102.25, Z:2.16 [[ 3.41280481e-01 -9.39957599e-01 -2.71023396e-03 2.77943622e+02] [ 9.39930148e-01 3.41291229e-01 -7.18435162e-03 1.02249122e+02] [ 7.67796498e-03 -9.55516351e-05 9.99970519e-01 2.16065673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.95, Y:102.27, Z:2.16 [[ 3.36509697e-01 -9.41676106e-01 -2.70833942e-03 2.77951331e+02] [ 9.41648704e-01 3.36520569e-01 -7.18506575e-03 1.02272484e+02] [ 7.67741666e-03 -1.32460004e-04 9.99970519e-01 2.16121879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.96, Y:102.30, Z:2.16 [[ 3.31659358e-01 -9.43395328e-01 -2.70641522e-03 2.77959849e+02] [ 9.43367976e-01 3.31670357e-01 -7.18579046e-03 1.02296134e+02] [ 7.67667886e-03 -1.69910798e-04 9.99970519e-01 2.16228225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.97, Y:102.32, Z:2.16 [[ 3.22699423e-01 -9.46497632e-01 -2.70454537e-03 2.77968490e+02] [ 9.46470380e-01 3.22710666e-01 -7.18649416e-03 1.02319416e+02] [ 7.67478535e-03 -2.40694572e-04 9.99970519e-01 2.16380648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.98, Y:102.34, Z:2.16 [[ 3.18436956e-01 -9.47940189e-01 -2.70260223e-03 2.77977522e+02] [ 9.47912981e-01 3.18448307e-01 -7.18722484e-03 1.02343667e+02] [ 7.67369837e-03 -2.73153741e-04 9.99970519e-01 2.16493874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.99, Y:102.37, Z:2.17 [[ 3.15044577e-01 -9.49073032e-01 -2.70073670e-03 2.77986046e+02] [ 9.49045860e-01 3.15056011e-01 -7.18792578e-03 1.02366616e+02] [ 7.67274985e-03 -2.98605947e-04 9.99970519e-01 2.16587799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.00, Y:102.39, Z:2.16 [[ 3.12797406e-01 -9.49816035e-01 -2.69880531e-03 2.77995642e+02] [ 9.49788883e-01 3.12808890e-01 -7.18865087e-03 1.02390792e+02] [ 7.67210616e-03 -3.14703937e-04 9.99970519e-01 2.16444025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.065898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:278.00, Y:102.41, Z:2.16 [[ 3.13558002e-01 -9.49565219e-01 -2.69699047e-03 2.78004559e+02] [ 9.49538053e-01 3.13569450e-01 -7.18933168e-03 1.02414875e+02] [ 7.67243314e-03 -3.06622605e-04 9.99970519e-01 2.16348978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.01, Y:102.44, Z:2.16 [[ 3.15456311e-01 -9.48936274e-01 -2.69513919e-03 2.78014117e+02] [ 9.48909079e-01 3.15467691e-01 -7.19002563e-03 1.02438209e+02] [ 7.67310547e-03 -2.89303089e-04 9.99970519e-01 2.16396056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.02, Y:102.46, Z:2.16 [[ 3.15208009e-01 -9.49018787e-01 -2.69325916e-03 2.78022947e+02] [ 9.48991588e-01 3.15219382e-01 -7.19072979e-03 1.02462662e+02] [ 7.67310514e-03 -2.89304663e-04 9.99970519e-01 2.16416004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.03, Y:102.49, Z:2.16 [[ 3.18081271e-01 -9.48059630e-01 -2.69137745e-03 2.78030267e+02] [ 9.48032391e-01 3.18092548e-01 -7.19143401e-03 1.02486009e+02] [ 7.67401538e-03 -2.64052526e-04 9.99970519e-01 2.16341973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.04, Y:102.51, Z:2.16 [[ 3.18504172e-01 -9.47917644e-01 -2.68942067e-03 2.78038074e+02] [ 9.47890394e-01 3.18515421e-01 -7.19216572e-03 1.02510714e+02] [ 7.67420275e-03 -2.58541232e-04 9.99970519e-01 2.16273222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.05, Y:102.53, Z:2.16 [[ 3.18475779e-01 -9.47927189e-01 -2.68755554e-03 2.78045376e+02] [ 9.47899933e-01 3.18487015e-01 -7.19286262e-03 1.02534654e+02] [ 7.67426158e-03 -2.56781188e-04 9.99970519e-01 2.16240515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:278.05, Y:102.56, Z:2.16 [[ 3.18262618e-01 -9.47998783e-01 -2.68561242e-03 2.78051430e+02] [ 9.47971525e-01 3.18273846e-01 -7.19358805e-03 1.02558495e+02] [ 7.67427291e-03 -2.56433930e-04 9.99970519e-01 2.16493478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.06, Y:102.58, Z:2.17 [[ 3.18714988e-01 -9.47846799e-01 -2.68368543e-03 2.78058791e+02] [ 9.47819529e-01 3.18726188e-01 -7.19430687e-03 1.02581832e+02] [ 7.67446157e-03 -2.50716033e-04 9.99970519e-01 2.16638996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.30589822699994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:278.06, Y:102.61, Z:2.17 [[ 3.18710420e-01 -9.47848339e-01 -2.68211527e-03 2.78064678e+02] [ 9.47821064e-01 3.18721608e-01 -7.19489220e-03 1.02606891e+02] [ 7.67451471e-03 -2.49078235e-04 9.99970519e-01 2.16620040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.07, Y:102.63, Z:2.17 [[ 3.19185835e-01 -9.47688356e-01 -2.68027572e-03 2.78071599e+02] [ 9.47661069e-01 3.19196995e-01 -7.19557741e-03 1.02630669e+02] [ 7.67470088e-03 -2.43266575e-04 9.99970519e-01 2.16565283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.08, Y:102.65, Z:2.16 [[ 3.18225070e-01 -9.48011409e-01 -2.67836856e-03 2.78076706e+02] [ 9.47984128e-01 3.18236244e-01 -7.19628723e-03 1.02654474e+02] [ 7.67451635e-03 -2.49011877e-04 9.99970519e-01 2.16364324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.08, Y:102.68, Z:2.16 [[ 3.16671306e-01 -9.48531559e-01 -2.67679382e-03 2.78083905e+02] [ 9.48504292e-01 3.16682512e-01 -7.19687294e-03 1.02679133e+02] [ 7.67415490e-03 -2.59907278e-04 9.99970519e-01 2.16486875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.09, Y:102.70, Z:2.17 [[ 3.14835422e-01 -9.49142509e-01 -2.67497281e-03 2.78090982e+02] [ 9.49115257e-01 3.14846667e-01 -7.19754971e-03 1.02703972e+02] [ 7.67370667e-03 -2.72813911e-04 9.99970519e-01 2.16559288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.10, Y:102.73, Z:2.17 [[ 3.13015157e-01 -9.49744369e-01 -2.67314878e-03 2.78097769e+02] [ 9.49717133e-01 3.13026440e-01 -7.19822709e-03 1.02728898e+02] [ 7.67324189e-03 -2.85581015e-04 9.99970519e-01 2.16588606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.10, Y:102.75, Z:2.16 [[ 3.08935489e-01 -9.51079244e-01 -2.67132297e-03 2.78100853e+02] [ 9.51052051e-01 3.08946876e-01 -7.19890460e-03 1.02753936e+02] [ 7.67202563e-03 -3.16570073e-04 9.99970519e-01 2.16413984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.11, Y:102.78, Z:2.17 [[ 3.06613006e-01 -9.51830520e-01 -2.66942532e-03 2.78106562e+02] [ 9.51803349e-01 3.06624444e-01 -7.19960820e-03 1.02778760e+02] [ 7.67131787e-03 -3.33274453e-04 9.99970519e-01 2.16586750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.11, Y:102.80, Z:2.17 [[ 3.04325308e-01 -9.52564429e-01 -2.66752689e-03 2.78111979e+02] [ 9.52537280e-01 3.04336798e-01 -7.20031152e-03 1.02803294e+02] [ 7.67058722e-03 -3.49681788e-04 9.99970519e-01 2.16681635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.11, Y:102.83, Z:2.17 [[ 3.00996173e-01 -9.53621622e-01 -2.66554922e-03 2.78114245e+02] [ 9.53594507e-01 3.01007743e-01 -7.20104358e-03 1.02829719e+02] [ 7.66942181e-03 -3.74366536e-04 9.99970519e-01 2.16839706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.12, Y:102.85, Z:2.17 [[ 2.99448215e-01 -9.54108836e-01 -2.66372451e-03 2.78119499e+02] [ 9.54081734e-01 2.99459815e-01 -7.20171849e-03 1.02854220e+02] [ 7.66890169e-03 -3.84869157e-04 9.99970519e-01 2.16676809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.12, Y:102.88, Z:2.16 [[ 2.96692638e-01 -9.54969315e-01 -2.66182613e-03 2.78122984e+02] [ 9.54942240e-01 2.96704302e-01 -7.20242008e-03 1.02880634e+02] [ 7.66786544e-03 -4.04985193e-04 9.99970519e-01 2.16356834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.13, Y:102.90, Z:2.16 [[ 2.95597845e-01 -9.55308766e-01 -2.65999925e-03 2.78129409e+02] [ 9.55281699e-01 2.95609526e-01 -7.20309472e-03 1.02904388e+02] [ 7.66750065e-03 -4.11829326e-04 9.99970519e-01 2.16352994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.14, Y:102.93, Z:2.17 [[ 2.94806653e-01 -9.55553227e-01 -2.65843223e-03 2.78136334e+02] [ 9.55526164e-01 2.94818345e-01 -7.20367301e-03 1.02929286e+02] [ 7.66724758e-03 -4.16510820e-04 9.99970519e-01 2.16760797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.14, Y:102.95, Z:2.17 [[ 2.95351388e-01 -9.55385001e-01 -2.65654348e-03 2.78140732e+02] [ 9.55357925e-01 2.95363050e-01 -7.20436947e-03 1.02954598e+02] [ 7.66759132e-03 -4.10129350e-04 9.99970519e-01 2.17338330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.15, Y:102.98, Z:2.18 [[ 2.96227604e-01 -9.55113689e-01 -2.65465111e-03 2.78146795e+02] [ 9.55086597e-01 2.96239227e-01 -7.20506670e-03 1.02978862e+02] [ 7.66806963e-03 -4.01082047e-04 9.99970520e-01 2.17525932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.15, Y:103.00, Z:2.18 [[ 2.97286207e-01 -9.54784727e-01 -2.65268707e-03 2.78152288e+02] [ 9.54757615e-01 2.97297786e-01 -7.20578973e-03 1.03003322e+02] [ 7.66861597e-03 -3.90491280e-04 9.99970520e-01 2.17551661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.16, Y:103.03, Z:2.17 [[ 2.99162060e-01 -9.54198634e-01 -2.65113662e-03 2.78155710e+02] [ 9.54171495e-01 2.99173573e-01 -7.20636012e-03 1.03029733e+02] [ 7.66944900e-03 -3.73769456e-04 9.99970520e-01 2.17176296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.16, Y:103.05, Z:2.17 [[ 2.99798494e-01 -9.53998870e-01 -2.64934625e-03 2.78162208e+02] [ 9.53971717e-01 2.99809976e-01 -7.20701827e-03 1.03054580e+02] [ 7.66978772e-03 -3.66748168e-04 9.99970520e-01 2.17025370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.875898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:278.17, Y:103.08, Z:2.17 [[ 3.00294958e-01 -9.53842717e-01 -2.64755107e-03 2.78168902e+02] [ 9.53815553e-01 3.00306412e-01 -7.20767768e-03 1.03078948e+02] [ 7.67006743e-03 -3.60846127e-04 9.99970520e-01 2.16993379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.18, Y:103.10, Z:2.17 [[ 3.00668864e-01 -9.53724926e-01 -2.64574288e-03 2.78175952e+02] [ 9.53697751e-01 3.00680294e-01 -7.20834136e-03 1.03103846e+02] [ 7.67029758e-03 -3.55915226e-04 9.99970520e-01 2.16962227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.18, Y:103.13, Z:2.17 [[ 3.01118699e-01 -9.53583001e-01 -2.64389461e-03 2.78180405e+02] [ 9.53555815e-01 3.01130102e-01 -7.20901921e-03 1.03129021e+02] [ 7.67055442e-03 -3.50330593e-04 9.99970520e-01 2.16921125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96589822699997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:278.19, Y:103.15, Z:2.17 [[ 3.00807711e-01 -9.53681153e-01 -2.64206051e-03 2.78186086e+02] [ 9.53653965e-01 3.00819109e-01 -7.20969133e-03 1.03152649e+02] [ 7.67052903e-03 -3.50880740e-04 9.99970520e-01 2.16922189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.19, Y:103.18, Z:2.17 [[ 3.00376147e-01 -9.53817173e-01 -2.64015261e-03 2.78192965e+02] [ 9.53789984e-01 3.00387543e-01 -7.21038993e-03 1.03176821e+02] [ 7.67046269e-03 -3.52321971e-04 9.99970520e-01 2.17061216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.02589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:278.20, Y:103.20, Z:2.17 [[ 2.99559212e-01 -9.54074063e-01 -2.63832749e-03 2.78199436e+02] [ 9.54046878e-01 2.99570617e-01 -7.21105769e-03 1.03200144e+02] [ 7.67024850e-03 -3.56949342e-04 9.99970520e-01 2.17128165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.20, Y:103.22, Z:2.17 [[ 2.96792360e-01 -9.54938398e-01 -2.63642757e-03 2.78203570e+02] [ 9.54911241e-01 2.96803830e-01 -7.21175225e-03 1.03223392e+02] [ 7.66928094e-03 -3.77161350e-04 9.99970520e-01 2.16877993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.21, Y:103.25, Z:2.17 [[ 2.94855289e-01 -9.55538287e-01 -2.63446156e-03 2.78210354e+02] [ 9.55511147e-01 2.94866799e-01 -7.21247036e-03 1.03248261e+02] [ 7.66860683e-03 -3.90622352e-04 9.99970520e-01 2.16733928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.21, Y:103.27, Z:2.17 [[ 2.91710136e-01 -9.56503145e-01 -2.63262496e-03 2.78214806e+02] [ 9.56476036e-01 2.91721722e-01 -7.21314068e-03 1.03274025e+02] [ 7.66738563e-03 -4.13896438e-04 9.99970520e-01 2.16735986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.22, Y:103.30, Z:2.17 [[ 2.90644914e-01 -9.56827368e-01 -2.63080200e-03 2.78220590e+02] [ 9.56800267e-01 2.90656516e-01 -7.21380549e-03 1.03299484e+02] [ 7.66702627e-03 -4.20496180e-04 9.99970520e-01 2.16873720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.23, Y:103.32, Z:2.17 [[ 2.90164497e-01 -9.56973173e-01 -2.62896704e-03 2.78225726e+02] [ 9.56946071e-01 2.90176099e-01 -7.21447416e-03 1.03323916e+02] [ 7.66692162e-03 -4.22395414e-04 9.99970520e-01 2.16944462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.23, Y:103.35, Z:2.17 [[ 2.89475057e-01 -9.57181952e-01 -2.62705525e-03 2.78230894e+02] [ 9.57154853e-01 2.89486664e-01 -7.21517024e-03 1.03349221e+02] [ 7.66672820e-03 -4.25886862e-04 9.99970520e-01 2.17133433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.23, Y:103.38, Z:2.17 [[ 2.87251207e-01 -9.57851685e-01 -2.62542192e-03 2.78231906e+02] [ 9.57824608e-01 2.87262865e-01 -7.21576452e-03 1.03375758e+02] [ 7.66581843e-03 -4.41956646e-04 9.99970520e-01 2.17272044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.24, Y:103.40, Z:2.17 [[ 2.85316856e-01 -9.58429658e-01 -2.62358575e-03 2.78236315e+02] [ 9.58402598e-01 2.85328555e-01 -7.21643207e-03 1.03400538e+02] [ 7.66502645e-03 -4.55481688e-04 9.99970520e-01 2.17178044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.24, Y:103.43, Z:2.17 [[ 2.82941186e-01 -9.59133678e-01 -2.62168811e-03 2.78241715e+02] [ 9.59106641e-01 2.82952938e-01 -7.21712141e-03 1.03425512e+02] [ 7.66399856e-03 -4.72457581e-04 9.99970520e-01 2.17038937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.25, Y:103.45, Z:2.17 [[ 2.76535021e-01 -9.61000270e-01 -2.61988852e-03 2.78245224e+02] [ 9.60973306e-01 2.76546939e-01 -7.21777462e-03 1.03449845e+02] [ 7.66080551e-03 -5.21675475e-04 9.99970520e-01 2.16919844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.25, Y:103.47, Z:2.17 [[ 2.72547716e-01 -9.62138706e-01 -2.61802240e-03 2.78251683e+02] [ 9.62111785e-01 2.72559732e-01 -7.21845143e-03 1.03474929e+02] [ 7.65871900e-03 -5.51457757e-04 9.99970520e-01 2.16985944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.385898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.26, Y:103.50, Z:2.17 [[ 2.68539108e-01 -9.63265230e-01 -2.61626477e-03 2.78256918e+02] [ 9.63238353e-01 2.68551223e-01 -7.21908842e-03 1.03499018e+02] [ 7.65649797e-03 -5.81478996e-04 9.99970520e-01 2.17009041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.26, Y:103.52, Z:2.17 [[ 2.65412762e-01 -9.64131335e-01 -2.61443360e-03 2.78262733e+02] [ 9.64104492e-01 2.65424950e-01 -7.21975152e-03 1.03523414e+02] [ 7.65472458e-03 -6.04372987e-04 9.99970520e-01 2.17068072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.27, Y:103.55, Z:2.17 [[ 2.62791988e-01 -9.64848976e-01 -2.61262144e-03 2.78268217e+02] [ 9.64822160e-01 2.62804235e-01 -7.22040723e-03 1.03549251e+02] [ 7.65321050e-03 -6.23249891e-04 9.99970520e-01 2.17275302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:278.27, Y:103.57, Z:2.17 [[ 2.62978962e-01 -9.64798035e-01 -2.61093070e-03 2.78274958e+02] [ 9.64771211e-01 2.62991192e-01 -7.22101856e-03 1.03572681e+02] [ 7.65347630e-03 -6.19974811e-04 9.99970520e-01 2.17276502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.28, Y:103.60, Z:2.17 [[ 2.64164520e-01 -9.64474105e-01 -2.60898811e-03 2.78281947e+02] [ 9.64447260e-01 2.64176702e-01 -7.22172036e-03 1.03596444e+02] [ 7.65439616e-03 -6.08509146e-04 9.99970520e-01 2.17155243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.29, Y:103.62, Z:2.17 [[ 2.66783929e-01 -9.63752841e-01 -2.60708945e-03 2.78288186e+02] [ 9.63725956e-01 2.66796024e-01 -7.22240573e-03 1.03621274e+02] [ 7.65617514e-03 -5.85697992e-04 9.99970520e-01 2.17164829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.565898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.30, Y:103.64, Z:2.17 [[ 2.67173672e-01 -9.63644873e-01 -2.60536929e-03 2.78295715e+02] [ 9.63617977e-01 2.67185744e-01 -7.22302619e-03 1.03644345e+02] [ 7.65654969e-03 -5.80778261e-04 9.99970520e-01 2.17202032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.30, Y:103.67, Z:2.17 [[ 2.66553368e-01 -9.63816644e-01 -2.60358262e-03 2.78303953e+02] [ 9.63789750e-01 2.66565444e-01 -7.22367015e-03 1.03667708e+02] [ 7.65631868e-03 -5.83812640e-04 9.99970520e-01 2.17252274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.625898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.31, Y:103.69, Z:2.17 [[ 2.65647500e-01 -9.64066718e-01 -2.60174089e-03 2.78313429e+02] [ 9.64039829e-01 2.65659588e-01 -7.22433342e-03 1.03691536e+02] [ 7.65591682e-03 -5.89055733e-04 9.99970520e-01 2.17336574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.32, Y:103.71, Z:2.17 [[ 2.65148996e-01 -9.64203946e-01 -2.59994417e-03 2.78323763e+02] [ 9.64177058e-01 2.65161084e-01 -7.22497998e-03 1.03714540e+02] [ 7.65575822e-03 -5.91110340e-04 9.99970520e-01 2.17224346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.33, Y:103.74, Z:2.17 [[ 2.65843155e-01 -9.64012794e-01 -2.59815536e-03 2.78332989e+02] [ 9.63985891e-01 2.65855210e-01 -7.22562319e-03 1.03738764e+02] [ 7.65632634e-03 -5.83702639e-04 9.99970520e-01 2.17193311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.34, Y:103.76, Z:2.17 [[ 2.67093248e-01 -9.63667191e-01 -2.59636383e-03 2.78340878e+02] [ 9.63640267e-01 2.67105255e-01 -7.22626688e-03 1.03761911e+02] [ 7.65721873e-03 -5.71873644e-04 9.99970520e-01 2.17278887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.35, Y:103.79, Z:2.17 [[ 2.71207708e-01 -9.62517349e-01 -2.59450262e-03 2.78347186e+02] [ 9.62490367e-01 2.71219586e-01 -7.22693506e-03 1.03786699e+02] [ 7.65973031e-03 -5.37183285e-04 9.99970520e-01 2.17417882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.35, Y:103.81, Z:2.17 [[ 2.72993925e-01 -9.62012263e-01 -2.59271332e-03 2.78353191e+02] [ 9.61985254e-01 2.73005740e-01 -7.22757693e-03 1.03810632e+02] [ 7.66084326e-03 -5.21067382e-04 9.99970520e-01 2.17466625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.36, Y:103.84, Z:2.18 [[ 2.74767517e-01 -9.61507202e-01 -2.59084947e-03 2.78359447e+02] [ 9.61480164e-01 2.74779268e-01 -7.22824500e-03 1.03835524e+02] [ 7.66192134e-03 -5.04963442e-04 9.99970520e-01 2.17634584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.37, Y:103.86, Z:2.18 [[ 2.76365226e-01 -9.61049197e-01 -2.58905575e-03 2.78365664e+02] [ 9.61022134e-01 2.76376918e-01 -7.22888742e-03 1.03860490e+02] [ 7.66287170e-03 -4.90326780e-04 9.99970520e-01 2.17718626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.37, Y:103.89, Z:2.18 [[ 2.77761626e-01 -9.60646545e-01 -2.58724382e-03 2.78369283e+02] [ 9.60619460e-01 2.77773265e-01 -7.22953586e-03 1.03886687e+02] [ 7.66369582e-03 -4.77269124e-04 9.99970520e-01 2.17723126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.38, Y:103.91, Z:2.18 [[ 2.77064051e-01 -9.60847972e-01 -2.58560319e-03 2.78375256e+02] [ 9.60820890e-01 2.77075698e-01 -7.23012258e-03 1.03911553e+02] [ 7.66345643e-03 -4.81094502e-04 9.99970520e-01 2.17672870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.38, Y:103.94, Z:2.17 [[ 2.75785016e-01 -9.61215870e-01 -2.58374733e-03 2.78381533e+02] [ 9.61188798e-01 2.75796685e-01 -7.23078573e-03 1.03935821e+02] [ 7.66293494e-03 -4.89326632e-04 9.99970520e-01 2.17496818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.39, Y:103.96, Z:2.18 [[ 2.73028895e-01 -9.62002367e-01 -2.58218451e-03 2.78385933e+02] [ 9.61975323e-01 2.73040630e-01 -7.23134378e-03 1.03960700e+02] [ 7.66161112e-03 -5.09631970e-04 9.99970520e-01 2.17536863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.39, Y:103.99, Z:2.18 [[ 2.72090006e-01 -9.62268346e-01 -2.58038445e-03 2.78391893e+02] [ 9.62241308e-01 2.72101753e-01 -7.23198605e-03 1.03985299e+02] [ 7.66123839e-03 -5.15201378e-04 9.99970520e-01 2.17727102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.40, Y:104.01, Z:2.18 [[ 2.71329575e-01 -9.62483045e-01 -2.57860428e-03 2.78397761e+02] [ 9.62456010e-01 2.71341330e-01 -7.23262072e-03 1.04009686e+02] [ 7.66095673e-03 -5.19369280e-04 9.99970520e-01 2.17794938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.41, Y:104.03, Z:2.18 [[ 2.71094641e-01 -9.62549249e-01 -2.57675059e-03 2.78406197e+02] [ 9.62522210e-01 2.71106389e-01 -7.23328107e-03 1.04034234e+02] [ 7.66096281e-03 -5.19275944e-04 9.99970520e-01 2.17814886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.41, Y:104.06, Z:2.18 [[ 2.70714012e-01 -9.62656373e-01 -2.57498487e-03 2.78412349e+02] [ 9.62629334e-01 2.70725758e-01 -7.23390960e-03 1.04059389e+02] [ 7.66088391e-03 -5.20435283e-04 9.99970520e-01 2.17990194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.42, Y:104.08, Z:2.18 [[ 2.70160135e-01 -9.62811965e-01 -2.57315736e-03 2.78416177e+02] [ 9.62784927e-01 2.70171883e-01 -7.23455960e-03 1.04084358e+02] [ 7.66071531e-03 -5.22907523e-04 9.99970520e-01 2.18062086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.135898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:278.42, Y:104.11, Z:2.18 [[ 2.69470843e-01 -9.63005116e-01 -2.57124791e-03 2.78422425e+02] [ 9.62978080e-01 2.69482596e-01 -7.23523817e-03 1.04109026e+02] [ 7.66047794e-03 -5.26369648e-04 9.99970520e-01 2.17947805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.43, Y:104.13, Z:2.18 [[ 2.68655464e-01 -9.63232910e-01 -2.56947603e-03 2.78428475e+02] [ 9.63205878e-01 2.68667227e-01 -7.23586737e-03 1.04132460e+02] [ 7.66015959e-03 -5.30979108e-04 9.99970520e-01 2.17758451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.43, Y:104.16, Z:2.18 [[ 2.66442401e-01 -9.63847423e-01 -2.56763250e-03 2.78432677e+02] [ 9.63820412e-01 2.66454211e-01 -7.23652149e-03 1.04157472e+02] [ 7.65905908e-03 -5.46620459e-04 9.99970520e-01 2.17528506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.44, Y:104.18, Z:2.18 [[ 2.64696702e-01 -9.64328301e-01 -2.56591830e-03 2.78439204e+02] [ 9.64301306e-01 2.64708549e-01 -7.23712925e-03 1.04181634e+02] [ 7.65818907e-03 -5.58674123e-04 9.99970520e-01 2.17796604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.45, Y:104.21, Z:2.18 [[ 2.62842047e-01 -9.64835470e-01 -2.56410665e-03 2.78446035e+02] [ 9.64808491e-01 2.62853933e-01 -7.23777106e-03 1.04206480e+02] [ 7.65724376e-03 -5.71481301e-04 9.99970520e-01 2.18162807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.45, Y:104.23, Z:2.18 [[ 2.61457507e-01 -9.65211587e-01 -2.56228012e-03 2.78450154e+02] [ 9.65184619e-01 2.61469417e-01 -7.23841763e-03 1.04230848e+02] [ 7.65656245e-03 -5.80534731e-04 9.99970520e-01 2.18404756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.46, Y:104.26, Z:2.18 [[ 2.61571787e-01 -9.65180627e-01 -2.56071765e-03 2.78455858e+02] [ 9.65153653e-01 2.61583682e-01 -7.23897033e-03 1.04256121e+02] [ 7.65675588e-03 -5.77975595e-04 9.99970520e-01 2.18305760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:278.46, Y:104.28, Z:2.18 [[ 2.62107279e-01 -9.65035350e-01 -2.55895321e-03 2.78460691e+02] [ 9.65008363e-01 2.62119146e-01 -7.23959401e-03 1.04281413e+02] [ 7.65721476e-03 -5.71860961e-04 9.99970520e-01 2.18187427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.47, Y:104.31, Z:2.18 [[ 2.63421456e-01 -9.64677458e-01 -2.55724926e-03 2.78465243e+02] [ 9.64650450e-01 2.63433273e-01 -7.24019584e-03 1.04305791e+02] [ 7.65811826e-03 -5.59628719e-04 9.99970520e-01 2.18245720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.47, Y:104.33, Z:2.18 [[ 2.66142885e-01 -9.63930202e-01 -2.55538251e-03 2.78465217e+02] [ 9.63903155e-01 2.66154613e-01 -7.24085464e-03 1.04333663e+02] [ 7.65980532e-03 -5.36039322e-04 9.99970520e-01 2.18451677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.47, Y:104.36, Z:2.18 [[ 2.66491945e-01 -9.63833763e-01 -2.55372377e-03 2.78469404e+02] [ 9.63806706e-01 2.66503651e-01 -7.24143960e-03 1.04359307e+02] [ 7.66012068e-03 -5.31510771e-04 9.99970520e-01 2.18416569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.47, Y:104.38, Z:2.18 [[ 2.65663454e-01 -9.64062455e-01 -2.55198984e-03 2.78473262e+02] [ 9.64035402e-01 2.65675170e-01 -7.24205061e-03 1.04384473e+02] [ 7.65978943e-03 -5.36260369e-04 9.99970520e-01 2.18291523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.47, Y:104.41, Z:2.18 [[ 2.61625811e-01 -9.65166012e-01 -2.55022015e-03 2.78474476e+02] [ 9.65139003e-01 2.61637627e-01 -7.24267374e-03 1.04410205e+02] [ 7.65761608e-03 -5.66446536e-04 9.99970520e-01 2.17869828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.48, Y:104.43, Z:2.18 [[ 2.58655099e-01 -9.65966379e-01 -2.54837610e-03 2.78479636e+02] [ 9.65939401e-01 2.58666984e-01 -7.24332252e-03 1.04434990e+02] [ 7.65598679e-03 -5.88054578e-04 9.99970520e-01 2.17778050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.48, Y:104.46, Z:2.18 [[ 2.56063749e-01 -9.66656543e-01 -2.54660943e-03 2.78484738e+02] [ 9.66629590e-01 2.56075693e-01 -7.24394360e-03 1.04459181e+02] [ 7.65453024e-03 -6.06716672e-04 9.99970520e-01 2.17759929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.49, Y:104.49, Z:2.18 [[ 2.52673087e-01 -9.67548363e-01 -2.54477282e-03 2.78486004e+02] [ 9.67521447e-01 2.52685112e-01 -7.24458873e-03 1.04485821e+02] [ 7.65251617e-03 -6.31609684e-04 9.99970520e-01 2.18130113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.49, Y:104.51, Z:2.18 [[ 2.52136140e-01 -9.67688431e-01 -2.54303206e-03 2.78490640e+02] [ 9.67661516e-01 2.52148167e-01 -7.24519973e-03 1.04510959e+02] [ 7.65231683e-03 -6.34017562e-04 9.99970520e-01 2.18315621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.50, Y:104.54, Z:2.18 [[ 2.52267950e-01 -9.67654083e-01 -2.54128481e-03 2.78495057e+02] [ 9.67627160e-01 2.52279960e-01 -7.24581253e-03 1.04536894e+02] [ 7.65255531e-03 -6.31129924e-04 9.99970520e-01 2.18379266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.50, Y:104.56, Z:2.18 [[ 2.52905037e-01 -9.67487774e-01 -2.53965377e-03 2.78499019e+02] [ 9.67460838e-01 2.52917017e-01 -7.24638417e-03 1.04561790e+02] [ 7.65310974e-03 -6.24368515e-04 9.99970520e-01 2.18269155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.50, Y:104.59, Z:2.18 [[ 2.53191791e-01 -9.67412774e-01 -2.53812668e-03 2.78498798e+02] [ 9.67385829e-01 2.53203752e-01 -7.24691901e-03 1.04587886e+02] [ 7.65342522e-03 -6.20487381e-04 9.99970520e-01 2.18118266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.50, Y:104.61, Z:2.18 [[ 2.52249734e-01 -9.67658844e-01 -2.53631925e-03 2.78503532e+02] [ 9.67631905e-01 2.52261707e-01 -7.24755153e-03 1.04612971e+02] [ 7.65297356e-03 -6.26030492e-04 9.99970520e-01 2.18149473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.51, Y:104.64, Z:2.18 [[ 2.50500358e-01 -9.68113189e-01 -2.53457778e-03 2.78509080e+02] [ 9.68086266e-01 2.50512368e-01 -7.24816050e-03 1.04638656e+02] [ 7.65198285e-03 -6.38023135e-04 9.99970520e-01 2.18257546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.51, Y:104.66, Z:2.18 [[ 2.48044352e-01 -9.68745366e-01 -2.53295349e-03 2.78514999e+02] [ 9.68718468e-01 2.48056418e-01 -7.24872808e-03 1.04662596e+02] [ 7.65048710e-03 -6.55712768e-04 9.99970520e-01 2.18282261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.52, Y:104.69, Z:2.18 [[ 2.41031135e-01 -9.70514083e-01 -2.53109287e-03 2.78520686e+02] [ 9.70487267e-01 2.41043381e-01 -7.24937771e-03 1.04686173e+02] [ 7.64572634e-03 -7.09067663e-04 9.99970520e-01 2.18214864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85589822699995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:278.53, Y:104.71, Z:2.18 [[ 2.36340229e-01 -9.71667072e-01 -2.52924399e-03 2.78528435e+02] [ 9.71640309e-01 2.36352591e-01 -7.25002271e-03 1.04710402e+02] [ 7.64240171e-03 -7.44043383e-04 9.99970520e-01 2.17903249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.54, Y:104.73, Z:2.18 [[ 2.32565635e-01 -9.72577420e-01 -2.52752296e-03 2.78537779e+02] [ 9.72550699e-01 2.32578088e-01 -7.25062265e-03 1.04734529e+02] [ 7.63963832e-03 -7.71898561e-04 9.99970520e-01 2.17790301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.55, Y:104.76, Z:2.18 [[ 2.28632511e-01 -9.73509525e-01 -2.52580431e-03 2.78548119e+02] [ 9.73482849e-01 2.28645060e-01 -7.25122130e-03 1.04757987e+02] [ 7.63664568e-03 -8.00962244e-04 9.99970520e-01 2.17927279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.56, Y:104.78, Z:2.18 [[ 2.29009848e-01 -9.73420833e-01 -2.52406869e-03 2.78557104e+02] [ 9.73394146e-01 2.29022374e-01 -7.25182540e-03 1.04780459e+02] [ 7.63714613e-03 -7.96174255e-04 9.99970520e-01 2.18062540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.57, Y:104.80, Z:2.18 [[ 2.30805475e-01 -9.72996645e-01 -2.52225854e-03 2.78565924e+02] [ 9.72969928e-01 2.30817938e-01 -7.25245493e-03 1.04803051e+02] [ 7.63879683e-03 -7.80175409e-04 9.99970520e-01 2.18215763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.58, Y:104.83, Z:2.18 [[ 2.33126333e-01 -9.72443190e-01 -2.52081564e-03 2.78575148e+02] [ 9.72416439e-01 2.33138722e-01 -7.25295642e-03 1.04827918e+02] [ 7.64078782e-03 -7.60427431e-04 9.99970520e-01 2.18373084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.58, Y:104.85, Z:2.18 [[ 2.38012547e-01 -9.71258813e-01 -2.51920133e-03 2.78584953e+02] [ 9.71231994e-01 2.38024789e-01 -7.25351709e-03 1.04850188e+02] [ 7.64467476e-03 -7.20300857e-04 9.99970520e-01 2.18079648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.59, Y:104.87, Z:2.18 [[ 2.39079107e-01 -9.70996829e-01 -2.51771392e-03 2.78594066e+02] [ 9.70969992e-01 2.39091308e-01 -7.25403333e-03 1.04872478e+02] [ 7.64560688e-03 -7.10336858e-04 9.99970520e-01 2.17984375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09589822699996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:278.60, Y:104.90, Z:2.18 [[ 2.38889671e-01 -9.71043456e-01 -2.51624104e-03 2.78603146e+02] [ 9.71016617e-01 2.38901866e-01 -7.25454420e-03 1.04896489e+02] [ 7.64561236e-03 -7.10276187e-04 9.99970520e-01 2.17945121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.61, Y:104.92, Z:2.18 [[ 2.39443077e-01 -9.70907148e-01 -2.51451609e-03 2.78614549e+02] [ 9.70880296e-01 2.39455245e-01 -7.25514204e-03 1.04918814e+02] [ 7.64618333e-03 -7.04100595e-04 9.99970520e-01 2.18319779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.62, Y:104.94, Z:2.18 [[ 2.40125496e-01 -9.70738601e-01 -2.51287671e-03 2.78623830e+02] [ 9.70711735e-01 2.40137632e-01 -7.25570981e-03 1.04942470e+02] [ 7.64683386e-03 -6.96997997e-04 9.99970520e-01 2.18425619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.63, Y:104.97, Z:2.19 [[ 2.41389176e-01 -9.70425144e-01 -2.51117398e-03 2.78632586e+02] [ 9.70398256e-01 2.41401265e-01 -7.25629907e-03 1.04966293e+02] [ 7.64789564e-03 -6.85246800e-04 9.99970520e-01 2.18607520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.64, Y:104.99, Z:2.19 [[ 2.43811144e-01 -9.69819482e-01 -2.50947467e-03 2.78640766e+02] [ 9.69792559e-01 2.43823153e-01 -7.25688670e-03 1.04990564e+02] [ 7.64973813e-03 -6.64360012e-04 9.99970520e-01 2.18813995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.64, Y:105.02, Z:2.19 [[ 2.52463404e-01 -9.67603194e-01 -2.50774600e-03 2.78644500e+02] [ 9.67576159e-01 2.52475159e-01 -7.25748402e-03 1.05015976e+02] [ 7.65550829e-03 -5.94186123e-04 9.99970520e-01 2.19005570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.65, Y:105.04, Z:2.19 [[ 2.57447967e-01 -9.66288913e-01 -2.50602116e-03 2.78648596e+02] [ 9.66261812e-01 2.57459570e-01 -7.25807957e-03 1.05041044e+02] [ 7.65860095e-03 -5.52894725e-04 9.99970520e-01 2.18921785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.65, Y:105.07, Z:2.19 [[ 2.62784228e-01 -9.64851355e-01 -2.51250568e-03 2.78652697e+02] [ 9.64824210e-01 2.62795730e-01 -7.25584208e-03 1.05066103e+02] [ 7.66108483e-03 -5.17405445e-04 9.99970520e-01 2.18950014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.65, Y:105.09, Z:2.19 [[ 2.71734499e-01 -9.62369003e-01 -2.50276620e-03 2.78653844e+02] [ 9.62341723e-01 2.71745674e-01 -7.25919998e-03 1.05091659e+02] [ 7.66614494e-03 -4.35941271e-04 9.99970520e-01 2.19074500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.66, Y:105.12, Z:2.19 [[ 2.74945061e-01 -9.61456686e-01 -2.50105647e-03 2.78659018e+02] [ 9.61429363e-01 2.74956132e-01 -7.25978899e-03 1.05116852e+02] [ 7.66765348e-03 -4.08546009e-04 9.99970520e-01 2.19166056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.66, Y:105.14, Z:2.19 [[ 2.77593640e-01 -9.60695334e-01 -2.49936412e-03 2.78663954e+02] [ 9.60667976e-01 2.77604624e-01 -7.26037158e-03 1.05141787e+02] [ 7.66884014e-03 -3.85626098e-04 9.99970520e-01 2.19247103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.67, Y:105.17, Z:2.19 [[ 2.81710871e-01 -9.59496090e-01 -2.49759362e-03 2.78665411e+02] [ 9.59468680e-01 2.81721724e-01 -7.26098059e-03 1.05167011e+02] [ 7.67050887e-03 -3.50865686e-04 9.99970520e-01 2.19141108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.67, Y:105.19, Z:2.19 [[ 2.83356729e-01 -9.59011332e-01 -2.49574492e-03 2.78670538e+02] [ 9.58983898e-01 2.83367521e-01 -7.26161597e-03 1.05192587e+02] [ 7.67118506e-03 -3.35751437e-04 9.99970520e-01 2.19237006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.67, Y:105.22, Z:2.19 [[ 2.85037109e-01 -9.58513238e-01 -2.49397443e-03 2.78674934e+02] [ 9.58485779e-01 2.85047839e-01 -7.26222398e-03 1.05217199e+02] [ 7.67183985e-03 -3.20435698e-04 9.99970520e-01 2.19376180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.68, Y:105.24, Z:2.19 [[ 2.86718006e-01 -9.58011782e-01 -2.49213423e-03 2.78679131e+02] [ 9.57984300e-01 2.86728674e-01 -7.26285542e-03 1.05241613e+02] [ 7.67246741e-03 -3.05034039e-04 9.99970520e-01 2.19489261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.68, Y:105.27, Z:2.20 [[ 2.90516139e-01 -9.56866851e-01 -2.49030363e-03 2.78681023e+02] [ 9.56839322e-01 2.90526684e-01 -7.26348305e-03 1.05269130e+02] [ 7.67368581e-03 -2.72661383e-04 9.99970520e-01 2.19525544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.69, Y:105.29, Z:2.19 [[ 2.92350189e-01 -9.56308096e-01 -2.48856298e-03 2.78685908e+02] [ 9.56280541e-01 2.92360668e-01 -7.26407937e-03 1.05294567e+02] [ 7.67425584e-03 -2.56109379e-04 9.99970520e-01 2.19380934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.69, Y:105.32, Z:2.19 [[ 2.93942512e-01 -9.55819865e-01 -2.48717229e-03 2.78691109e+02] [ 9.55792288e-01 2.93952935e-01 -7.26455550e-03 1.05320298e+02] [ 7.67471805e-03 -2.41858407e-04 9.99970520e-01 2.19356362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.69, Y:105.35, Z:2.19 [[ 2.94650337e-01 -9.55601905e-01 -2.48554631e-03 2.78692803e+02] [ 9.55574316e-01 2.94660727e-01 -7.26511178e-03 1.05345854e+02] [ 7.67494754e-03 -2.34456581e-04 9.99970520e-01 2.19450697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.70, Y:105.37, Z:2.20 [[ 2.93473765e-01 -9.55963901e-01 -2.48367599e-03 2.78697973e+02] [ 9.55936320e-01 2.93484175e-01 -7.26575112e-03 1.05369962e+02] [ 7.67471538e-03 -2.41928751e-04 9.99970520e-01 2.19584151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.70, Y:105.40, Z:2.20 [[ 2.91873819e-01 -9.56453612e-01 -2.48218011e-03 2.78704336e+02] [ 9.56426044e-01 2.91884264e-01 -7.26626211e-03 1.05395117e+02] [ 7.67435196e-03 -2.53190034e-04 9.99970520e-01 2.19657015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.71, Y:105.42, Z:2.20 [[ 2.88995063e-01 -9.57327374e-01 -2.48042093e-03 2.78710319e+02] [ 9.57299832e-01 2.89005577e-01 -7.26686258e-03 1.05418510e+02] [ 7.67362196e-03 -2.74419135e-04 9.99970520e-01 2.19574583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.72, Y:105.44, Z:2.20 [[ 2.88087135e-01 -9.57600992e-01 -2.47858693e-03 2.78718249e+02] [ 9.57573455e-01 2.88097661e-01 -7.26748807e-03 1.05443404e+02] [ 7.67342888e-03 -2.79759236e-04 9.99970520e-01 2.19576955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.73, Y:105.47, Z:2.20 [[ 2.87869016e-01 -9.57666589e-01 -2.47689671e-03 2.78726089e+02] [ 9.57639049e-01 2.87879535e-01 -7.26806409e-03 1.05467777e+02] [ 7.67343001e-03 -2.79722553e-04 9.99970520e-01 2.19558806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.73, Y:105.49, Z:2.20 [[ 2.88670825e-01 -9.57425207e-01 -2.47555553e-03 2.78733560e+02] [ 9.57397655e-01 2.88681312e-01 -7.26852087e-03 1.05492459e+02] [ 7.67371171e-03 -2.71881135e-04 9.99970520e-01 2.19521587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.74, Y:105.52, Z:2.19 [[ 2.88887455e-01 -9.57359869e-01 -2.47387668e-03 2.78742036e+02] [ 9.57332309e-01 2.88897922e-01 -7.26909223e-03 1.05517786e+02] [ 7.67383502e-03 -2.68372523e-04 9.99970520e-01 2.19304278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.75, Y:105.54, Z:2.19 [[ 2.88279135e-01 -9.57543225e-01 -2.47220538e-03 2.78750762e+02] [ 9.57515668e-01 2.88289608e-01 -7.26966059e-03 1.05542648e+02] [ 7.67372537e-03 -2.71483918e-04 9.99970520e-01 2.19104295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.76, Y:105.57, Z:2.19 [[ 2.86852509e-01 -9.57971573e-01 -2.47052387e-03 2.78760296e+02] [ 9.57944026e-01 2.86863010e-01 -7.27023199e-03 1.05566096e+02] [ 7.67337749e-03 -2.81139288e-04 9.99970520e-01 2.18885570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.77, Y:105.59, Z:2.19 [[ 2.86633457e-01 -9.58037142e-01 -2.46918465e-03 2.78768666e+02] [ 9.58009593e-01 2.86643954e-01 -7.27068680e-03 1.05591512e+02] [ 7.67336485e-03 -2.81480487e-04 9.99970520e-01 2.18906150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96589822699997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:278.78, Y:105.61, Z:2.19 [[ 2.82185593e-01 -9.59356661e-01 -2.46752199e-03 2.78780264e+02] [ 9.59329157e-01 2.82196205e-01 -7.27125103e-03 1.05614403e+02] [ 7.67204845e-03 -3.15323500e-04 9.99970520e-01 2.18839314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.79, Y:105.64, Z:2.19 [[ 2.80398272e-01 -9.59880581e-01 -2.46578513e-03 2.78790766e+02] [ 9.59853091e-01 2.80408922e-01 -7.27183998e-03 1.05636226e+02] [ 7.67152613e-03 -3.27780118e-04 9.99970520e-01 2.18972547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.80, Y:105.66, Z:2.19 [[ 2.78022467e-01 -9.60571412e-01 -2.46390827e-03 2.78804340e+02] [ 9.60543943e-01 2.78033171e-01 -7.27247586e-03 1.05658705e+02] [ 7.67078063e-03 -3.44780491e-04 9.99970520e-01 2.19308689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.82, Y:105.68, Z:2.19 [[ 2.77676817e-01 -9.60671392e-01 -2.46212054e-03 2.78815193e+02] [ 9.60643922e-01 2.77687518e-01 -7.27308105e-03 1.05681180e+02] [ 7.67074103e-03 -3.45655130e-04 9.99970520e-01 2.19352023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.83, Y:105.71, Z:2.19 [[ 2.77737107e-01 -9.60653967e-01 -2.46059862e-03 2.78826768e+02] [ 9.60626492e-01 2.77747794e-01 -7.27359590e-03 1.05706253e+02] [ 7.67083460e-03 -3.43568743e-04 9.99970520e-01 2.19481922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.84, Y:105.73, Z:2.19 [[ 2.78271604e-01 -9.60499268e-01 -2.46392202e-03 2.78837572e+02] [ 9.60471797e-01 2.78282301e-01 -7.27247216e-03 1.05728818e+02] [ 7.67087008e-03 -3.42805115e-04 9.99970520e-01 2.19365666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.85, Y:105.75, Z:2.20 [[ 2.79265280e-01 -9.60210842e-01 -2.45818918e-03 2.78851472e+02] [ 9.60183343e-01 2.79275905e-01 -7.27440942e-03 1.05752074e+02] [ 7.67147980e-03 -3.28822325e-04 9.99970520e-01 2.19546732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.86, Y:105.78, Z:2.20 [[ 2.79792325e-01 -9.60057404e-01 -2.45660834e-03 2.78861881e+02] [ 9.60029895e-01 2.79802924e-01 -7.27494324e-03 1.05775960e+02] [ 7.67172932e-03 -3.22944159e-04 9.99970520e-01 2.19698656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.87, Y:105.80, Z:2.20 [[ 2.80777144e-01 -9.59769852e-01 -2.45492504e-03 2.78871876e+02] [ 9.59742327e-01 2.80787702e-01 -7.27551122e-03 1.05799461e+02] [ 7.67212909e-03 -3.13298205e-04 9.99970520e-01 2.19781086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.88, Y:105.82, Z:2.20 [[ 2.81507663e-01 -9.59555844e-01 -2.45317105e-03 2.78881346e+02] [ 9.59528306e-01 2.81518186e-01 -7.27610259e-03 1.05823711e+02] [ 7.67243902e-03 -3.05608433e-04 9.99970520e-01 2.19730093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.89, Y:105.85, Z:2.20 [[ 2.82137542e-01 -9.59370834e-01 -2.45151583e-03 2.78890738e+02] [ 9.59343284e-01 2.82148034e-01 -7.27666023e-03 1.05847188e+02] [ 7.67270597e-03 -2.98826221e-04 9.99970520e-01 2.19501450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.90, Y:105.87, Z:2.19 [[ 2.81407007e-01 -9.59585377e-01 -2.44978371e-03 2.78899493e+02] [ 9.59557830e-01 2.81417507e-01 -7.27724333e-03 1.05871873e+02] [ 7.67254830e-03 -3.02841877e-04 9.99970520e-01 2.19477428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.91, Y:105.90, Z:2.20 [[ 2.79827056e-01 -9.60047304e-01 -2.44811317e-03 2.78908194e+02] [ 9.60019769e-01 2.79837589e-01 -7.27780527e-03 1.05896416e+02] [ 7.67211141e-03 -3.13710221e-04 9.99970520e-01 2.19602543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.92, Y:105.92, Z:2.20 [[ 2.74702035e-01 -9.61526290e-01 -2.44643366e-03 2.78917878e+02] [ 9.61498807e-01 2.74712702e-01 -7.27836979e-03 1.05919357e+02] [ 7.67041030e-03 -3.52860057e-04 9.99970520e-01 2.20025942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.385898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:278.93, Y:105.94, Z:2.20 [[ 2.71396475e-01 -9.62464533e-01 -2.44468141e-03 2.78926464e+02] [ 9.62437082e-01 2.71407223e-01 -7.27895829e-03 1.05943626e+02] [ 7.66924339e-03 -3.77368414e-04 9.99970520e-01 2.20114671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.94, Y:105.97, Z:2.20 [[ 2.68951060e-01 -9.63150746e-01 -2.44289274e-03 2.78936158e+02] [ 9.63123317e-01 2.68961864e-01 -7.27955854e-03 1.05968427e+02] [ 7.66835722e-03 -3.94961976e-04 9.99970520e-01 2.20215129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.95, Y:105.99, Z:2.20 [[ 2.67087813e-01 -9.63669103e-01 -2.44122344e-03 2.78945113e+02] [ 9.63641690e-01 2.67098657e-01 -7.28011830e-03 1.05992872e+02] [ 7.66767258e-03 -4.08033807e-04 9.99970520e-01 2.20186364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.95, Y:106.02, Z:2.20 [[ 2.64726421e-01 -9.64320471e-01 -2.43956008e-03 2.78953989e+02] [ 9.64293079e-01 2.64737320e-01 -7.28067565e-03 1.06016592e+02] [ 7.66674717e-03 -4.25063694e-04 9.99970520e-01 2.19830012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.96, Y:106.04, Z:2.20 [[ 2.63327007e-01 -9.64703553e-01 -2.43782495e-03 2.78961602e+02] [ 9.64676172e-01 2.63337933e-01 -7.28125658e-03 1.06040466e+02] [ 7.66622588e-03 -4.34360139e-04 9.99970520e-01 2.19638963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.97, Y:106.07, Z:2.19 [[ 2.61499923e-01 -9.65200423e-01 -2.43604484e-03 2.78969840e+02] [ 9.65173057e-01 2.61510887e-01 -7.28185210e-03 1.06065091e+02] [ 7.66549897e-03 -4.47001084e-04 9.99970520e-01 2.19497434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.98, Y:106.09, Z:2.19 [[ 2.56764058e-01 -9.66471051e-01 -2.43439238e-03 2.78979488e+02] [ 9.66443734e-01 2.56775144e-01 -7.28240449e-03 1.06089466e+02] [ 7.66332457e-03 -4.82843533e-04 9.99970520e-01 2.19261450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.99, Y:106.11, Z:2.19 [[ 2.53838341e-01 -9.67243598e-01 -2.43272940e-03 2.78988598e+02] [ 9.67216311e-01 2.53849497e-01 -7.28295997e-03 1.06113027e+02] [ 7.66194355e-03 -5.04281084e-04 9.99970520e-01 2.19261540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.00, Y:106.13, Z:2.19 [[ 2.48076661e-01 -9.68737354e-01 -2.43099610e-03 2.78999205e+02] [ 9.68710127e-01 2.48087967e-01 -7.28353849e-03 1.06134832e+02] [ 7.65893668e-03 -5.48054634e-04 9.99970520e-01 2.19090032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.01, Y:106.16, Z:2.19 [[ 2.45410585e-01 -9.69416187e-01 -2.42912620e-03 2.79009197e+02] [ 9.69388986e-01 2.45421951e-01 -7.28416207e-03 1.06159205e+02] [ 7.65754551e-03 -5.67157709e-04 9.99970520e-01 2.19077610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.02, Y:106.18, Z:2.19 [[ 2.43499404e-01 -9.69898009e-01 -2.42748483e-03 2.79018964e+02] [ 9.69870825e-01 2.43510812e-01 -7.28470902e-03 1.06181533e+02] [ 7.65654357e-03 -5.80524412e-04 9.99970520e-01 2.18951371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.03, Y:106.20, Z:2.19 [[ 2.42063249e-01 -9.70257439e-01 -2.42595039e-03 2.79028601e+02] [ 9.70230268e-01 2.42074686e-01 -7.28521998e-03 1.06204079e+02] [ 7.65580006e-03 -5.90246478e-04 9.99970520e-01 2.18884897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.04, Y:106.23, Z:2.19 [[ 2.42476739e-01 -9.70154191e-01 -2.42411210e-03 2.79040441e+02] [ 9.70127009e-01 2.42488150e-01 -7.28583161e-03 1.06226451e+02] [ 7.65619853e-03 -5.85051937e-04 9.99970520e-01 2.18872061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.05, Y:106.25, Z:2.19 [[ 2.43658582e-01 -9.69858045e-01 -2.42231166e-03 2.79049770e+02] [ 9.69830844e-01 2.43669947e-01 -7.28643015e-03 1.06249554e+02] [ 7.65704746e-03 -5.73831323e-04 9.99970520e-01 2.18947854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.06, Y:106.27, Z:2.19 [[ 2.45164187e-01 -9.69478552e-01 -2.42043426e-03 2.79059085e+02] [ 9.69451327e-01 2.45175495e-01 -7.28705374e-03 1.06273319e+02] [ 7.65807348e-03 -5.59968595e-04 9.99970520e-01 2.19015324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.07, Y:106.30, Z:2.19 [[ 2.48691218e-01 -9.68579800e-01 -2.41864599e-03 2.79070424e+02] [ 9.68552528e-01 2.48702413e-01 -7.28764724e-03 1.06296233e+02] [ 7.66019100e-03 -5.30211824e-04 9.99970520e-01 2.19323989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.08, Y:106.32, Z:2.19 [[ 2.50354694e-01 -9.68151169e-01 -2.41682760e-03 2.79079519e+02] [ 9.68123873e-01 2.50365829e-01 -7.28825023e-03 1.06318882e+02] [ 7.66121902e-03 -5.15140843e-04 9.99970520e-01 2.19429132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.09, Y:106.34, Z:2.20 [[ 2.51249299e-01 -9.67919396e-01 -2.41493224e-03 2.79088212e+02] [ 9.67892084e-01 2.51260395e-01 -7.28887819e-03 1.06341996e+02] [ 7.66182341e-03 -5.06068262e-04 9.99970520e-01 2.19640532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.10, Y:106.37, Z:2.20 [[ 2.51506108e-01 -9.67852703e-01 -2.41308891e-03 2.79096873e+02] [ 9.67825382e-01 2.51517183e-01 -7.28948840e-03 1.06365583e+02] [ 7.66208438e-03 -5.02097840e-04 9.99970520e-01 2.19870148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.11, Y:106.39, Z:2.20 [[ 2.49860014e-01 -9.68278968e-01 -2.41132444e-03 2.79105845e+02] [ 9.68251660e-01 2.49871122e-01 -7.29007203e-03 1.06388551e+02] [ 7.66134376e-03 -5.13271389e-04 9.99970520e-01 2.20160889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.11, Y:106.41, Z:2.20 [[ 2.47627916e-01 -9.68852212e-01 -2.40949073e-03 2.79114580e+02] [ 9.68824925e-01 2.47639073e-01 -7.29067805e-03 1.06412613e+02] [ 7.66027361e-03 -5.28999262e-04 9.99970520e-01 2.20173534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.12, Y:106.44, Z:2.20 [[ 2.44810553e-01 -9.69567943e-01 -2.40776148e-03 2.79123270e+02] [ 9.69540683e-01 2.44821776e-01 -7.29124910e-03 1.06436704e+02] [ 7.65883383e-03 -5.49447990e-04 9.99970520e-01 2.20101086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.13, Y:106.46, Z:2.20 [[ 2.38548803e-01 -9.71127530e-01 -2.40603605e-03 2.79132836e+02] [ 9.71100337e-01 2.38560189e-01 -7.29181842e-03 1.06459713e+02] [ 7.65527003e-03 -5.97047866e-04 9.99970520e-01 2.19986847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.14, Y:106.48, Z:2.20 [[ 2.35386360e-01 -9.71898905e-01 -2.40424270e-03 2.79141651e+02] [ 9.71871744e-01 2.35397822e-01 -7.29240968e-03 1.06483296e+02] [ 7.65343847e-03 -6.20081767e-04 9.99970520e-01 2.20127496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.15, Y:106.51, Z:2.20 [[ 2.32781565e-01 -9.72526078e-01 -2.40242524e-03 2.79150405e+02] [ 9.72498942e-01 2.32793086e-01 -7.29300838e-03 1.06506582e+02] [ 7.65190881e-03 -6.38678098e-04 9.99970520e-01 2.20196848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.16, Y:106.53, Z:2.20 [[ 2.30980250e-01 -9.72955478e-01 -2.40053319e-03 2.79159406e+02] [ 9.72928357e-01 2.30991807e-01 -7.29363110e-03 1.06529722e+02] [ 7.65088183e-03 -6.50862075e-04 9.99970520e-01 2.20275726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.17, Y:106.55, Z:2.20 [[ 2.30036076e-01 -9.73179146e-01 -2.39865749e-03 2.79169685e+02] [ 9.73152031e-01 2.30047645e-01 -7.29424791e-03 1.06553013e+02] [ 7.65041546e-03 -6.56318244e-04 9.99970520e-01 2.20438331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.18, Y:106.58, Z:2.20 [[ 2.30617424e-01 -9.73041550e-01 -2.39687841e-03 2.79179184e+02] [ 9.73014423e-01 2.30628964e-01 -7.29483247e-03 1.06576418e+02] [ 7.65096468e-03 -6.49881785e-04 9.99970520e-01 2.20413423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.19, Y:106.60, Z:2.20 [[ 2.31668701e-01 -9.72791795e-01 -2.39516440e-03 2.79189091e+02] [ 9.72764649e-01 2.31680199e-01 -7.29539520e-03 1.06598768e+02] [ 7.65181275e-03 -6.39816530e-04 9.99970520e-01 2.20261431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.20, Y:106.62, Z:2.20 [[ 2.33660232e-01 -9.72315365e-01 -2.39328665e-03 2.79201704e+02] [ 9.72288190e-01 2.33671660e-01 -7.29601115e-03 1.06621273e+02] [ 7.65326700e-03 -6.22176686e-04 9.99970520e-01 2.19769417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.21, Y:106.64, Z:2.20 [[ 2.34660682e-01 -9.72074403e-01 -2.39155502e-03 2.79211349e+02] [ 9.72047211e-01 2.34672069e-01 -7.29657871e-03 1.06644902e+02] [ 7.65404856e-03 -6.12484255e-04 9.99970520e-01 2.19552714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.22, Y:106.67, Z:2.19 [[ 2.36117246e-01 -9.71721635e-01 -2.38974348e-03 2.79220296e+02] [ 9.71694420e-01 2.36128579e-01 -7.29717197e-03 1.06668184e+02] [ 7.65510661e-03 -5.99112255e-04 9.99970520e-01 2.19359421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.23, Y:106.69, Z:2.19 [[ 2.38235240e-01 -9.71204545e-01 -2.38786241e-03 2.79230169e+02] [ 9.71177300e-01 2.38246499e-01 -7.29778747e-03 1.06691282e+02] [ 7.65654422e-03 -5.80447623e-04 9.99970520e-01 2.19322058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.24, Y:106.71, Z:2.19 [[ 2.43022819e-01 -9.70017637e-01 -2.38605612e-03 2.79243391e+02] [ 9.69990331e-01 2.43033931e-01 -7.29837800e-03 1.06713196e+02] [ 7.65944798e-03 -5.40778973e-04 9.99970520e-01 2.19229460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.25, Y:106.74, Z:2.19 [[ 2.45305025e-01 -9.69443015e-01 -2.38425036e-03 2.79253473e+02] [ 9.69415678e-01 2.45316059e-01 -7.29896786e-03 1.06735625e+02] [ 7.66082831e-03 -5.20856186e-04 9.99970520e-01 2.18831664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.26, Y:106.76, Z:2.19 [[ 2.48070488e-01 -9.68739054e-01 -2.38272313e-03 2.79263411e+02] [ 9.68711681e-01 2.48081432e-01 -7.29946638e-03 1.06759250e+02] [ 7.66238753e-03 -4.97389537e-04 9.99970520e-01 2.19177129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.28, Y:106.78, Z:2.20 [[ 2.55392807e-01 -9.66834446e-01 -2.38092703e-03 2.79275208e+02] [ 9.66806985e-01 2.55403531e-01 -7.30005219e-03 1.06781529e+02] [ 7.66603908e-03 -4.37516057e-04 9.99970520e-01 2.19570389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.29, Y:106.80, Z:2.20 [[ 2.59454447e-01 -9.65752416e-01 -2.37921402e-03 2.79285188e+02] [ 9.65724905e-01 2.59465042e-01 -7.30061044e-03 1.06803835e+02] [ 7.66790504e-03 -4.03490388e-04 9.99970520e-01 2.19760981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.30, Y:106.83, Z:2.20 [[ 2.63211016e-01 -9.64735357e-01 -2.37735907e-03 2.79295440e+02] [ 9.64707800e-01 2.63221489e-01 -7.30121444e-03 1.06827168e+02] [ 7.66951171e-03 -3.71696771e-04 9.99970520e-01 2.19899266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.31, Y:106.85, Z:2.20 [[ 2.66865490e-01 -9.63730858e-01 -2.37553468e-03 2.79305393e+02] [ 9.63703257e-01 2.66875846e-01 -7.30180797e-03 1.06849432e+02] [ 7.67095049e-03 -3.40709945e-04 9.99970520e-01 2.19881242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.32, Y:106.87, Z:2.20 [[ 2.73655546e-01 -9.61824832e-01 -2.37362958e-03 2.79318045e+02] [ 9.61797153e-01 2.73665692e-01 -7.30242722e-03 1.06870792e+02] [ 7.67323682e-03 -2.84600467e-04 9.99970520e-01 2.19981192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.33, Y:106.89, Z:2.20 [[ 2.76420951e-01 -9.61033731e-01 -2.37187181e-03 2.79327872e+02] [ 9.61006018e-01 2.76431004e-01 -7.30299811e-03 1.06894100e+02] [ 7.67408643e-03 -2.60681399e-04 9.99970520e-01 2.20214946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.34, Y:106.92, Z:2.20 [[ 2.79286355e-01 -9.60204934e-01 -2.37004484e-03 2.79337503e+02] [ 9.60177186e-01 2.79296312e-01 -7.30359097e-03 1.06918078e+02] [ 7.67488886e-03 -2.35869679e-04 9.99970520e-01 2.20411873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.35, Y:106.94, Z:2.21 [[ 2.84842328e-01 -9.58571458e-01 -2.36819090e-03 2.79346790e+02] [ 9.58543648e-01 2.84852110e-01 -7.30419206e-03 1.06940368e+02] [ 7.67617421e-03 -1.89471273e-04 9.99970520e-01 2.20757068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.35, Y:106.96, Z:2.21 [[ 2.87878331e-01 -9.57664068e-01 -2.36625668e-03 2.79354745e+02] [ 9.57636222e-01 2.87888009e-01 -7.30481861e-03 1.06964995e+02] [ 7.67677924e-03 -1.63114120e-04 9.99970520e-01 2.20945069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.36, Y:106.99, Z:2.21 [[ 2.91070479e-01 -9.56698691e-01 -2.36440711e-03 2.79362461e+02] [ 9.56670808e-01 2.91080050e-01 -7.30541723e-03 1.06988805e+02] [ 7.67731484e-03 -1.35567974e-04 9.99970520e-01 2.20972891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.37, Y:107.01, Z:2.21 [[ 2.96011675e-01 -9.55181400e-01 -2.36256191e-03 2.79370542e+02] [ 9.55153463e-01 2.96021089e-01 -7.30601392e-03 1.07012859e+02] [ 7.67793675e-03 -9.39437669e-05 9.99970520e-01 2.20904768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.38, Y:107.04, Z:2.21 [[ 2.97240444e-01 -9.54799741e-01 -2.36070935e-03 2.79377951e+02] [ 9.54771787e-01 2.97249807e-01 -7.30661246e-03 1.07037306e+02] [ 7.67807209e-03 -8.21179489e-05 9.99970520e-01 2.20929478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.38, Y:107.06, Z:2.21 [[ 2.97829034e-01 -9.54616312e-01 -2.35885606e-03 2.79384614e+02] [ 9.54588347e-01 2.97838366e-01 -7.30721073e-03 1.07061419e+02] [ 7.67814039e-03 -7.54369984e-05 9.99970520e-01 2.21014857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.39, Y:107.09, Z:2.21 [[ 2.97579444e-01 -9.54694150e-01 -2.35694985e-03 2.79392283e+02] [ 9.54666183e-01 2.97588768e-01 -7.30782553e-03 1.07086213e+02] [ 7.67814008e-03 -7.54416612e-05 9.99970520e-01 2.21034804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.885898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:279.40, Y:107.11, Z:2.21 [[ 2.97846941e-01 -9.54610734e-01 -2.35503904e-03 2.79397258e+02] [ 9.54582760e-01 2.97856243e-01 -7.30844126e-03 1.07110547e+02] [ 7.67817955e-03 -7.12827905e-05 9.99970520e-01 2.20923483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.40, Y:107.13, Z:2.21 [[ 2.97561809e-01 -9.54699655e-01 -2.35341480e-03 2.79403771e+02] [ 9.54671679e-01 2.97571107e-01 -7.30896425e-03 1.07134070e+02] [ 7.67817389e-03 -7.18698425e-05 9.99970520e-01 2.20735524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.41, Y:107.16, Z:2.20 [[ 2.96707349e-01 -9.54965560e-01 -2.35144506e-03 2.79410640e+02] [ 9.54937587e-01 2.96716656e-01 -7.30959790e-03 1.07158670e+02] [ 7.67812716e-03 -7.66718567e-05 9.99970520e-01 2.20380690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.42, Y:107.18, Z:2.20 [[ 2.93768056e-01 -9.55873846e-01 -2.34960399e-03 2.79416317e+02] [ 9.55845897e-01 2.93777436e-01 -7.31018965e-03 1.07183339e+02] [ 7.67787972e-03 -9.83591320e-05 9.99970520e-01 2.20012926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.42, Y:107.21, Z:2.20 [[ 2.91731311e-01 -9.56497428e-01 -2.34775328e-03 2.79423059e+02] [ 9.56469495e-01 2.91740736e-01 -7.31078398e-03 1.07207057e+02] [ 7.67768134e-03 -1.12769798e-04 9.99970520e-01 2.19998175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.43, Y:107.23, Z:2.20 [[ 2.89046840e-01 -9.57312082e-01 -2.34582710e-03 2.79430196e+02] [ 9.57284170e-01 2.89056329e-01 -7.31140198e-03 1.07231850e+02] [ 7.67736962e-03 -1.32285516e-04 9.99970520e-01 2.20218989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.44, Y:107.26, Z:2.20 [[ 2.86114020e-01 -9.58192712e-01 -2.34402311e-03 2.79437607e+02] [ 9.58164825e-01 2.86123580e-01 -7.31198029e-03 1.07255890e+02] [ 7.67696651e-03 -1.53900418e-04 9.99970520e-01 2.20319730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.45, Y:107.28, Z:2.20 [[ 2.79853087e-01 -9.60039980e-01 -2.34221951e-03 2.79445643e+02] [ 9.60012151e-01 2.79862816e-01 -7.31255798e-03 1.07279783e+02] [ 7.67584817e-03 -2.02117263e-04 9.99970520e-01 2.20226981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.45, Y:107.30, Z:2.20 [[ 2.76833823e-01 -9.60914959e-01 -2.34035250e-03 2.79454454e+02] [ 9.60887155e-01 2.76843624e-01 -7.31315547e-03 1.07302337e+02] [ 7.67523215e-03 -2.24285870e-04 9.99970520e-01 2.20028124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.46, Y:107.32, Z:2.20 [[ 2.74370139e-01 -9.61621318e-01 -2.33841078e-03 2.79463877e+02] [ 9.61593535e-01 2.74379997e-01 -7.31377628e-03 1.07323749e+02] [ 7.67469633e-03 -2.41918877e-04 9.99970520e-01 2.19988879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.48, Y:107.35, Z:2.20 [[ 2.71904944e-01 -9.62321278e-01 -2.33641699e-03 2.79477875e+02] [ 9.62293515e-01 2.71914859e-01 -7.31441315e-03 1.07345909e+02] [ 7.67412191e-03 -2.59493813e-04 9.99970520e-01 2.20344757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.49, Y:107.37, Z:2.21 [[ 2.72326774e-01 -9.62201994e-01 -2.33456520e-03 2.79488817e+02] [ 9.62174222e-01 2.72336662e-01 -7.31500415e-03 1.07368151e+02] [ 7.67429927e-03 -2.54186977e-04 9.99970520e-01 2.20540989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.50, Y:107.39, Z:2.21 [[ 2.73964419e-01 -9.61736999e-01 -2.33264166e-03 2.79500476e+02] [ 9.61709205e-01 2.73974245e-01 -7.31561748e-03 1.07390985e+02] [ 7.67478374e-03 -2.39104063e-04 9.99970520e-01 2.20784969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.27589822699997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:279.52, Y:107.41, Z:2.21 [[ 2.79389000e-01 -9.60175169e-01 -2.33078539e-03 2.79516787e+02] [ 9.60147314e-01 2.79398655e-01 -7.31620885e-03 1.07411459e+02] [ 7.67606037e-03 -1.93829055e-04 9.99970520e-01 2.20980072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.53, Y:107.43, Z:2.21 [[ 2.82914036e-01 -9.59142442e-01 -2.32885007e-03 2.79529041e+02] [ 9.59114548e-01 2.82923573e-01 -7.31682484e-03 1.07433470e+02] [ 7.67676383e-03 -1.63601536e-04 9.99970520e-01 2.21112344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.54, Y:107.45, Z:2.21 [[ 2.86386874e-01 -9.58111238e-01 -2.32696506e-03 2.79539874e+02] [ 9.58083304e-01 2.86396296e-01 -7.31742428e-03 1.07454980e+02] [ 7.67734061e-03 -1.33812113e-04 9.99970520e-01 2.21338991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.56, Y:107.48, Z:2.22 [[ 2.94209995e-01 -9.55737973e-01 -2.32500901e-03 2.79555156e+02] [ 9.55709958e-01 2.94219173e-01 -7.31804573e-03 1.07476781e+02] [ 7.67819642e-03 -6.89920668e-05 9.99970520e-01 2.21632270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.57, Y:107.50, Z:2.22 [[ 2.97895216e-01 -9.54595748e-01 -2.32316582e-03 2.79567072e+02] [ 9.54567694e-01 2.97904273e-01 -7.31863082e-03 1.07498393e+02] [ 7.67841489e-03 -3.74339243e-05 9.99970520e-01 2.21587201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.58, Y:107.52, Z:2.22 [[ 3.01293665e-01 -9.53528573e-01 -2.32124635e-03 2.79579110e+02] [ 9.53500481e-01 3.01302607e-01 -7.31923957e-03 1.07521378e+02] [ 7.67850163e-03 -8.06899729e-06 9.99970520e-01 2.21553110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.59, Y:107.54, Z:2.21 [[ 3.04921389e-01 -9.52374699e-01 -2.31937229e-03 2.79590967e+02] [ 9.52346569e-01 3.04930209e-01 -7.31983338e-03 1.07544748e+02] [ 7.67847079e-03 2.31275201e-05 9.99970520e-01 2.21489910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.48589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:279.60, Y:107.57, Z:2.22 [[ 3.12772359e-01 -9.49825290e-01 -2.31750342e-03 2.79604400e+02] [ 9.49797083e-01 3.12780932e-01 -7.32042503e-03 1.07567049e+02] [ 7.67799570e-03 8.84686228e-05 9.99970520e-01 2.21514763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.61, Y:107.59, Z:2.22 [[ 3.16489745e-01 -9.48593105e-01 -2.31578633e-03 2.79614597e+02] [ 9.48564862e-01 3.16498194e-01 -7.32096819e-03 1.07589435e+02] [ 7.67756213e-03 1.20337815e-04 9.99970520e-01 2.21557454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.62, Y:107.61, Z:2.22 [[ 3.19686141e-01 -9.47520668e-01 -2.31414690e-03 2.79624957e+02] [ 9.47492392e-01 3.19694483e-01 -7.32148637e-03 1.07613128e+02] [ 7.67707965e-03 1.47941141e-04 9.99970520e-01 2.21568555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.64, Y:107.64, Z:2.21 [[ 3.24263314e-01 -9.45964036e-01 -2.31223139e-03 2.79638109e+02] [ 9.45935716e-01 3.24271504e-01 -7.32209127e-03 1.07635596e+02] [ 7.67622575e-03 1.87063330e-04 9.99970520e-01 2.21442303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.65, Y:107.66, Z:2.21 [[ 3.25244694e-01 -9.45627068e-01 -2.31027262e-03 2.79648159e+02] [ 9.45598735e-01 3.25252839e-01 -7.32270925e-03 1.07658403e+02] [ 7.67597480e-03 1.97081465e-04 9.99970520e-01 2.21288489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.66, Y:107.68, Z:2.21 [[ 3.25823919e-01 -9.45427653e-01 -2.30823031e-03 2.79658581e+02] [ 9.45399310e-01 3.25832031e-01 -7.32335296e-03 1.07680319e+02] [ 7.67579576e-03 2.03924215e-04 9.99970520e-01 2.21124587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.67, Y:107.70, Z:2.21 [[ 3.26089260e-01 -9.45336171e-01 -2.30627478e-03 2.79674634e+02] [ 9.45307822e-01 3.26097349e-01 -7.32396874e-03 1.07702052e+02] [ 7.67568266e-03 2.08127957e-04 9.99970520e-01 2.20834216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.69, Y:107.72, Z:2.21 [[ 3.25522178e-01 -9.45531597e-01 -2.30444947e-03 2.79686645e+02] [ 9.45503249e-01 3.25530270e-01 -7.32454302e-03 1.07724775e+02] [ 7.67575492e-03 2.05436736e-04 9.99970520e-01 2.20811383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.70, Y:107.75, Z:2.21 [[ 3.25026758e-01 -9.45702017e-01 -2.30250168e-03 2.79698634e+02] [ 9.45673669e-01 3.25034850e-01 -7.32515527e-03 1.07747951e+02] [ 7.67580740e-03 2.03456254e-04 9.99970520e-01 2.20737353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.71, Y:107.77, Z:2.21 [[ 3.26831163e-01 -9.45079943e-01 -2.30054003e-03 2.79713944e+02] [ 9.45051575e-01 3.26839186e-01 -7.32577129e-03 1.07769131e+02] [ 7.67534614e-03 2.20161373e-04 9.99970520e-01 2.20879243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.72, Y:107.79, Z:2.21 [[ 3.29231570e-01 -9.44246413e-01 -2.29886703e-03 2.79724639e+02] [ 9.44218022e-01 3.29239507e-01 -7.32629625e-03 1.07792023e+02] [ 7.67470680e-03 2.41416336e-04 9.99970520e-01 2.21142602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.74, Y:107.81, Z:2.21 [[ 3.36445537e-01 -9.41700125e-01 -2.29690832e-03 2.79736143e+02] [ 9.41671669e-01 3.36453242e-01 -7.32691028e-03 1.07814107e+02] [ 7.67255458e-03 3.02172776e-04 9.99970520e-01 2.21206852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.74, Y:107.84, Z:2.21 [[ 3.39694342e-01 -9.40533087e-01 -2.29487134e-03 2.79744605e+02] [ 9.40504601e-01 3.39701933e-01 -7.32754823e-03 1.07838138e+02] [ 7.67137379e-03 3.30789627e-04 9.99970520e-01 2.21234113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.75, Y:107.86, Z:2.21 [[ 3.43067518e-01 -9.39307948e-01 -2.29292276e-03 2.79752907e+02] [ 9.39279431e-01 3.43074991e-01 -7.32815793e-03 1.07861092e+02] [ 7.67004144e-03 3.60357770e-04 9.99970520e-01 2.21083982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.76, Y:107.88, Z:2.21 [[ 3.45965483e-01 -9.38244443e-01 -2.29127869e-03 2.79760674e+02] [ 9.38215899e-01 3.45972855e-01 -7.32867194e-03 1.07884861e+02] [ 7.66880595e-03 3.85753426e-04 9.99970520e-01 2.21209095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.77, Y:107.91, Z:2.21 [[ 3.48275742e-01 -9.37389335e-01 -2.28943535e-03 2.79768288e+02] [ 9.37360770e-01 3.48283030e-01 -7.32924774e-03 1.07909379e+02] [ 7.66773015e-03 4.06572315e-04 9.99970520e-01 2.21296782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.77, Y:107.93, Z:2.21 [[ 3.50027695e-01 -9.36736559e-01 -2.28755611e-03 2.79773923e+02] [ 9.36707976e-01 3.50034914e-01 -7.32983423e-03 1.07932969e+02] [ 7.66684820e-03 4.22872924e-04 9.99970520e-01 2.21475440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.78, Y:107.96, Z:2.22 [[ 3.49529059e-01 -9.36922736e-01 -2.28560135e-03 2.79780657e+02] [ 9.36894153e-01 3.49536279e-01 -7.33044372e-03 1.07957571e+02] [ 7.66695998e-03 4.20836551e-04 9.99970520e-01 2.21681299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.79, Y:107.98, Z:2.22 [[ 3.48245643e-01 -9.37400532e-01 -2.28368486e-03 2.79787864e+02] [ 9.37371955e-01 3.48252887e-01 -7.33104072e-03 1.07981348e+02] [ 7.66742132e-03 4.12340850e-04 9.99970520e-01 2.21740219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.80, Y:108.00, Z:2.22 [[ 3.44278612e-01 -9.38864756e-01 -2.28205557e-03 2.79797183e+02] [ 9.38836207e-01 3.44285964e-01 -7.33154787e-03 1.08004061e+02] [ 7.66901160e-03 3.81618727e-04 9.99970520e-01 2.21822177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.81, Y:108.03, Z:2.22 [[ 3.41847883e-01 -9.39752534e-01 -2.28010247e-03 2.79805405e+02] [ 9.39724001e-01 3.41855294e-01 -7.33215523e-03 1.08027141e+02] [ 7.66987656e-03 3.63814729e-04 9.99970520e-01 2.21913927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.81, Y:108.05, Z:2.22 [[ 3.39784721e-01 -9.40500480e-01 -2.27816935e-03 2.79813637e+02] [ 9.40471959e-01 3.39792179e-01 -7.33275581e-03 1.08051455e+02] [ 7.67056449e-03 3.49003996e-04 9.99970520e-01 2.21989578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.82, Y:108.07, Z:2.22 [[ 3.36636586e-01 -9.41631896e-01 -2.27632176e-03 2.79824163e+02] [ 9.41603396e-01 3.36644125e-01 -7.33332932e-03 1.08074605e+02] [ 7.67160714e-03 3.25274651e-04 9.99970520e-01 2.21890340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.83, Y:108.10, Z:2.22 [[ 3.35421625e-01 -9.42065369e-01 -2.27455922e-03 2.79833756e+02] [ 9.42036876e-01 3.35429187e-01 -7.33387596e-03 1.08097191e+02] [ 7.67194412e-03 3.17221924e-04 9.99970520e-01 2.21818895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.84, Y:108.12, Z:2.22 [[ 3.34591766e-01 -9.42360433e-01 -2.27262829e-03 2.79843480e+02] [ 9.42331942e-01 3.34599339e-01 -7.33447427e-03 1.08120971e+02] [ 7.67213827e-03 3.12484473e-04 9.99970520e-01 2.21784524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.86, Y:108.14, Z:2.22 [[ 3.33466509e-01 -9.42759212e-01 -2.27078061e-03 2.79855845e+02] [ 9.42730726e-01 3.33474100e-01 -7.33504628e-03 1.08143552e+02] [ 7.67242897e-03 3.05257616e-04 9.99970520e-01 2.21589567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.87, Y:108.17, Z:2.21 [[ 3.33238448e-01 -9.42839853e-01 -2.26887958e-03 2.79866197e+02] [ 9.42811365e-01 3.33246032e-01 -7.33563426e-03 1.08165555e+02] [ 7.67242344e-03 3.05389924e-04 9.99970520e-01 2.21448914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.88, Y:108.19, Z:2.21 [[ 3.33359797e-01 -9.42796960e-01 -2.26689910e-03 2.79877312e+02] [ 9.42768467e-01 3.33367362e-01 -7.33624623e-03 1.08187608e+02] [ 7.67230081e-03 3.08448563e-04 9.99970520e-01 2.21335501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.89, Y:108.21, Z:2.21 [[ 3.34555686e-01 -9.42373260e-01 -2.26530024e-03 2.79893438e+02] [ 9.42344754e-01 3.34563202e-01 -7.33673989e-03 1.08209105e+02] [ 7.67183359e-03 3.19854249e-04 9.99970520e-01 2.21329520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.90, Y:108.23, Z:2.21 [[ 3.35463525e-01 -9.42050476e-01 -2.26345129e-03 2.79904463e+02] [ 9.42021960e-01 3.35471000e-01 -7.33731027e-03 1.08232683e+02] [ 7.67143890e-03 3.29179151e-04 9.99970520e-01 2.21284409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.92, Y:108.26, Z:2.21 [[ 3.36937653e-01 -9.41524245e-01 -2.26160093e-03 2.79915473e+02] [ 9.41495712e-01 3.36945068e-01 -7.33788056e-03 1.08255946e+02] [ 7.67082773e-03 3.43120678e-04 9.99970520e-01 2.21276104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.93, Y:108.28, Z:2.21 [[ 3.38908596e-01 -9.40816591e-01 -2.25972875e-03 2.79925922e+02] [ 9.40788039e-01 3.38915937e-01 -7.33845706e-03 1.08278122e+02] [ 7.67000024e-03 3.61140395e-04 9.99970520e-01 2.21210800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.94, Y:108.30, Z:2.21 [[ 3.44806560e-01 -9.38671049e-01 -2.25778414e-03 2.79939130e+02] [ 9.38642449e-01 3.44813706e-01 -7.33905530e-03 1.08301092e+02] [ 7.66747366e-03 4.11302379e-04 9.99970520e-01 2.21202346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.95, Y:108.32, Z:2.21 [[ 3.48134107e-01 -9.37442027e-01 -2.25591827e-03 2.79947329e+02] [ 9.37413398e-01 3.48141137e-01 -7.33962880e-03 1.08324528e+02] [ 7.66585445e-03 4.40447098e-04 9.99970520e-01 2.21211195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.96, Y:108.35, Z:2.21 [[ 3.54061064e-01 -9.35219590e-01 -2.25397639e-03 2.79955847e+02] [ 9.35190913e-01 3.54067898e-01 -7.34022509e-03 1.08348735e+02] [ 7.66278299e-03 4.90989669e-04 9.99970520e-01 2.21351742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.96, Y:108.37, Z:2.21 [[ 3.56165156e-01 -9.34420307e-01 -2.25205560e-03 2.79963292e+02] [ 9.34391611e-01 3.56171910e-01 -7.34081437e-03 1.08372369e+02] [ 7.66152496e-03 5.10240433e-04 9.99970520e-01 2.21450204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.565898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:279.97, Y:108.40, Z:2.22 [[ 3.57557069e-01 -9.33888580e-01 -2.25006619e-03 2.79970158e+02] [ 9.33859870e-01 3.57563766e-01 -7.34142410e-03 1.08395608e+02] [ 7.66061426e-03 5.23731561e-04 9.99970520e-01 2.21588990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.98, Y:108.42, Z:2.22 [[ 3.59779920e-01 -9.33034488e-01 -2.24817463e-03 2.79976242e+02] [ 9.33005759e-01 3.59786533e-01 -7.34200331e-03 1.08419353e+02] [ 7.65920525e-03 5.43945484e-04 9.99970520e-01 2.21914689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.98, Y:108.44, Z:2.22 [[ 3.60177138e-01 -9.32881226e-01 -2.24664434e-03 2.79981920e+02] [ 9.32852492e-01 3.60183727e-01 -7.34247155e-03 1.08444545e+02] [ 7.65885859e-03 5.48802620e-04 9.99970520e-01 2.21960035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.99, Y:108.47, Z:2.22 [[ 3.60197147e-01 -9.32873505e-01 -2.24478325e-03 2.79987311e+02] [ 9.32844767e-01 3.60203720e-01 -7.34304048e-03 1.08468917e+02] [ 7.65870719e-03 5.50907921e-04 9.99970520e-01 2.21914101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.99, Y:108.49, Z:2.22 [[ 3.58678646e-01 -9.33458408e-01 -2.24284255e-03 2.79991035e+02] [ 9.33429677e-01 3.58685251e-01 -7.34363320e-03 1.08493978e+02] [ 7.65945069e-03 5.40468617e-04 9.99970520e-01 2.22143238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.00, Y:108.52, Z:2.22 [[ 3.57413787e-01 -9.33943447e-01 -2.24099348e-03 2.79996441e+02] [ 9.33914722e-01 3.57420417e-01 -7.34419742e-03 1.08518774e+02] [ 7.66004188e-03 5.32020610e-04 9.99970520e-01 2.22242003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.00, Y:108.54, Z:2.22 [[ 3.57188543e-01 -9.34029620e-01 -2.23913743e-03 2.80003746e+02] [ 9.34000893e-01 3.57195165e-01 -7.34476326e-03 1.08543723e+02] [ 7.66003550e-03 5.32108933e-04 9.99970520e-01 2.22261951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.01, Y:108.57, Z:2.22 [[ 3.55839617e-01 -9.34544360e-01 -2.23736595e-03 2.80009165e+02] [ 9.34515640e-01 3.55846266e-01 -7.34530285e-03 1.08568664e+02] [ 7.66066967e-03 5.22896280e-04 9.99970520e-01 2.22230244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.01, Y:108.59, Z:2.22 [[ 3.53468807e-01 -9.35443641e-01 -2.23548986e-03 2.80013562e+02] [ 9.35414934e-01 3.53475514e-01 -7.34587378e-03 1.08592897e+02] [ 7.66184184e-03 5.05426639e-04 9.99970520e-01 2.21956426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.02, Y:108.62, Z:2.22 [[ 3.51944103e-01 -9.36018354e-01 -2.23353564e-03 2.80019769e+02] [ 9.35989655e-01 3.51950842e-01 -7.34646792e-03 1.08617834e+02] [ 7.66252356e-03 4.94979809e-04 9.99970520e-01 2.21766806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.03, Y:108.64, Z:2.22 [[ 3.50255719e-01 -9.36651456e-01 -2.23166567e-03 2.80025799e+02] [ 9.36622766e-01 3.50262496e-01 -7.34703592e-03 1.08641109e+02] [ 7.66328068e-03 4.83112483e-04 9.99970520e-01 2.21555833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.03, Y:108.67, Z:2.22 [[ 3.48367380e-01 -9.37355427e-01 -2.22971325e-03 2.80032801e+02] [ 9.37326747e-01 3.48374199e-01 -7.34762840e-03 1.08665720e+02] [ 7.66411393e-03 4.69704192e-04 9.99970520e-01 2.21542306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.04, Y:108.69, Z:2.22 [[ 3.44804955e-01 -9.38671710e-01 -2.22782930e-03 2.80040654e+02] [ 9.38643052e-01 3.44811868e-01 -7.34819958e-03 1.08689295e+02] [ 7.66572905e-03 4.42559134e-04 9.99970520e-01 2.21587268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.05, Y:108.71, Z:2.22 [[ 3.42965910e-01 -9.39345213e-01 -2.22622408e-03 2.80049463e+02] [ 9.39316565e-01 3.42972867e-01 -7.34868587e-03 1.08712985e+02] [ 7.66648734e-03 4.29219575e-04 9.99970520e-01 2.21602442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.06, Y:108.74, Z:2.21 [[ 3.41307238e-01 -9.39949159e-01 -2.22435907e-03 2.80058377e+02] [ 9.39920520e-01 3.41314230e-01 -7.34925034e-03 1.08736895e+02] [ 7.66712708e-03 4.17631599e-04 9.99970520e-01 2.21455546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.07, Y:108.76, Z:2.21 [[ 3.39190954e-01 -9.40714918e-01 -2.22250082e-03 2.80070735e+02] [ 9.40686292e-01 3.39197997e-01 -7.34981226e-03 1.08758658e+02] [ 7.66794586e-03 4.02313782e-04 9.99970520e-01 2.21223626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.08, Y:108.78, Z:2.21 [[ 3.38937822e-01 -9.40806155e-01 -2.22065055e-03 2.80081006e+02] [ 9.40777527e-01 3.38944858e-01 -7.35037125e-03 1.08781326e+02] [ 7.66795260e-03 4.02180688e-04 9.99970520e-01 2.21257636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.09, Y:108.80, Z:2.21 [[ 3.39214020e-01 -9.40706609e-01 -2.21906249e-03 2.80091253e+02] [ 9.40677976e-01 3.39221035e-01 -7.35085065e-03 1.08804320e+02] [ 7.66774646e-03 4.06088393e-04 9.99970520e-01 2.21475104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.10, Y:108.83, Z:2.22 [[ 3.42146865e-01 -9.39643872e-01 -2.21717888e-03 2.80104670e+02] [ 9.39615214e-01 3.42153776e-01 -7.35141874e-03 1.08826916e+02] [ 7.66633170e-03 4.31969867e-04 9.99970520e-01 2.21758745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.12, Y:108.85, Z:2.22 [[ 3.44035634e-01 -9.38953979e-01 -2.21535127e-03 2.80115035e+02] [ 9.38925303e-01 3.44042474e-01 -7.35196945e-03 1.08850177e+02] [ 7.66533590e-03 4.49290111e-04 9.99970520e-01 2.21761091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.13, Y:108.87, Z:2.22 [[ 3.46248183e-01 -9.38140339e-01 -2.21353104e-03 2.80126239e+02] [ 9.38111644e-01 3.46254940e-01 -7.35251745e-03 1.08873404e+02] [ 7.66413927e-03 4.69256564e-04 9.99970520e-01 2.21756071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.14, Y:108.90, Z:2.22 [[ 3.50715389e-01 -9.36479484e-01 -2.21172310e-03 2.80141541e+02] [ 9.36450754e-01 3.50721996e-01 -7.35306125e-03 1.08895790e+02] [ 7.66169095e-03 5.07661975e-04 9.99970520e-01 2.21966240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.15, Y:108.92, Z:2.22 [[ 3.52673333e-01 -9.35743895e-01 -2.20992458e-03 2.80152137e+02] [ 9.35715147e-01 3.52679866e-01 -7.35360175e-03 1.08917779e+02] [ 7.66048385e-03 5.25559336e-04 9.99970520e-01 2.22117968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.17, Y:108.94, Z:2.22 [[ 3.56764251e-01 -9.34191840e-01 -2.20805302e-03 2.80166835e+02] [ 9.34163061e-01 3.56770643e-01 -7.35416368e-03 1.08938659e+02] [ 7.65796819e-03 5.61021131e-04 9.99970520e-01 2.22262923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.18, Y:108.96, Z:2.22 [[ 3.58437821e-01 -9.33550996e-01 -2.20619700e-03 2.80178032e+02] [ 9.33522202e-01 3.58444147e-01 -7.35472043e-03 1.08961706e+02] [ 7.65680498e-03 5.76676080e-04 9.99970520e-01 2.22321011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.19, Y:108.98, Z:2.22 [[ 3.59829834e-01 -9.33015344e-01 -2.20433609e-03 2.80188896e+02] [ 9.32986538e-01 3.59836102e-01 -7.35527813e-03 1.08983666e+02] [ 7.65578706e-03 5.90032611e-04 9.99970520e-01 2.22354547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.20, Y:109.01, Z:2.22 [[ 3.61219942e-01 -9.32478044e-01 -2.20239726e-03 2.80199344e+02] [ 9.32449226e-01 3.61226152e-01 -7.35585863e-03 1.09006251e+02] [ 7.65474016e-03 6.03459204e-04 9.99970520e-01 2.22470486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.21, Y:109.03, Z:2.23 [[ 3.65314567e-01 -9.30881531e-01 -2.20047937e-03 2.80212586e+02] [ 9.30852682e-01 3.65320636e-01 -7.35643232e-03 1.09028758e+02] [ 7.65184750e-03 6.39089769e-04 9.99970520e-01 2.22508205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.22, Y:109.05, Z:2.22 [[ 3.67621223e-01 -9.29973012e-01 -2.19869838e-03 2.80221341e+02] [ 9.29944145e-01 3.67627206e-01 -7.35696459e-03 1.09052814e+02] [ 7.65007985e-03 6.59909638e-04 9.99970520e-01 2.22342580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.23, Y:109.08, Z:2.22 [[ 3.70136299e-01 -9.28974862e-01 -2.19684560e-03 2.80229249e+02] [ 9.28945976e-01 3.70142189e-01 -7.35751780e-03 1.09076508e+02] [ 7.64809432e-03 6.82533525e-04 9.99970520e-01 2.22044757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.24, Y:109.10, Z:2.22 [[ 3.72093924e-01 -9.28192487e-01 -2.19491893e-03 2.80236525e+02] [ 9.28163586e-01 3.72099738e-01 -7.35809252e-03 1.09100201e+02] [ 7.64645496e-03 7.00657694e-04 9.99970520e-01 2.21859303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.24, Y:109.12, Z:2.22 [[ 3.73156561e-01 -9.27765796e-01 -2.19307097e-03 2.80244376e+02] [ 9.27736885e-01 3.73162327e-01 -7.35864327e-03 1.09124759e+02] [ 7.64546899e-03 7.11333189e-04 9.99970520e-01 2.21861482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.25, Y:109.15, Z:2.22 [[ 3.72182919e-01 -9.28156815e-01 -2.19127261e-03 2.80252344e+02] [ 9.28127908e-01 3.72188701e-01 -7.35917874e-03 1.09147524e+02] [ 7.64603881e-03 7.05179361e-04 9.99970520e-01 2.21877676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.26, Y:109.17, Z:2.22 [[ 3.70729071e-01 -9.28738479e-01 -2.18939963e-03 2.80261644e+02] [ 9.28709578e-01 3.70734884e-01 -7.35973593e-03 1.09171648e+02] [ 7.64695677e-03 6.95151661e-04 9.99970520e-01 2.21914611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.27, Y:109.20, Z:2.22 [[ 3.67716483e-01 -9.29935376e-01 -2.18765769e-03 2.80272518e+02] [ 9.29906491e-01 3.67722376e-01 -7.36025367e-03 1.09195394e+02] [ 7.64901095e-03 6.72169501e-04 9.99970520e-01 2.21788925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.28, Y:109.22, Z:2.22 [[ 3.67007830e-01 -9.30215284e-01 -2.18584254e-03 2.80280257e+02] [ 9.30186401e-01 3.67013731e-01 -7.36079270e-03 1.09218820e+02] [ 7.64935610e-03 6.68227551e-04 9.99970520e-01 2.21606814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.29, Y:109.24, Z:2.22 [[ 3.66854323e-01 -9.30275839e-01 -2.18395192e-03 2.80287799e+02] [ 9.30246953e-01 3.66860214e-01 -7.36135360e-03 1.09243261e+02] [ 7.64929447e-03 6.68929773e-04 9.99970520e-01 2.21736671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.30, Y:109.27, Z:2.22 [[ 3.68270787e-01 -9.29716013e-01 -2.18215984e-03 2.80295077e+02] [ 9.29687116e-01 3.68276620e-01 -7.36188480e-03 1.09266575e+02] [ 7.64810064e-03 6.82441221e-04 9.99970520e-01 2.21905969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.30, Y:109.29, Z:2.22 [[ 3.69308738e-01 -9.29304203e-01 -2.18029685e-03 2.80302259e+02] [ 9.29275297e-01 3.69314524e-01 -7.36243650e-03 1.09291201e+02] [ 7.64715848e-03 6.92916132e-04 9.99970520e-01 2.21960607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.31, Y:109.32, Z:2.22 [[ 3.69896975e-01 -9.29070225e-01 -2.17849384e-03 2.80308676e+02] [ 9.29041311e-01 3.69902728e-01 -7.36296996e-03 1.09315483e+02] [ 7.64654697e-03 6.99629541e-04 9.99970520e-01 2.22018319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.765898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.31, Y:109.34, Z:2.22 [[ 3.68986453e-01 -9.29432224e-01 -2.17668233e-03 2.80314310e+02] [ 9.29403314e-01 3.68992220e-01 -7.36350545e-03 1.09340415e+02] [ 7.64705810e-03 6.94017983e-04 9.99970520e-01 2.22157094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.32, Y:109.36, Z:2.22 [[ 3.67531013e-01 -9.30008723e-01 -2.17484979e-03 2.80321755e+02] [ 9.29979819e-01 3.67536812e-01 -7.36404666e-03 1.09363525e+02] [ 7.64796499e-03 6.83949118e-04 9.99970520e-01 2.22164943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.33, Y:109.39, Z:2.22 [[ 3.64671123e-01 -9.31133851e-01 -2.17328741e-03 2.80329287e+02] [ 9.31104962e-01 3.64676998e-01 -7.36450772e-03 1.09388146e+02] [ 7.64989037e-03 6.62064614e-04 9.99970520e-01 2.22224097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.34, Y:109.41, Z:2.22 [[ 3.61613990e-01 -9.32325376e-01 -2.17145586e-03 2.80337107e+02] [ 9.32296504e-01 3.61619945e-01 -7.36504773e-03 1.09411596e+02] [ 7.65186264e-03 6.38863588e-04 9.99970520e-01 2.22141332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.885898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:280.35, Y:109.44, Z:2.22 [[ 3.56079364e-01 -9.34453198e-01 -2.16954549e-03 2.80345143e+02] [ 9.34424359e-01 3.56085475e-01 -7.36561042e-03 1.09436274e+02] [ 7.65536186e-03 5.95465717e-04 9.99970520e-01 2.22318128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.35, Y:109.46, Z:2.22 [[ 3.55284733e-01 -9.34755615e-01 -2.16770981e-03 2.80353219e+02] [ 9.34726778e-01 3.55290854e-01 -7.36615063e-03 1.09459639e+02] [ 7.65571813e-03 5.90864452e-04 9.99970520e-01 2.22414549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.36, Y:109.48, Z:2.23 [[ 3.54329784e-01 -9.35118021e-01 -2.16579825e-03 2.80360069e+02] [ 9.35089187e-01 3.54335920e-01 -7.36671262e-03 1.09483755e+02] [ 7.65616585e-03 5.85031175e-04 9.99970520e-01 2.22565452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.37, Y:109.51, Z:2.23 [[ 3.54073607e-01 -9.35215054e-01 -2.16405672e-03 2.80366094e+02] [ 9.35186219e-01 3.54079737e-01 -7.36722418e-03 1.09506263e+02] [ 7.65618760e-03 5.84743623e-04 9.99970520e-01 2.22601817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.37, Y:109.53, Z:2.23 [[ 3.53811767e-01 -9.35314150e-01 -2.16227127e-03 2.80372797e+02] [ 9.35285313e-01 3.53817891e-01 -7.36774817e-03 1.09531285e+02] [ 7.65620938e-03 5.84455431e-04 9.99970520e-01 2.22600294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.38, Y:109.56, Z:2.23 [[ 3.53428620e-01 -9.35459001e-01 -2.16052169e-03 2.80379453e+02] [ 9.35430164e-01 3.53434743e-01 -7.36826118e-03 1.09555635e+02] [ 7.65630967e-03 5.83137223e-04 9.99970520e-01 2.22630524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.39, Y:109.58, Z:2.23 [[ 3.51335253e-01 -9.36247232e-01 -2.15872880e-03 2.80385841e+02] [ 9.36218406e-01 3.51341426e-01 -7.36878642e-03 1.09579391e+02] [ 7.65745675e-03 5.67872813e-04 9.99970520e-01 2.22783931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.39, Y:109.60, Z:2.23 [[ 3.49575982e-01 -9.36905535e-01 -2.15686632e-03 2.80392601e+02] [ 9.36876717e-01 3.49582195e-01 -7.36933154e-03 1.09603676e+02] [ 7.65836956e-03 5.55423478e-04 9.99970520e-01 2.22932054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.40, Y:109.63, Z:2.23 [[ 3.45543688e-01 -9.38400189e-01 -2.15502207e-03 2.80398383e+02] [ 9.38371395e-01 3.45550010e-01 -7.36987081e-03 1.09627969e+02] [ 7.66055606e-03 5.24401274e-04 9.99970520e-01 2.22821314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.40, Y:109.65, Z:2.23 [[ 3.43545914e-01 -9.39133414e-01 -2.15310256e-03 2.80404692e+02] [ 9.39104630e-01 3.43552283e-01 -7.37043155e-03 1.09652297e+02] [ 7.66152184e-03 5.10093067e-04 9.99970520e-01 2.22766605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.41, Y:109.68, Z:2.23 [[ 3.42431413e-01 -9.39540366e-01 -2.15119161e-03 2.80410915e+02] [ 9.39511587e-01 3.42437800e-01 -7.37098926e-03 1.09676135e+02] [ 7.66199127e-03 5.02988822e-04 9.99970520e-01 2.22727905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.42, Y:109.70, Z:2.23 [[ 3.42111073e-01 -9.39657062e-01 -2.14955961e-03 2.80417339e+02] [ 9.39628281e-01 3.42117457e-01 -7.37146516e-03 1.09701223e+02] [ 7.66205116e-03 5.02072850e-04 9.99970520e-01 2.22730424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.42, Y:109.73, Z:2.23 [[ 3.42447856e-01 -9.39534381e-01 -2.14767517e-03 2.80423440e+02] [ 9.39505595e-01 3.42454216e-01 -7.37201414e-03 1.09725984e+02] [ 7.66174116e-03 5.06777599e-04 9.99970520e-01 2.22762953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.43, Y:109.75, Z:2.23 [[ 3.43180841e-01 -9.39266898e-01 -2.14574370e-03 2.80428843e+02] [ 9.39238104e-01 3.43187163e-01 -7.37257629e-03 1.09749796e+02] [ 7.66120856e-03 5.14762686e-04 9.99970520e-01 2.22594026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.43, Y:109.77, Z:2.22 [[ 3.44138123e-01 -9.38916587e-01 -2.14373485e-03 2.80434023e+02] [ 9.38887783e-01 3.44144400e-01 -7.37316036e-03 1.09773942e+02] [ 7.66053690e-03 5.24659105e-04 9.99970520e-01 2.22489425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.44, Y:109.80, Z:2.22 [[ 3.45094011e-01 -9.38565680e-01 -2.14186901e-03 2.80437871e+02] [ 9.38536867e-01 3.45100244e-01 -7.37370234e-03 1.09798170e+02] [ 7.65986347e-03 5.34397492e-04 9.99970520e-01 2.22461352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.44, Y:109.82, Z:2.23 [[ 3.44775863e-01 -9.38682601e-01 -2.14001617e-03 2.80444117e+02] [ 9.38653786e-01 3.44782091e-01 -7.37424003e-03 1.09823207e+02] [ 7.65991006e-03 5.33725686e-04 9.99970520e-01 2.22545464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.45, Y:109.85, Z:2.22 [[ 3.43607551e-01 -9.39110898e-01 -2.13816208e-03 2.80450516e+02] [ 9.39082088e-01 3.43613801e-01 -7.37477759e-03 1.09847685e+02] [ 7.66043600e-03 5.26119550e-04 9.99970520e-01 2.22496518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.46, Y:109.87, Z:2.23 [[ 3.40598493e-01 -9.40206415e-01 -2.13631200e-03 2.80457552e+02] [ 9.40177622e-01 3.40604821e-01 -7.37531348e-03 1.09872686e+02] [ 7.66195521e-03 5.03507916e-04 9.99970520e-01 2.22629777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.46, Y:109.90, Z:2.23 [[ 3.39449103e-01 -9.40622002e-01 -2.13447231e-03 2.80464569e+02] [ 9.40593214e-01 3.39455452e-01 -7.37584586e-03 1.09896711e+02] [ 7.66244116e-03 4.96054092e-04 9.99970520e-01 2.22743345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.47, Y:109.92, Z:2.23 [[ 3.38913013e-01 -9.40815296e-01 -2.13261026e-03 2.80471318e+02] [ 9.40786508e-01 3.38919363e-01 -7.37638420e-03 1.09919789e+02] [ 7.66259800e-03 4.93621635e-04 9.99970520e-01 2.22873682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.48, Y:109.94, Z:2.23 [[ 3.41020542e-01 -9.40053429e-01 -2.13067772e-03 2.80478271e+02] [ 9.40024624e-01 3.41026812e-01 -7.37694238e-03 1.09944704e+02] [ 7.66133821e-03 5.12799369e-04 9.99970520e-01 2.23108349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.48, Y:109.97, Z:2.23 [[ 3.43311049e-01 -9.39219352e-01 -2.12886189e-03 2.80484892e+02] [ 9.39190529e-01 3.43317235e-01 -7.37746636e-03 1.09968141e+02] [ 7.65993415e-03 5.33358787e-04 9.99970520e-01 2.23132260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.49, Y:109.99, Z:2.23 [[ 3.45442788e-01 -9.38437401e-01 -2.12731605e-03 2.80491376e+02] [ 9.38408561e-01 3.45448896e-01 -7.37791208e-03 1.09992747e+02] [ 7.65858762e-03 5.52354922e-04 9.99970520e-01 2.23196017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.50, Y:110.02, Z:2.23 [[ 3.49371594e-01 -9.36981842e-01 -2.12554308e-03 2.80499227e+02] [ 9.36952973e-01 3.49377568e-01 -7.37842283e-03 1.10017040e+02] [ 7.65606528e-03 5.86277431e-04 9.99970520e-01 2.23359229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.51, Y:110.04, Z:2.23 [[ 3.50644069e-01 -9.36506395e-01 -2.12367910e-03 2.80506430e+02] [ 9.36477515e-01 3.50649989e-01 -7.37895929e-03 1.10040188e+02] [ 7.65511061e-03 5.98610581e-04 9.99970520e-01 2.23380961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.51, Y:110.07, Z:2.23 [[ 3.50422203e-01 -9.36589439e-01 -2.12208414e-03 2.80513330e+02] [ 9.36560558e-01 3.50428117e-01 -7.37941794e-03 1.10065269e+02] [ 7.65512286e-03 5.98451586e-04 9.99970520e-01 2.23400911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.52, Y:110.09, Z:2.23 [[ 3.51062228e-01 -9.36349730e-01 -2.12033581e-03 2.80520764e+02] [ 9.36320842e-01 3.51068109e-01 -7.37992026e-03 1.10089499e+02] [ 7.65456862e-03 6.05496645e-04 9.99970520e-01 2.23317623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.53, Y:110.11, Z:2.23 [[ 3.50398932e-01 -9.36598153e-01 -2.11858766e-03 2.80527483e+02] [ 9.36569267e-01 3.50404820e-01 -7.38042207e-03 1.10112904e+02] [ 7.65485301e-03 6.01887920e-04 9.99970520e-01 2.23118551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.53, Y:110.14, Z:2.23 [[ 3.49129370e-01 -9.37072144e-01 -2.11676741e-03 2.80534251e+02] [ 9.37043263e-01 3.49135283e-01 -7.38094410e-03 1.10136388e+02] [ 7.65551530e-03 5.93401721e-04 9.99970520e-01 2.23122924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.54, Y:110.16, Z:2.23 [[ 3.47500319e-01 -9.37677479e-01 -2.11487436e-03 2.80541879e+02] [ 9.37648606e-01 3.47506267e-01 -7.38148648e-03 1.10160854e+02] [ 7.65638573e-03 5.82059911e-04 9.99970520e-01 2.23261946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.55, Y:110.18, Z:2.24 [[ 3.45290795e-01 -9.38493368e-01 -2.11305776e-03 2.80549748e+02] [ 9.38464506e-01 3.45296797e-01 -7.38200647e-03 1.10184549e+02] [ 7.65759619e-03 5.65909174e-04 9.99970520e-01 2.23513180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.56, Y:110.21, Z:2.23 [[ 3.44430587e-01 -9.38809412e-01 -2.11150200e-03 2.80556748e+02] [ 9.38780553e-01 3.44436603e-01 -7.38245144e-03 1.10208057e+02] [ 7.65799348e-03 5.60505067e-04 9.99970520e-01 2.23479372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.56, Y:110.23, Z:2.23 [[ 3.44126571e-01 -9.38920898e-01 -2.10962275e-03 2.80564122e+02] [ 9.38892037e-01 3.44132581e-01 -7.38298842e-03 1.10232889e+02] [ 7.65803204e-03 5.59974483e-04 9.99970520e-01 2.23283625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.57, Y:110.26, Z:2.23 [[ 3.44004511e-01 -9.38965630e-01 -2.10777061e-03 2.80571009e+02] [ 9.38936767e-01 3.44010511e-01 -7.38351715e-03 1.10256559e+02] [ 7.65796408e-03 5.60899883e-04 9.99970520e-01 2.23160027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.58, Y:110.28, Z:2.23 [[ 3.45025973e-01 -9.38590775e-01 -2.10583677e-03 2.80577683e+02] [ 9.38561903e-01 3.45031927e-01 -7.38406866e-03 1.10280162e+02] [ 7.65719964e-03 5.71237307e-04 9.99970520e-01 2.23120861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.58, Y:110.30, Z:2.23 [[ 3.45767032e-01 -9.38318034e-01 -2.10397720e-03 2.80583448e+02] [ 9.38289154e-01 3.45772949e-01 -7.38459848e-03 1.10303576e+02] [ 7.65660032e-03 5.79211713e-04 9.99970520e-01 2.23134187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.59, Y:110.33, Z:2.23 [[ 3.47435776e-01 -9.37701425e-01 -2.10212832e-03 2.80589494e+02] [ 9.37672531e-01 3.47441626e-01 -7.38512475e-03 1.10328185e+02] [ 7.65540888e-03 5.94748560e-04 9.99970520e-01 2.23145942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.02589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:280.60, Y:110.35, Z:2.23 [[ 3.47301423e-01 -9.37751198e-01 -2.10028083e-03 2.80595293e+02] [ 9.37722303e-01 3.47307263e-01 -7.38565012e-03 1.10351716e+02] [ 7.65534504e-03 5.95566624e-04 9.99970520e-01 2.23176853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.60, Y:110.38, Z:2.23 [[ 3.47354815e-01 -9.37731427e-01 -2.09836017e-03 2.80602089e+02] [ 9.37702528e-01 3.47360638e-01 -7.38619577e-03 1.10375011e+02] [ 7.65515563e-03 5.97993034e-04 9.99970520e-01 2.23217995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.61, Y:110.40, Z:2.23 [[ 3.46847866e-01 -9.37919060e-01 -2.09650006e-03 2.80608500e+02] [ 9.37890161e-01 3.46853690e-01 -7.38672371e-03 1.10399188e+02] [ 7.65532774e-03 5.95782574e-04 9.99970520e-01 2.23371603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.61, Y:110.42, Z:2.23 [[ 3.46000064e-01 -9.38232150e-01 -2.09461005e-03 2.80614499e+02] [ 9.38203254e-01 3.46005900e-01 -7.38725961e-03 1.10424467e+02] [ 7.65571190e-03 5.90822337e-04 9.99970520e-01 2.23391581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.62, Y:110.45, Z:2.23 [[ 3.44738145e-01 -9.38696560e-01 -2.09270540e-03 2.80618470e+02] [ 9.38667669e-01 3.44744004e-01 -7.38779913e-03 1.10448526e+02] [ 7.65634927e-03 5.82501261e-04 9.99970520e-01 2.23333854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.62, Y:110.47, Z:2.23 [[ 3.44316212e-01 -9.38851412e-01 -2.09108335e-03 2.80623717e+02] [ 9.38822520e-01 3.44322072e-01 -7.38825821e-03 1.10472099e+02] [ 7.65648281e-03 5.80740935e-04 9.99970520e-01 2.23251312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.205898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:280.63, Y:110.50, Z:2.23 [[ 3.43596611e-01 -9.39115011e-01 -2.08913679e-03 2.80628914e+02] [ 9.39086121e-01 3.43602478e-01 -7.38880859e-03 1.10497602e+02] [ 7.65677364e-03 5.76890222e-04 9.99970520e-01 2.23261164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.63, Y:110.52, Z:2.23 [[ 3.43377083e-01 -9.39195306e-01 -2.08728481e-03 2.80634452e+02] [ 9.39166414e-01 3.43382942e-01 -7.38933172e-03 1.10521295e+02] [ 7.65676366e-03 5.77019388e-04 9.99970520e-01 2.23341185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.64, Y:110.55, Z:2.23 [[ 3.42992953e-01 -9.39335661e-01 -2.08544481e-03 2.80639653e+02] [ 9.39306769e-01 3.42998810e-01 -7.38985098e-03 1.10545347e+02] [ 7.65685564e-03 5.75794387e-04 9.99970520e-01 2.23249485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.65, Y:110.57, Z:2.23 [[ 3.42494216e-01 -9.39517626e-01 -2.08387270e-03 2.80645095e+02] [ 9.39488734e-01 3.42500075e-01 -7.39029427e-03 1.10570721e+02] [ 7.65703829e-03 5.73358115e-04 9.99970520e-01 2.23148375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.65, Y:110.60, Z:2.23 [[ 3.41807557e-01 -9.39767662e-01 -2.08203564e-03 2.80649259e+02] [ 9.39738772e-01 3.41813424e-01 -7.39081178e-03 1.10596195e+02] [ 7.65731364e-03 5.69665706e-04 9.99970520e-01 2.23099068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.65, Y:110.62, Z:2.23 [[ 3.41393495e-01 -9.39918164e-01 -2.08020230e-03 2.80654316e+02] [ 9.39889273e-01 3.41399360e-01 -7.39132775e-03 1.10619853e+02] [ 7.65742294e-03 5.68191384e-04 9.99970520e-01 2.23179906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.66, Y:110.64, Z:2.23 [[ 3.40968160e-01 -9.40072547e-01 -2.07863125e-03 2.80659570e+02] [ 9.40043656e-01 3.40974026e-01 -7.39176955e-03 1.10644584e+02] [ 7.65755889e-03 5.66353940e-04 9.99970520e-01 2.23436735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.66, Y:110.67, Z:2.24 [[ 3.40921567e-01 -9.40089449e-01 -2.07682567e-03 2.80664981e+02] [ 9.40060556e-01 3.40927420e-01 -7.39227682e-03 1.10669831e+02] [ 7.65744826e-03 5.67844696e-04 9.99970520e-01 2.23564924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.67, Y:110.69, Z:2.24 [[ 3.40689098e-01 -9.40173725e-01 -2.07502674e-03 2.80668878e+02] [ 9.40144830e-01 3.40694944e-01 -7.39278175e-03 1.10694427e+02] [ 7.65745027e-03 5.67814481e-04 9.99970520e-01 2.23597628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.67, Y:110.72, Z:2.24 [[ 3.40247272e-01 -9.40333714e-01 -2.07349199e-03 2.80674798e+02] [ 9.40304820e-01 3.40253120e-01 -7.39321218e-03 1.10718927e+02] [ 7.65759879e-03 5.65805759e-04 9.99970520e-01 2.23541449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.68, Y:110.74, Z:2.24 [[ 3.39824685e-01 -9.40486518e-01 -2.07167460e-03 2.80681365e+02] [ 9.40457624e-01 3.39830532e-01 -7.39372140e-03 1.10743400e+02] [ 7.65771358e-03 5.64246874e-04 9.99970520e-01 2.23522817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.69, Y:110.77, Z:2.24 [[ 3.39524668e-01 -9.40594873e-01 -2.06985998e-03 2.80688674e+02] [ 9.40565978e-01 3.39530509e-01 -7.39422937e-03 1.10768104e+02] [ 7.65775485e-03 5.63683390e-04 9.99970520e-01 2.23702423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.70, Y:110.79, Z:2.24 [[ 3.39667369e-01 -9.40543355e-01 -2.06802070e-03 2.80695718e+02] [ 9.40514455e-01 3.39673191e-01 -7.39474374e-03 1.10792670e+02] [ 7.65752828e-03 5.66749784e-04 9.99970520e-01 2.23749750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.70, Y:110.82, Z:2.24 [[ 3.40195579e-01 -9.40352434e-01 -2.06617846e-03 2.80702325e+02] [ 9.40323528e-01 3.40201371e-01 -7.39525845e-03 1.10816261e+02] [ 7.65706602e-03 5.72958012e-04 9.99970520e-01 2.23794986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.71, Y:110.84, Z:2.24 [[ 3.44135045e-01 -9.38917893e-01 -2.06426393e-03 2.80709538e+02] [ 9.38888961e-01 3.44140701e-01 -7.39579282e-03 1.10840623e+02] [ 7.65443945e-03 6.07036877e-04 9.99970520e-01 2.24083033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.72, Y:110.87, Z:2.24 [[ 3.46925403e-01 -9.37890458e-01 -2.06243443e-03 2.80715890e+02] [ 9.37861506e-01 3.46930958e-01 -7.39630297e-03 1.10865388e+02] [ 7.65244433e-03 6.31687528e-04 9.99970520e-01 2.24118577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.72, Y:110.89, Z:2.24 [[ 3.49451597e-01 -9.36952152e-01 -2.06060008e-03 2.80720911e+02] [ 9.36923183e-01 3.49457060e-01 -7.39681398e-03 1.10889226e+02] [ 7.65055203e-03 6.54204475e-04 9.99970520e-01 2.24042969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.72, Y:110.92, Z:2.24 [[ 3.52762501e-01 -9.35710628e-01 -2.05869914e-03 2.80724253e+02] [ 9.35681637e-01 3.52767847e-01 -7.39734302e-03 1.10916080e+02] [ 7.64801535e-03 6.83218248e-04 9.99970520e-01 2.23896390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.73, Y:110.94, Z:2.24 [[ 3.53096111e-01 -9.35584793e-01 -2.05694152e-03 2.80729514e+02] [ 9.35555798e-01 3.53101433e-01 -7.39783172e-03 1.10941238e+02] [ 7.64760786e-03 6.87762046e-04 9.99970520e-01 2.23805439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.73, Y:110.97, Z:2.24 [[ 3.52526548e-01 -9.35799556e-01 -2.05510918e-03 2.80734964e+02] [ 9.35770561e-01 3.52531872e-01 -7.39834071e-03 1.10965840e+02] [ 7.64785544e-03 6.85000839e-04 9.99970520e-01 2.23861347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.74, Y:110.99, Z:2.24 [[ 3.49018811e-01 -9.37113469e-01 -2.05328531e-03 2.80739228e+02] [ 9.37084491e-01 3.49024230e-01 -7.39884686e-03 1.10990766e+02] [ 7.65020537e-03 6.58234910e-04 9.99970520e-01 2.24074779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.74, Y:111.02, Z:2.24 [[ 3.46706988e-01 -9.37971245e-01 -2.05152551e-03 2.80744344e+02] [ 9.37942278e-01 3.46712464e-01 -7.39933478e-03 1.11015280e+02] [ 7.65165271e-03 6.41188562e-04 9.99970520e-01 2.24126391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.75, Y:111.04, Z:2.24 [[ 3.44268558e-01 -9.38868979e-01 -2.04959759e-03 2.80749306e+02] [ 9.38840023e-01 3.44274095e-01 -7.39986877e-03 1.11040282e+02] [ 7.65313059e-03 6.23297901e-04 9.99970520e-01 2.24125222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.75, Y:111.06, Z:2.24 [[ 3.39006104e-01 -9.40781945e-01 -2.04778167e-03 2.80754069e+02] [ 9.40753019e-01 3.39011788e-01 -7.40037126e-03 1.11064128e+02] [ 7.65635779e-03 5.82314242e-04 9.99970520e-01 2.24099082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.76, Y:111.09, Z:2.24 [[ 3.36244020e-01 -9.41772676e-01 -2.04589217e-03 2.80759943e+02] [ 9.41743763e-01 3.36249775e-01 -7.40089358e-03 1.11087965e+02] [ 7.65789014e-03 5.61800018e-04 9.99970520e-01 2.24218402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.77, Y:111.11, Z:2.24 [[ 3.34085260e-01 -9.42540642e-01 -2.04400575e-03 2.80766725e+02] [ 9.42511739e-01 3.34091066e-01 -7.40141455e-03 1.11111833e+02] [ 7.65901808e-03 5.46204087e-04 9.99970520e-01 2.24389220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.77, Y:111.14, Z:2.24 [[ 3.32103352e-01 -9.43240793e-01 -2.04214095e-03 2.80774710e+02] [ 9.43211900e-01 3.32109204e-01 -7.40192903e-03 1.11136033e+02] [ 7.66001522e-03 5.32033802e-04 9.99970520e-01 2.24443962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.78, Y:111.16, Z:2.24 [[ 3.29059890e-01 -9.44306849e-01 -2.04030959e-03 2.80784423e+02] [ 9.44277972e-01 3.29065821e-01 -7.40243381e-03 1.11158854e+02] [ 7.66156510e-03 5.09224655e-04 9.99970520e-01 2.24243134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.79, Y:111.18, Z:2.24 [[ 3.27764222e-01 -9.44757355e-01 -2.03848056e-03 2.80792961e+02] [ 9.44728483e-01 3.27770179e-01 -7.40293745e-03 1.11183382e+02] [ 7.66213274e-03 5.00607381e-04 9.99970520e-01 2.24128280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.80, Y:111.21, Z:2.24 [[ 3.26994591e-01 -9.45024016e-01 -2.03654276e-03 2.80801077e+02] [ 9.44995146e-01 3.27000556e-01 -7.40347050e-03 1.11206652e+02] [ 7.66240803e-03 4.96371782e-04 9.99970520e-01 2.24008034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.81, Y:111.23, Z:2.24 [[ 3.27657595e-01 -9.44794349e-01 -2.03453459e-03 2.80811383e+02] [ 9.44765471e-01 3.27663524e-01 -7.40402232e-03 1.11230070e+02] [ 7.66192122e-03 5.03826115e-04 9.99970520e-01 2.24314791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.82, Y:111.25, Z:2.24 [[ 3.28364653e-01 -9.44548846e-01 -2.03273584e-03 2.80819970e+02] [ 9.44519961e-01 3.28370546e-01 -7.40451612e-03 1.11254107e+02] [ 7.66141774e-03 5.11421790e-04 9.99970520e-01 2.24416694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.83, Y:111.28, Z:2.24 [[ 3.29111142e-01 -9.44289009e-01 -2.03087309e-03 2.80828047e+02] [ 9.44260116e-01 3.29116998e-01 -7.40502699e-03 1.11277812e+02] [ 7.66088045e-03 5.19404436e-04 9.99970520e-01 2.24425443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.84, Y:111.30, Z:2.24 [[ 3.29852958e-01 -9.44030142e-01 -2.02893193e-03 2.80836932e+02] [ 9.44001242e-01 3.29858776e-01 -7.40555882e-03 1.11301411e+02] [ 7.66033175e-03 5.27431223e-04 9.99970520e-01 2.24261762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.85, Y:111.32, Z:2.24 [[ 3.29309833e-01 -9.44219744e-01 -2.02712724e-03 2.80850217e+02] [ 9.44190845e-01 3.29315653e-01 -7.40605279e-03 1.11323972e+02] [ 7.66050600e-03 5.24891021e-04 9.99970520e-01 2.23967113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.86, Y:111.35, Z:2.24 [[ 3.27789481e-01 -9.44748620e-01 -2.02528412e-03 2.80860711e+02] [ 9.44719727e-01 3.27795334e-01 -7.40655678e-03 1.11346032e+02] [ 7.66121298e-03 5.14465542e-04 9.99970520e-01 2.23973032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.87, Y:111.37, Z:2.24 [[ 3.26291217e-01 -9.45267130e-01 -2.02337088e-03 2.80871775e+02] [ 9.45238244e-01 3.26297101e-01 -7.40707941e-03 1.11369836e+02] [ 7.66188875e-03 5.04297418e-04 9.99970520e-01 2.24086295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.88, Y:111.39, Z:2.24 [[ 3.25076964e-01 -9.45685403e-01 -2.02153103e-03 2.80882535e+02] [ 9.45656521e-01 3.25082870e-01 -7.40758151e-03 1.11392393e+02] [ 7.66240681e-03 4.96360098e-04 9.99970520e-01 2.24199120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.90, Y:111.42, Z:2.24 [[ 3.26013556e-01 -9.45362937e-01 -2.01961661e-03 2.80896958e+02] [ 9.45334046e-01 3.26019419e-01 -7.40810342e-03 1.11415410e+02] [ 7.66178064e-03 5.05929792e-04 9.99970520e-01 2.24227729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.91, Y:111.44, Z:2.24 [[ 3.27715988e-01 -9.44774131e-01 -2.01779157e-03 2.80906189e+02] [ 9.44745227e-01 3.27721785e-01 -7.40860049e-03 1.11439748e+02] [ 7.66072835e-03 5.21617877e-04 9.99970520e-01 2.24098749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.91, Y:111.46, Z:2.24 [[ 3.29865094e-01 -9.44025930e-01 -2.01597296e-03 2.80914947e+02] [ 9.43997009e-01 3.29870811e-01 -7.40909532e-03 1.11463549e+02] [ 7.65938873e-03 5.40929476e-04 9.99970520e-01 2.23920083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.92, Y:111.49, Z:2.24 [[ 3.34171955e-01 -9.42509973e-01 -2.01409759e-03 2.80924960e+02] [ 9.42481024e-01 3.34177525e-01 -7.40960509e-03 1.11486275e+02] [ 7.65669283e-03 5.77833456e-04 9.99970520e-01 2.23564143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.93, Y:111.51, Z:2.24 [[ 3.35205946e-01 -9.42142731e-01 -2.01214844e-03 2.80933195e+02] [ 9.42113773e-01 3.35211469e-01 -7.41013436e-03 1.11509102e+02] [ 7.65589946e-03 5.88248334e-04 9.99970520e-01 2.23656668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.94, Y:111.53, Z:2.24 [[ 3.35706793e-01 -9.41964388e-01 -2.01023977e-03 2.80941980e+02] [ 9.41935424e-01 3.35712286e-01 -7.41065211e-03 1.11533411e+02] [ 7.65543257e-03 5.94290202e-04 9.99970520e-01 2.23829982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.95, Y:111.56, Z:2.24 [[ 3.35140914e-01 -9.42165874e-01 -2.00839766e-03 2.80950193e+02] [ 9.42136911e-01 3.35146409e-01 -7.41115132e-03 1.11557665e+02] [ 7.65564112e-03 5.91594461e-04 9.99970520e-01 2.23986454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.96, Y:111.58, Z:2.24 [[ 3.34901064e-01 -9.42251162e-01 -2.00651146e-03 2.80956736e+02] [ 9.42222197e-01 3.34906552e-01 -7.41166196e-03 1.11582853e+02] [ 7.65564092e-03 5.91593842e-04 9.99970520e-01 2.24006401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.97, Y:111.61, Z:2.24 [[ 3.32351834e-01 -9.43153349e-01 -2.00462454e-03 2.80966705e+02] [ 9.43124397e-01 3.32357386e-01 -7.41217227e-03 1.11605889e+02] [ 7.65706688e-03 5.72838735e-04 9.99970520e-01 2.24116547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.98, Y:111.63, Z:2.24 [[ 3.30407552e-01 -9.43836235e-01 -2.00266214e-03 2.80975882e+02] [ 9.43807291e-01 3.30413148e-01 -7.41270245e-03 1.11630011e+02] [ 7.65808308e-03 5.59085740e-04 9.99970520e-01 2.24251616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.645898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:280.98, Y:111.65, Z:2.24 [[ 3.27984716e-01 -9.44680911e-01 -2.00079641e-03 2.80984340e+02] [ 9.44651979e-01 3.27990371e-01 -7.41320600e-03 1.11654650e+02] [ 7.65935616e-03 5.41361975e-04 9.99970520e-01 2.24361969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.99, Y:111.68, Z:2.24 [[ 3.26874636e-01 -9.45065594e-01 -1.99890372e-03 2.80993359e+02] [ 9.45036666e-01 3.26880311e-01 -7.41371631e-03 1.11677464e+02] [ 7.65985048e-03 5.34318513e-04 9.99970520e-01 2.24409646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.00, Y:111.70, Z:2.24 [[ 3.26580924e-01 -9.45167135e-01 -1.99693186e-03 2.81002485e+02] [ 9.45138205e-01 3.26586593e-01 -7.41424741e-03 1.11699066e+02] [ 7.65987415e-03 5.33975183e-04 9.99970520e-01 2.24222169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.01, Y:111.72, Z:2.24 [[ 3.27255453e-01 -9.44933801e-01 -1.99510291e-03 2.81010527e+02] [ 9.44904864e-01 3.27261087e-01 -7.41473953e-03 1.11722350e+02] [ 7.65935755e-03 5.41331500e-04 9.99970520e-01 2.24224761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.02, Y:111.75, Z:2.24 [[ 3.29861039e-01 -9.44027395e-01 -1.99318483e-03 2.81020418e+02] [ 9.43998440e-01 3.29866578e-01 -7.41525510e-03 1.11745069e+02] [ 7.65768901e-03 5.64440374e-04 9.99970520e-01 2.24379295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.03, Y:111.77, Z:2.24 [[ 3.31432793e-01 -9.43476729e-01 -1.99124660e-03 2.81027524e+02] [ 9.43447763e-01 3.31438268e-01 -7.41577554e-03 1.11768898e+02] [ 7.65658698e-03 5.79194050e-04 9.99970520e-01 2.24366124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.03, Y:111.79, Z:2.24 [[ 3.33121038e-01 -9.42881974e-01 -1.98932104e-03 2.81034436e+02] [ 9.42852995e-01 3.33126446e-01 -7.41629205e-03 1.11793571e+02] [ 7.65538354e-03 5.94885601e-04 9.99970520e-01 2.24387473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.04, Y:111.82, Z:2.24 [[ 3.34964284e-01 -9.42228729e-01 -1.98750486e-03 2.81041270e+02] [ 9.42199737e-01 3.34969622e-01 -7.41677874e-03 1.11817943e+02] [ 7.65405576e-03 6.11729425e-04 9.99970520e-01 2.24481078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.05, Y:111.84, Z:2.25 [[ 3.38400722e-01 -9.41000005e-01 -1.98567264e-03 2.81047848e+02] [ 9.40970990e-01 3.38405939e-01 -7.41726924e-03 1.11842226e+02] [ 7.65161381e-03 6.41548918e-04 9.99970520e-01 2.24708122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.05, Y:111.87, Z:2.25 [[ 3.39922475e-01 -9.40451368e-01 -1.98383274e-03 2.81054144e+02] [ 9.40422343e-01 3.39927631e-01 -7.41776131e-03 1.11866889e+02] [ 7.65040334e-03 6.55823145e-04 9.99970520e-01 2.24713110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.06, Y:111.89, Z:2.25 [[ 3.41279288e-01 -9.39959850e-01 -1.98200464e-03 2.81059743e+02] [ 9.39930814e-01 3.41284388e-01 -7.41824974e-03 1.11890652e+02] [ 7.64928415e-03 6.68747754e-04 9.99970520e-01 2.24616053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.07, Y:111.92, Z:2.25 [[ 3.42511346e-01 -9.39511606e-01 -1.98010019e-03 2.81065498e+02] [ 9.39482561e-01 3.42516393e-01 -7.41875805e-03 1.11915544e+02] [ 7.64822606e-03 6.80739214e-04 9.99970520e-01 2.24544426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.07, Y:111.94, Z:2.25 [[ 3.44297448e-01 -9.38858538e-01 -1.97829806e-03 2.81070209e+02] [ 9.38829481e-01 3.44302426e-01 -7.41923858e-03 1.11940780e+02] [ 7.64674830e-03 6.97140372e-04 9.99970520e-01 2.24612994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.08, Y:111.97, Z:2.25 [[ 3.44267208e-01 -9.38869631e-01 -1.97650135e-03 2.81075775e+02] [ 9.38840572e-01 3.44272172e-01 -7.41971719e-03 1.11965208e+02] [ 7.64660155e-03 6.98745666e-04 9.99970520e-01 2.24814087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.08, Y:111.99, Z:2.25 [[ 3.43372644e-01 -9.39197172e-01 -1.97472183e-03 2.81081756e+02] [ 9.39168116e-01 3.43377622e-01 -7.42019077e-03 1.11988653e+02] [ 7.64709748e-03 6.93294741e-04 9.99970520e-01 2.24944948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.09, Y:112.01, Z:2.25 [[ 3.39223062e-01 -9.40703897e-01 -1.97286353e-03 2.81091054e+02] [ 9.40674860e-01 3.39228154e-01 -7.42068482e-03 1.12012284e+02] [ 7.64991798e-03 6.61444299e-04 9.99970520e-01 2.24980747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.10, Y:112.04, Z:2.25 [[ 3.36409711e-01 -9.41713662e-01 -1.97108198e-03 2.81099327e+02] [ 9.41684638e-01 3.36414875e-01 -7.42115801e-03 1.12035199e+02] [ 7.65170718e-03 6.40412000e-04 9.99970520e-01 2.24905079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15589822699997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:281.11, Y:112.06, Z:2.25 [[ 3.33289717e-01 -9.42822405e-01 -1.96922550e-03 2.81107305e+02] [ 9.42793395e-01 3.33294963e-01 -7.42165060e-03 1.12059298e+02] [ 7.65363140e-03 6.16987033e-04 9.99970520e-01 2.24901880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.12, Y:112.08, Z:2.25 [[ 3.31236217e-01 -9.43545811e-01 -1.96746262e-03 2.81116198e+02] [ 9.43516811e-01 3.31241513e-01 -7.42211790e-03 1.12083374e+02] [ 7.65481355e-03 6.02140195e-04 9.99970520e-01 2.24784891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.13, Y:112.11, Z:2.25 [[ 3.27051122e-01 -9.45004603e-01 -1.96568844e-03 2.81126141e+02] [ 9.44975624e-01 3.27056532e-01 -7.42258775e-03 1.12106333e+02] [ 7.65727083e-03 5.70037986e-04 9.99970520e-01 2.24527219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.13, Y:112.13, Z:2.25 [[ 3.25036255e-01 -9.45699517e-01 -1.96384149e-03 2.81134412e+02] [ 9.45670547e-01 3.25041713e-01 -7.42307638e-03 1.12129983e+02] [ 7.65833015e-03 5.55621884e-04 9.99970520e-01 2.24545614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.14, Y:112.15, Z:2.25 [[ 3.23396220e-01 -9.46261611e-01 -1.96191616e-03 2.81143159e+02] [ 9.46232647e-01 3.23401713e-01 -7.42358521e-03 1.12153539e+02] [ 7.65914074e-03 5.44330279e-04 9.99970520e-01 2.24678480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.15, Y:112.18, Z:2.25 [[ 3.20779136e-01 -9.47151997e-01 -1.95998414e-03 2.81154998e+02] [ 9.47123045e-01 3.20784693e-01 -7.42409526e-03 1.12175545e+02] [ 7.66047957e-03 5.25148710e-04 9.99970520e-01 2.25079307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.16, Y:112.20, Z:2.25 [[ 3.19293226e-01 -9.47653946e-01 -1.95803874e-03 2.81164207e+02] [ 9.47625001e-01 3.19298814e-01 -7.42460831e-03 1.12197521e+02] [ 7.66115881e-03 5.15140676e-04 9.99970520e-01 2.25158894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.17, Y:112.22, Z:2.25 [[ 3.17319063e-01 -9.48316818e-01 -1.95601775e-03 2.81173752e+02] [ 9.48287881e-01 3.17324695e-01 -7.42514071e-03 1.12220679e+02] [ 7.66207854e-03 5.01270766e-04 9.99970520e-01 2.25119345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.18, Y:112.24, Z:2.25 [[ 3.15057808e-01 -9.49070471e-01 -1.95407584e-03 2.81183965e+02] [ 9.49041545e-01 3.15063494e-01 -7.42565172e-03 1.12244345e+02] [ 7.66312474e-03 4.85010400e-04 9.99970520e-01 2.25047129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.20, Y:112.27, Z:2.25 [[ 3.10438003e-01 -9.50591624e-01 -1.95220415e-03 2.81198058e+02] [ 9.50562723e-01 3.10443816e-01 -7.42614376e-03 1.12265972e+02] [ 7.66527976e-03 4.49664751e-04 9.99970520e-01 2.25212838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.21, Y:112.29, Z:2.25 [[ 3.08229479e-01 -9.51310036e-01 -1.95025519e-03 2.81208028e+02] [ 9.51281145e-01 3.08235344e-01 -7.42665556e-03 1.12289011e+02] [ 7.66618955e-03 4.33873184e-04 9.99970520e-01 2.25263697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.22, Y:112.31, Z:2.25 [[ 3.06661791e-01 -9.51816553e-01 -1.94838081e-03 2.81218400e+02] [ 9.51787669e-01 3.06667689e-01 -7.42714727e-03 1.12312990e+02] [ 7.66678715e-03 4.23177453e-04 9.99970520e-01 2.25214535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.23, Y:112.34, Z:2.25 [[ 3.05182175e-01 -9.52291999e-01 -1.94650087e-03 2.81228557e+02] [ 9.52263121e-01 3.05188103e-01 -7.42763993e-03 1.12336223e+02] [ 7.66733098e-03 4.13202311e-04 9.99970520e-01 2.25185276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.24, Y:112.36, Z:2.25 [[ 3.02443542e-01 -9.53165318e-01 -1.94451478e-03 2.81243370e+02] [ 9.53136454e-01 3.02449537e-01 -7.42815984e-03 1.12358198e+02] [ 7.66838193e-03 3.93211048e-04 9.99970520e-01 2.25380528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.25, Y:112.38, Z:2.26 [[ 3.01136033e-01 -9.53579214e-01 -1.94253558e-03 2.81254074e+02] [ 9.53550355e-01 3.01142052e-01 -7.42867738e-03 1.12381651e+02] [ 7.66881149e-03 3.84736938e-04 9.99970520e-01 2.25634202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.26, Y:112.40, Z:2.26 [[ 2.99870103e-01 -9.53978069e-01 -1.94065799e-03 2.81264433e+02] [ 9.53949215e-01 2.99876146e-01 -7.42916785e-03 1.12404663e+02] [ 7.66922024e-03 3.76496167e-04 9.99970520e-01 2.25874778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.28, Y:112.43, Z:2.26 [[ 2.97093592e-01 -9.54846396e-01 -1.93870748e-03 2.81276751e+02] [ 9.54817556e-01 2.97099704e-01 -7.42967682e-03 1.12427863e+02] [ 7.67018955e-03 3.56197428e-04 9.99970520e-01 2.25797079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.28, Y:112.45, Z:2.26 [[ 2.95159920e-01 -9.55445901e-01 -1.93702083e-03 2.81284490e+02] [ 9.55417071e-01 2.95166077e-01 -7.43011653e-03 1.12451116e+02] [ 7.67081722e-03 3.42409826e-04 9.99970520e-01 2.25735689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.29, Y:112.48, Z:2.26 [[ 2.92758923e-01 -9.56184327e-01 -1.93538217e-03 2.81292260e+02] [ 9.56155510e-01 2.92765140e-01 -7.43054334e-03 1.12475734e+02] [ 7.67158151e-03 3.24831535e-04 9.99970520e-01 2.25657061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.30, Y:112.50, Z:2.26 [[ 2.90393973e-01 -9.56905221e-01 -1.93350904e-03 2.81299846e+02] [ 9.56876417e-01 2.90400247e-01 -7.43103071e-03 1.12498618e+02] [ 7.67228359e-03 3.07797335e-04 9.99970520e-01 2.25738150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.31, Y:112.52, Z:2.26 [[ 2.86188043e-01 -9.58171526e-01 -1.93155368e-03 2.81308168e+02] [ 9.58142746e-01 2.86194428e-01 -7.43153894e-03 1.12520529e+02] [ 7.67348890e-03 2.76113434e-04 9.99970520e-01 2.25946974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.32, Y:112.54, Z:2.26 [[ 2.83994573e-01 -9.58823946e-01 -1.92947136e-03 2.81315522e+02] [ 9.58795177e-01 2.84001007e-01 -7.43207954e-03 1.12544128e+02] [ 7.67402764e-03 2.60702412e-04 9.99970520e-01 2.25975570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.32, Y:112.57, Z:2.26 [[ 2.81369263e-01 -9.59597636e-01 -1.92748164e-03 2.81322603e+02] [ 9.59568881e-01 2.81375761e-01 -7.43259553e-03 1.12567522e+02] [ 7.67464771e-03 2.41752531e-04 9.99970520e-01 2.25928304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.33, Y:112.59, Z:2.26 [[ 2.75036791e-01 -9.61431774e-01 -1.92549853e-03 2.81331697e+02] [ 9.61403059e-01 2.75043463e-01 -7.43310924e-03 1.12590684e+02] [ 7.67602319e-03 1.93198337e-04 9.99970520e-01 2.25860546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.34, Y:112.61, Z:2.26 [[ 2.71229027e-01 -9.62512917e-01 -1.92350513e-03 2.81339526e+02] [ 9.62484225e-01 2.71235798e-01 -7.43362505e-03 1.12614685e+02] [ 7.67668357e-03 1.64871548e-04 9.99970520e-01 2.25854578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.35, Y:112.64, Z:2.26 [[ 2.67461432e-01 -9.63566651e-01 -1.92150210e-03 2.81347211e+02] [ 9.63537982e-01 2.67468299e-01 -7.43414277e-03 1.12637241e+02] [ 7.67723295e-03 1.36906219e-04 9.99970520e-01 2.25796701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.36, Y:112.66, Z:2.26 [[ 2.63988381e-01 -9.64523950e-01 -1.91942180e-03 2.81355195e+02] [ 9.64495302e-01 2.63995336e-01 -7.43467984e-03 1.12661237e+02] [ 7.67764517e-03 1.11395790e-04 9.99970520e-01 2.25768529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.96589822699997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:281.36, Y:112.68, Z:2.26 [[ 2.57862581e-01 -9.66179700e-01 -1.91734791e-03 2.81364009e+02] [ 9.66151093e-01 2.57869701e-01 -7.43521464e-03 1.12682945e+02] [ 7.67817939e-03 6.48158595e-05 9.99970520e-01 2.25891340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99589822699994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.37, Y:112.71, Z:2.26 [[ 2.55333131e-01 -9.66851242e-01 -1.91539685e-03 2.81371846e+02] [ 9.66822650e-01 2.55340311e-01 -7.43571723e-03 1.12706873e+02] [ 7.67831046e-03 4.67359009e-05 9.99970520e-01 2.25964678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.38, Y:112.73, Z:2.26 [[ 2.53441659e-01 -9.67348781e-01 -1.91334396e-03 2.81379707e+02] [ 9.67320199e-01 2.53448879e-01 -7.43624544e-03 1.12730113e+02] [ 7.67837784e-03 3.38381254e-05 9.99970520e-01 2.26036416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.39, Y:112.75, Z:2.26 [[ 2.51550421e-01 -9.67842308e-01 -1.91129631e-03 2.81386896e+02] [ 9.67813736e-01 2.51557682e-01 -7.43677169e-03 1.12754219e+02] [ 7.67842355e-03 2.09442292e-05 9.99970520e-01 2.26107571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.40, Y:112.78, Z:2.26 [[ 2.48495940e-01 -9.68631056e-01 -1.90924893e-03 2.81395004e+02] [ 9.68602503e-01 2.48503275e-01 -7.43729728e-03 1.12776805e+02] [ 7.67845173e-03 -1.16511009e-06 9.99970520e-01 2.26316213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.40, Y:112.80, Z:2.26 [[ 2.46558386e-01 -9.69126063e-01 -1.90712085e-03 2.81401760e+02] [ 9.69097520e-01 2.46565762e-01 -7.43784294e-03 1.12799774e+02] [ 7.67843814e-03 -1.43235309e-05 9.99970520e-01 2.26384707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.41, Y:112.82, Z:2.26 [[ 2.44479963e-01 -9.69652473e-01 -1.90502559e-03 2.81408446e+02] [ 9.69623943e-01 2.44487383e-01 -7.43837955e-03 1.12824035e+02] [ 7.67839785e-03 -2.86236680e-05 9.99970520e-01 2.26279986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.42, Y:112.85, Z:2.26 [[ 2.40297784e-01 -9.70697354e-01 -1.90301706e-03 2.81416692e+02] [ 9.70668852e-01 2.40305312e-01 -7.43889337e-03 1.12847477e+02] [ 7.67821922e-03 -5.96497894e-05 9.99970520e-01 2.26079036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.42, Y:112.87, Z:2.26 [[ 2.38363717e-01 -9.71174096e-01 -1.90101527e-03 2.81424246e+02] [ 9.71145605e-01 2.38371286e-01 -7.43940490e-03 1.12870987e+02] [ 7.67810478e-03 -7.28784266e-05 9.99970520e-01 2.26171119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.43, Y:112.89, Z:2.26 [[ 2.36730111e-01 -9.71573594e-01 -1.89901792e-03 2.81431431e+02] [ 9.71545111e-01 2.36737713e-01 -7.43991471e-03 1.12894188e+02] [ 7.67799384e-03 -8.37297442e-05 9.99970520e-01 2.26296770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.44, Y:112.92, Z:2.26 [[ 2.35748178e-01 -9.71812327e-01 -1.89691541e-03 2.81438486e+02] [ 9.71783847e-01 2.35755793e-01 -7.44045074e-03 1.12917205e+02] [ 7.67793054e-03 -8.93190490e-05 9.99970520e-01 2.26412108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.45, Y:112.94, Z:2.26 [[ 2.35303426e-01 -9.71920114e-01 -1.89474379e-03 2.81446691e+02] [ 9.71891634e-01 2.35311037e-01 -7.44100371e-03 1.12940848e+02] [ 7.67791530e-03 -9.05919733e-05 9.99970520e-01 2.26116992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.45, Y:112.96, Z:2.26 [[ 2.35038883e-01 -9.71984126e-01 -1.89266260e-03 2.81453523e+02] [ 9.71955644e-01 2.35046486e-01 -7.44153304e-03 1.12963793e+02] [ 7.67791568e-03 -9.05344802e-05 9.99970520e-01 2.25980972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.46, Y:112.99, Z:2.26 [[ 2.34482123e-01 -9.72118594e-01 -1.89050118e-03 2.81460512e+02] [ 9.72090111e-01 2.34489726e-01 -7.44208210e-03 1.12987046e+02] [ 7.67788949e-03 -9.27022875e-05 9.99970520e-01 2.25818972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.47, Y:113.01, Z:2.26 [[ 2.34008313e-01 -9.72232762e-01 -1.88843604e-03 2.81467124e+02] [ 9.72204279e-01 2.34015914e-01 -7.44260609e-03 1.13009787e+02] [ 7.67786956e-03 -9.43139035e-05 9.99970520e-01 2.25724576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.48, Y:113.03, Z:2.25 [[ 2.32784447e-01 -9.72526526e-01 -1.88629667e-03 2.81476592e+02] [ 9.72498048e-01 2.32792067e-01 -7.44314827e-03 1.13032261e+02] [ 7.67777403e-03 -1.01770673e-04 9.99970520e-01 2.25313006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.48, Y:113.06, Z:2.25 [[ 2.32198932e-01 -9.72666493e-01 -1.88418313e-03 2.81484782e+02] [ 9.72638015e-01 2.32206553e-01 -7.44368326e-03 1.13055630e+02] [ 7.67774096e-03 -1.04212833e-04 9.99970520e-01 2.25408159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.49, Y:113.08, Z:2.25 [[ 2.31933495e-01 -9.72729824e-01 -1.88214651e-03 2.81490612e+02] [ 9.72701345e-01 2.31941109e-01 -7.44419819e-03 1.13080184e+02] [ 7.67774074e-03 -1.04207540e-04 9.99970520e-01 2.25427466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.50, Y:113.10, Z:2.26 [[ 2.31694279e-01 -9.72786835e-01 -1.88011489e-03 2.81498176e+02] [ 9.72758353e-01 2.31701884e-01 -7.44471126e-03 1.13104000e+02] [ 7.67774326e-03 -1.04000453e-04 9.99970520e-01 2.25577421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.50, Y:113.13, Z:2.26 [[ 2.33266297e-01 -9.72411080e-01 -1.87808683e-03 2.81504856e+02] [ 9.72382581e-01 2.33273840e-01 -7.44522285e-03 1.13127421e+02] [ 7.67792571e-03 -8.94993557e-05 9.99970520e-01 2.25842745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.51, Y:113.15, Z:2.26 [[ 2.35057840e-01 -9.71979574e-01 -1.87606293e-03 2.81509990e+02] [ 9.71951058e-01 2.35065315e-01 -7.44573280e-03 1.13151031e+02] [ 7.67809752e-03 -7.32634758e-05 9.99970520e-01 2.25870733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.51, Y:113.18, Z:2.26 [[ 2.37180354e-01 -9.71463827e-01 -1.87397403e-03 2.81514841e+02] [ 9.71435291e-01 2.37187751e-01 -7.44625850e-03 1.13175195e+02] [ 7.67825447e-03 -5.43382783e-05 9.99970520e-01 2.25967428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:113.20, Z:2.26 [[ 2.39410479e-01 -9.70916638e-01 -1.87198766e-03 2.81518963e+02] [ 9.70888081e-01 2.39417795e-01 -7.44675784e-03 1.13198129e+02] [ 7.67836825e-03 -3.46586480e-05 9.99970520e-01 2.26178614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:113.22, Z:2.26 [[ 2.43551961e-01 -9.69886048e-01 -1.86993023e-03 2.81519690e+02] [ 9.69857455e-01 2.43559139e-01 -7.44727444e-03 1.13222690e+02] [ 7.67844617e-03 2.32523478e-07 9.99970520e-01 2.26466601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:113.25, Z:2.26 [[ 2.43859636e-01 -9.69808738e-01 -1.86802170e-03 2.81522153e+02] [ 9.69780140e-01 2.43866790e-01 -7.44775313e-03 1.13247526e+02] [ 7.67844452e-03 4.63601850e-06 9.99970520e-01 2.26496224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:113.27, Z:2.27 [[ 2.42687382e-01 -9.70102753e-01 -1.86607137e-03 2.81524372e+02] [ 9.70074160e-01 2.42694556e-01 -7.44824177e-03 1.13271996e+02] [ 7.67844521e-03 -2.63331861e-06 9.99970520e-01 2.26512015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:113.30, Z:2.27 [[ 2.36748513e-01 -9.71569177e-01 -1.86413150e-03 2.81523474e+02] [ 9.71540625e-01 2.36755848e-01 -7.44872724e-03 1.13295910e+02] [ 7.67829783e-03 -4.76043817e-05 9.99970520e-01 2.26513148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:113.32, Z:2.27 [[ 2.32478533e-01 -9.72599745e-01 -1.86203409e-03 2.81525795e+02] [ 9.72571221e-01 2.32485977e-01 -7.44925151e-03 1.13319523e+02] [ 7.67803694e-03 -7.91697050e-05 9.99970520e-01 2.26521109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:113.34, Z:2.27 [[ 2.27881717e-01 -9.73687046e-01 -1.85994478e-03 2.81528492e+02] [ 9.73658553e-01 2.27889279e-01 -7.44977314e-03 1.13343306e+02] [ 7.67760908e-03 -1.13284048e-04 9.99970520e-01 2.26583627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:113.37, Z:2.27 [[ 2.19819499e-01 -9.75538793e-01 -1.85786179e-03 2.81527756e+02] [ 9.75510359e-01 2.19827280e-01 -7.45029257e-03 1.13366642e+02] [ 7.67645813e-03 -1.74643848e-04 9.99970520e-01 2.26657213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:113.39, Z:2.27 [[ 2.17304552e-01 -9.76102089e-01 -1.85578418e-03 2.81529938e+02] [ 9.76073671e-01 2.17312391e-01 -7.45081005e-03 1.13390221e+02] [ 7.67603615e-03 -1.92287135e-04 9.99970520e-01 2.26686089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:113.41, Z:2.27 [[ 2.16183105e-01 -9.76351079e-01 -1.85369707e-03 2.81532070e+02] [ 9.76322665e-01 2.16190961e-01 -7.45132926e-03 1.13413664e+02] [ 7.67586592e-03 -1.98954968e-04 9.99970520e-01 2.26767743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:113.44, Z:2.27 [[ 2.16418174e-01 -9.76299004e-01 -1.85154373e-03 2.81534070e+02] [ 9.76270584e-01 2.16426006e-01 -7.45186430e-03 1.13437813e+02] [ 7.67596991e-03 -1.94888815e-04 9.99970520e-01 2.26852851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:113.46, Z:2.27 [[ 2.20464479e-01 -9.75393250e-01 -1.84948462e-03 2.81531282e+02] [ 9.75364794e-01 2.20472178e-01 -7.45237531e-03 1.13461972e+02] [ 7.67675648e-03 -1.60938144e-04 9.99970520e-01 2.27078742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:113.49, Z:2.27 [[ 2.23277892e-01 -9.74753082e-01 -1.84735099e-03 2.81531660e+02] [ 9.74724599e-01 2.23285492e-01 -7.45290418e-03 1.13486586e+02] [ 7.67722799e-03 -1.36589713e-04 9.99970520e-01 2.27218178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:113.51, Z:2.27 [[ 2.26221501e-01 -9.74074139e-01 -1.84531637e-03 2.81531152e+02] [ 9.74045629e-01 2.26228999e-01 -7.45340791e-03 1.13511609e+02] [ 7.67763597e-03 -1.11301223e-04 9.99970520e-01 2.27295720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:113.54, Z:2.27 [[ 2.28851261e-01 -9.73459656e-01 -1.84328526e-03 2.81529994e+02] [ 9.73431122e-01 2.28858667e-01 -7.45391019e-03 1.13535100e+02] [ 7.67793266e-03 -8.84744901e-05 9.99970520e-01 2.27332476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:113.56, Z:2.27 [[ 2.31643244e-01 -9.72799063e-01 -1.84119049e-03 2.81523446e+02] [ 9.72770504e-01 2.31650552e-01 -7.45442758e-03 1.13562319e+02] [ 7.67817296e-03 -6.42880179e-05 9.99970520e-01 2.27129116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:113.59, Z:2.27 [[ 2.31222368e-01 -9.72899190e-01 -1.83899912e-03 2.81523404e+02] [ 9.72870630e-01 2.31229672e-01 -7.45496815e-03 1.13586813e+02] [ 7.67816364e-03 -6.53528430e-05 9.99970520e-01 2.27157888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:113.61, Z:2.27 [[ 2.27447869e-01 -9.73788526e-01 -1.83694062e-03 2.81518660e+02] [ 9.73759990e-01 2.27455268e-01 -7.45547534e-03 1.13612638e+02] [ 7.67787816e-03 -9.30073010e-05 9.99970520e-01 2.27199246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:113.64, Z:2.27 [[ 2.24850855e-01 -9.74391465e-01 -1.83483982e-03 2.81519278e+02] [ 9.74362944e-01 2.24858313e-01 -7.45599232e-03 1.13637580e+02] [ 7.67763427e-03 -1.11313681e-04 9.99970520e-01 2.27173971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:113.66, Z:2.27 [[ 2.22612247e-01 -9.74905343e-01 -1.83277689e-03 2.81520350e+02] [ 9.74876836e-01 2.22619755e-01 -7.45649938e-03 1.13663138e+02] [ 7.67739343e-03 -1.26823652e-04 9.99970520e-01 2.27094347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:113.69, Z:2.27 [[ 2.20605000e-01 -9.75361514e-01 -1.83063109e-03 2.81521081e+02] [ 9.75333018e-01 2.20612551e-01 -7.45702616e-03 1.13687642e+02] [ 7.67715652e-03 -1.40417685e-04 9.99970520e-01 2.26954907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:113.71, Z:2.27 [[ 2.17559420e-01 -9.76045366e-01 -1.82841199e-03 2.81517113e+02] [ 9.76016889e-01 2.17567043e-01 -7.45757022e-03 1.13714152e+02] [ 7.67672905e-03 -1.62096333e-04 9.99970520e-01 2.26617741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:113.74, Z:2.26 [[ 2.16337806e-01 -9.76316864e-01 -1.82635111e-03 2.81518540e+02] [ 9.76288392e-01 2.16345448e-01 -7.45807490e-03 1.13738246e+02] [ 7.67656704e-03 -1.69581827e-04 9.99970520e-01 2.26355743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:113.76, Z:2.26 [[ 2.15085280e-01 -9.76593567e-01 -1.82411040e-03 2.81521382e+02] [ 9.76565100e-01 2.15092942e-01 -7.45862290e-03 1.13763059e+02] [ 7.67639641e-03 -1.77122558e-04 9.99970520e-01 2.26480100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:113.79, Z:2.27 [[ 2.14290315e-01 -9.76768315e-01 -1.82197723e-03 2.81525317e+02] [ 9.76739850e-01 2.14297984e-01 -7.45914395e-03 1.13786621e+02] [ 7.67630151e-03 -1.81175458e-04 9.99970520e-01 2.26554323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:113.81, Z:2.27 [[ 2.14042829e-01 -9.76822582e-01 -1.81976600e-03 2.81529230e+02] [ 9.76794114e-01 2.14050488e-01 -7.45968337e-03 1.13810602e+02] [ 7.67630897e-03 -1.80844991e-04 9.99970520e-01 2.26738954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:113.83, Z:2.27 [[ 2.14636637e-01 -9.76692280e-01 -1.81767484e-03 2.81533334e+02] [ 9.76663804e-01 2.14644263e-01 -7.46019288e-03 1.13834523e+02] [ 7.67646627e-03 -1.74026516e-04 9.99970520e-01 2.26802301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.54, Y:113.86, Z:2.27 [[ 2.16003804e-01 -9.76390834e-01 -1.81553626e-03 2.81537504e+02] [ 9.76362343e-01 2.16011373e-01 -7.46071329e-03 1.13857671e+02] [ 7.67674856e-03 -1.61078784e-04 9.99970520e-01 2.26793448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.54, Y:113.88, Z:2.27 [[ 2.20830380e-01 -9.75310543e-01 -1.81332056e-03 2.81541725e+02] [ 9.75282010e-01 2.20837791e-01 -7.46125178e-03 1.13880753e+02] [ 7.67748723e-03 -1.20827855e-04 9.99970520e-01 2.26957237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.55, Y:113.91, Z:2.27 [[ 2.23113172e-01 -9.74790866e-01 -1.81113508e-03 2.81546678e+02] [ 9.74762312e-01 2.23120500e-01 -7.46178224e-03 1.13905220e+02] [ 7.67777854e-03 -1.00604310e-04 9.99970520e-01 2.27080802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.55, Y:113.93, Z:2.27 [[ 2.25643800e-01 -9.74208193e-01 -1.80905774e-03 2.81552053e+02] [ 9.74179615e-01 2.25651039e-01 -7.46228585e-03 1.13928394e+02] [ 7.67803576e-03 -7.85286337e-05 9.99970520e-01 2.27133013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.56, Y:113.95, Z:2.27 [[ 2.27768290e-01 -9.73713685e-01 -1.80691417e-03 2.81557725e+02] [ 9.73685088e-01 2.27775449e-01 -7.46280485e-03 1.13952364e+02] [ 7.67820590e-03 -5.95750802e-05 9.99970520e-01 2.27145466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.57, Y:113.98, Z:2.27 [[ 2.31954257e-01 -9.72725020e-01 -1.80479801e-03 2.81565900e+02] [ 9.72696389e-01 2.31961277e-01 -7.46331659e-03 1.13975562e+02] [ 7.67839803e-03 -2.43724484e-05 9.99970520e-01 2.27196681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.57, Y:114.00, Z:2.27 [[ 2.33513375e-01 -9.72351919e-01 -1.80267595e-03 2.81572509e+02] [ 9.72323272e-01 2.33520333e-01 -7.46382911e-03 1.13999038e+02] [ 7.67843005e-03 -9.87985441e-06 9.99970520e-01 2.27399204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.58, Y:114.02, Z:2.28 [[ 2.35224091e-01 -9.71939497e-01 -1.80054280e-03 2.81578793e+02] [ 9.71910834e-01 2.35230982e-01 -7.46434367e-03 1.14023252e+02] [ 7.67843388e-03 5.82639718e-06 9.99970520e-01 2.27657853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67589822699995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:281.58, Y:114.05, Z:2.28 [[ 2.37808421e-01 -9.71310414e-01 -1.79840454e-03 2.81583292e+02] [ 9.71281729e-01 2.37815219e-01 -7.46485881e-03 1.14046908e+02] [ 7.67838307e-03 2.84488087e-05 9.99970520e-01 2.27947174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.59, Y:114.07, Z:2.28 [[ 2.39258187e-01 -9.70954321e-01 -1.79618917e-03 2.81589298e+02] [ 9.70925622e-01 2.39264926e-01 -7.46539183e-03 1.14069900e+02] [ 7.67831952e-03 4.21900336e-05 9.99970520e-01 2.27988080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.59, Y:114.09, Z:2.28 [[ 2.40043524e-01 -9.70760469e-01 -1.79400141e-03 2.81594480e+02] [ 9.70731760e-01 2.40050223e-01 -7.46591753e-03 1.14094128e+02] [ 7.67826804e-03 5.06510111e-05 9.99970520e-01 2.27853685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.60, Y:114.12, Z:2.28 [[ 2.40780629e-01 -9.70577909e-01 -1.79190204e-03 2.81599702e+02] [ 9.70549192e-01 2.40787289e-01 -7.46642137e-03 1.14117965e+02] [ 7.67821088e-03 5.86405576e-05 9.99970520e-01 2.27761879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.61, Y:114.14, Z:2.28 [[ 2.41305948e-01 -9.70447441e-01 -1.78978208e-03 2.81605318e+02] [ 9.70418717e-01 2.41312576e-01 -7.46692951e-03 1.14140675e+02] [ 7.67815957e-03 6.49764717e-05 9.99970520e-01 2.27579986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.825898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:281.61, Y:114.16, Z:2.27 [[ 2.40536187e-01 -9.70638526e-01 -1.78758905e-03 2.81611170e+02] [ 9.70609802e-01 2.40542821e-01 -7.46745449e-03 1.14164634e+02] [ 7.67819073e-03 6.11415738e-05 9.99970520e-01 2.27398525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.62, Y:114.19, Z:2.27 [[ 2.39788499e-01 -9.70823510e-01 -1.78551340e-03 2.81618383e+02] [ 9.70794788e-01 2.39795139e-01 -7.46795076e-03 1.14187866e+02] [ 7.67821960e-03 5.73615966e-05 9.99970520e-01 2.27335763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.62, Y:114.21, Z:2.27 [[ 2.38202675e-01 -9.71213831e-01 -1.78338960e-03 2.81624547e+02] [ 9.71185116e-01 2.38209346e-01 -7.46845790e-03 1.14211094e+02] [ 7.67828968e-03 4.70052138e-05 9.99970520e-01 2.27184328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.63, Y:114.23, Z:2.27 [[ 2.34577633e-01 -9.72095757e-01 -1.78118071e-03 2.81629476e+02] [ 9.72067064e-01 2.34584394e-01 -7.46898467e-03 1.14233840e+02] [ 7.67840551e-03 2.06296392e-05 9.99970520e-01 2.27006823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.63, Y:114.26, Z:2.27 [[ 2.32552595e-01 -9.72582195e-01 -1.77903522e-03 2.81634463e+02] [ 9.72553511e-01 2.32559400e-01 -7.46949567e-03 1.14258303e+02] [ 7.67842985e-03 6.84365302e-06 9.99970520e-01 2.27103639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.64, Y:114.28, Z:2.27 [[ 2.30489499e-01 -9.73073190e-01 -1.77699944e-03 2.81639627e+02] [ 9.73044517e-01 2.30496349e-01 -7.46997995e-03 1.14281809e+02] [ 7.67842910e-03 -7.34762826e-06 9.99970520e-01 2.27279520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.64, Y:114.31, Z:2.27 [[ 2.25356152e-01 -9.74274835e-01 -1.77489291e-03 2.81644496e+02] [ 9.74246195e-01 2.25363137e-01 -7.47048043e-03 1.14305856e+02] [ 7.67829653e-03 -4.56639440e-05 9.99970520e-01 2.27392736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.65, Y:114.33, Z:2.27 [[ 2.22377592e-01 -9.74959006e-01 -1.77283146e-03 2.81649950e+02] [ 9.74930384e-01 2.22384648e-01 -7.47096961e-03 1.14329636e+02] [ 7.67813960e-03 -6.70110262e-05 9.99970520e-01 2.27399760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.66, Y:114.35, Z:2.27 [[ 2.18856283e-01 -9.75755498e-01 -1.77069607e-03 2.81655826e+02] [ 9.75726897e-01 2.18863427e-01 -7.47147568e-03 1.14354011e+02] [ 7.67787409e-03 -9.25363848e-05 9.99970520e-01 2.27438163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.66, Y:114.38, Z:2.28 [[ 2.15273712e-01 -9.76552150e-01 -1.76854946e-03 2.81661236e+02] [ 9.76523571e-01 2.15280944e-01 -7.47198377e-03 1.14377259e+02] [ 7.67751681e-03 -1.18508549e-04 9.99970520e-01 2.27611698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.67, Y:114.40, Z:2.28 [[ 2.09859446e-01 -9.77729969e-01 -1.76632233e-03 2.81666919e+02] [ 9.77701427e-01 2.09866819e-01 -7.47251021e-03 1.14400840e+02] [ 7.67678962e-03 -1.58759013e-04 9.99970520e-01 2.27968331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15589822699997 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:281.67, Y:114.42, Z:2.28 [[ 2.08178113e-01 -9.78089342e-01 -1.76418908e-03 2.81671660e+02] [ 9.78060808e-01 2.08185519e-01 -7.47301381e-03 1.14424723e+02] [ 7.67655378e-03 -1.69766283e-04 9.99970520e-01 2.27980323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:114.45, Z:2.28 [[ 2.08107790e-01 -9.78104311e-01 -1.76203261e-03 2.81677669e+02] [ 9.78075773e-01 2.08115181e-01 -7.47352224e-03 1.14447595e+02] [ 7.67659006e-03 -1.68103207e-04 9.99970520e-01 2.28106767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:114.47, Z:2.28 [[ 2.09109819e-01 -9.77890580e-01 -1.75979641e-03 2.81681749e+02] [ 9.77862030e-01 2.09117165e-01 -7.47404877e-03 1.14471001e+02] [ 7.67680552e-03 -1.57941102e-04 9.99970520e-01 2.28438766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.69, Y:114.50, Z:2.29 [[ 2.09875253e-01 -9.77726592e-01 -1.75781051e-03 2.81686303e+02] [ 9.77698032e-01 2.09882560e-01 -7.47451580e-03 1.14495721e+02] [ 7.67696663e-03 -1.49891988e-04 9.99970520e-01 2.28598898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.69, Y:114.52, Z:2.29 [[ 2.10544302e-01 -9.77582740e-01 -1.75577474e-03 2.81690868e+02] [ 9.77554172e-01 2.10551575e-01 -7.47499397e-03 1.14520176e+02] [ 7.67710623e-03 -1.42547528e-04 9.99970520e-01 2.28766421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:114.54, Z:2.29 [[ 2.10991664e-01 -9.77486288e-01 -1.75370231e-03 2.81695103e+02] [ 9.77457712e-01 2.10998908e-01 -7.47548015e-03 1.14543700e+02] [ 7.67720861e-03 -1.36905852e-04 9.99970520e-01 2.28690114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:114.57, Z:2.28 [[ 2.10059164e-01 -9.77687107e-01 -1.75155581e-03 2.81699246e+02] [ 9.77658534e-01 2.10066418e-01 -7.47598306e-03 1.14568444e+02] [ 7.67711531e-03 -1.42024740e-04 9.99970520e-01 2.28391841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:114.59, Z:2.28 [[ 2.09775169e-01 -9.77748085e-01 -1.74938497e-03 2.81704636e+02] [ 9.77719510e-01 2.09782415e-01 -7.47649100e-03 1.14593068e+02] [ 7.67711496e-03 -1.42025660e-04 9.99970520e-01 2.28411147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.71, Y:114.62, Z:2.28 [[ 2.08282176e-01 -9.78067218e-01 -1.74721309e-03 2.81708232e+02] [ 9.78038649e-01 2.08289449e-01 -7.47699852e-03 1.14616267e+02] [ 7.67693319e-03 -1.51516405e-04 9.99970520e-01 2.28171741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.71, Y:114.64, Z:2.28 [[ 2.05151280e-01 -9.78728720e-01 -1.74496304e-03 2.81711261e+02] [ 9.78700171e-01 2.05158628e-01 -7.47752360e-03 1.14640582e+02] [ 7.67646132e-03 -1.73772084e-04 9.99970520e-01 2.27925740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.71, Y:114.66, Z:2.28 [[ 2.03732484e-01 -9.79025044e-01 -1.74282923e-03 2.81714710e+02] [ 9.78996502e-01 2.03739856e-01 -7.47802090e-03 1.14664880e+02] [ 7.67625352e-03 -1.82707941e-04 9.99970520e-01 2.27880411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.72, Y:114.69, Z:2.28 [[ 2.02954152e-01 -9.79186694e-01 -1.74068118e-03 2.81717587e+02] [ 9.79158153e-01 2.02961531e-01 -7.47852088e-03 1.14689620e+02] [ 7.67615945e-03 -1.86605305e-04 9.99970520e-01 2.27815731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.71, Y:114.72, Z:2.28 [[ 2.02931508e-01 -9.79191391e-01 -1.73852356e-03 2.81714990e+02] [ 9.79162846e-01 2.02938871e-01 -7.47902242e-03 1.14715374e+02] [ 7.67620838e-03 -1.84568382e-04 9.99970520e-01 2.27736398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.72, Y:114.74, Z:2.28 [[ 2.02977383e-01 -9.79181887e-01 -1.73637238e-03 2.81715532e+02] [ 9.79153337e-01 2.02984728e-01 -7.47952182e-03 1.14740794e+02] [ 7.67626936e-03 -1.82001042e-04 9.99970520e-01 2.27731926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.72, Y:114.77, Z:2.28 [[ 2.02944333e-01 -9.79188741e-01 -1.73422301e-03 2.81715223e+02] [ 9.79160187e-01 2.02951663e-01 -7.48002015e-03 1.14765105e+02] [ 7.67631495e-03 -1.80054431e-04 9.99970520e-01 2.27819708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.71, Y:114.79, Z:2.28 [[ 2.02221186e-01 -9.79338344e-01 -1.73199819e-03 2.81708488e+02] [ 9.79309791e-01 2.02228520e-01 -7.48053527e-03 1.14791517e+02] [ 7.67623445e-03 -1.83440069e-04 9.99970520e-01 2.27895200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.71, Y:114.82, Z:2.28 [[ 2.00649276e-01 -9.79661613e-01 -1.72987571e-03 2.81707555e+02] [ 9.79633068e-01 2.00656639e-01 -7.48102606e-03 1.14816001e+02] [ 7.67598510e-03 -1.93580993e-04 9.99970520e-01 2.27971070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.71, Y:114.84, Z:2.28 [[ 1.98343203e-01 -9.80131108e-01 -1.72767657e-03 2.81706831e+02] [ 9.80102576e-01 1.98350616e-01 -7.48153390e-03 1.14841000e+02] [ 7.67556982e-03 -2.09388867e-04 9.99970520e-01 2.27934245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.71, Y:114.87, Z:2.28 [[ 1.95664897e-01 -9.80669297e-01 -1.72557784e-03 2.81706358e+02] [ 9.80640781e-01 1.95672372e-01 -7.48201793e-03 1.14865783e+02] [ 7.67503317e-03 -2.28203739e-04 9.99970520e-01 2.27938990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:114.89, Z:2.28 [[ 1.89696127e-01 -9.81841336e-01 -1.72359870e-03 2.81701569e+02] [ 9.81812862e-01 1.89703761e-01 -7.48247383e-03 1.14892281e+02] [ 7.67357525e-03 -2.72855065e-04 9.99970520e-01 2.27951566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:114.92, Z:2.28 [[ 1.87062910e-01 -9.82346428e-01 -1.72147077e-03 2.81701809e+02] [ 9.82317970e-01 1.87070604e-01 -7.48296336e-03 1.14916252e+02] [ 7.67289890e-03 -2.91246776e-04 9.99970520e-01 2.28117562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:114.94, Z:2.28 [[ 1.85037063e-01 -9.82730039e-01 -1.71927044e-03 2.81701887e+02] [ 9.82701593e-01 1.85044799e-01 -7.48346887e-03 1.14940756e+02] [ 7.67237171e-03 -3.04810697e-04 9.99970520e-01 2.28259868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.815898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:281.70, Y:114.97, Z:2.28 [[ 1.83542163e-01 -9.83010339e-01 -1.71712772e-03 2.81701634e+02] [ 9.82981900e-01 1.83549926e-01 -7.48396050e-03 1.14966420e+02] [ 7.67198921e-03 -3.14283173e-04 9.99970520e-01 2.28251354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:114.99, Z:2.28 [[ 1.82515693e-01 -9.83201445e-01 -1.71508703e-03 2.81696990e+02] [ 9.83173009e-01 1.82523470e-01 -7.48442813e-03 1.14992713e+02] [ 7.67174418e-03 -3.20201692e-04 9.99970520e-01 2.28387243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:115.02, Z:2.29 [[ 1.81674517e-01 -9.83357227e-01 -1.71305169e-03 2.81696160e+02] [ 9.83328794e-01 1.81682303e-01 -7.48489395e-03 1.15017089e+02] [ 7.67155574e-03 -3.24678564e-04 9.99970520e-01 2.28511260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:115.04, Z:2.29 [[ 1.80802891e-01 -9.83517863e-01 -1.71103352e-03 2.81695595e+02] [ 9.83489433e-01 1.80810687e-01 -7.48535527e-03 1.15042762e+02] [ 7.67135377e-03 -3.29409514e-04 9.99970520e-01 2.28610953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.69, Y:115.07, Z:2.29 [[ 1.80032476e-01 -9.83659182e-01 -1.70902402e-03 2.81688648e+02] [ 9.83630754e-01 1.80040279e-01 -7.48581405e-03 1.15068148e+02] [ 7.67118289e-03 -3.33358950e-04 9.99970520e-01 2.28726779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.69, Y:115.09, Z:2.29 [[ 1.79976499e-01 -9.83669429e-01 -1.70695716e-03 2.81687715e+02] [ 9.83640997e-01 1.79984288e-01 -7.48628531e-03 1.15093246e+02] [ 7.67125547e-03 -3.31677619e-04 9.99970520e-01 2.28696633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.69, Y:115.12, Z:2.29 [[ 1.79823166e-01 -9.83697475e-01 -1.70490394e-03 2.81686516e+02] [ 9.83669040e-01 1.79830944e-01 -7.48675288e-03 1.15117614e+02] [ 7.67129439e-03 -3.30769616e-04 9.99970521e-01 2.28625180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.14, Z:2.29 [[ 1.79553624e-01 -9.83746713e-01 -1.70297139e-03 2.81678872e+02] [ 9.83718277e-01 1.79561395e-01 -7.48719244e-03 1.15143250e+02] [ 7.67128887e-03 -3.30891545e-04 9.99970521e-01 2.28786271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.17, Z:2.29 [[ 1.79115865e-01 -9.83826516e-01 -1.70089010e-03 2.81677682e+02] [ 9.83798078e-01 1.79123633e-01 -7.48766522e-03 1.15169085e+02] [ 7.67123320e-03 -3.32172774e-04 9.99970521e-01 2.28762458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.19, Z:2.29 [[ 1.78527035e-01 -9.83933540e-01 -1.69880311e-03 2.81676742e+02] [ 9.83905103e-01 1.78534804e-01 -7.48813869e-03 1.15193725e+02] [ 7.67112629e-03 -3.34625851e-04 9.99970521e-01 2.28771710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.22, Z:2.29 [[ 1.77591995e-01 -9.84102741e-01 -1.69665152e-03 2.81676061e+02] [ 9.84074306e-01 1.77599774e-01 -7.48862616e-03 1.15218140e+02] [ 7.67090246e-03 -3.39711113e-04 9.99970521e-01 2.28627910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.67, Y:115.24, Z:2.28 [[ 1.75417260e-01 -9.84492718e-01 -1.69477713e-03 2.81671474e+02] [ 9.84464297e-01 1.75425088e-01 -7.48905034e-03 1.15244822e+02] [ 7.67022195e-03 -3.54738884e-04 9.99970521e-01 2.28117742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.67, Y:115.27, Z:2.28 [[ 1.74216377e-01 -9.84705940e-01 -1.69285673e-03 2.81672361e+02] [ 9.84677524e-01 1.74224225e-01 -7.48948441e-03 1.15269722e+02] [ 7.66987644e-03 -3.62127139e-04 9.99970521e-01 2.27962730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.67, Y:115.29, Z:2.28 [[ 1.73107211e-01 -9.84901536e-01 -1.69079504e-03 2.81674113e+02] [ 9.84873125e-01 1.73115075e-01 -7.48994982e-03 1.15294878e+02] [ 7.66956519e-03 -3.68654269e-04 9.99970521e-01 2.27938054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.67, Y:115.32, Z:2.28 [[ 1.73298598e-01 -9.84867882e-01 -1.68870945e-03 2.81672664e+02] [ 9.84839465e-01 1.73306441e-01 -7.49042001e-03 1.15319733e+02] [ 7.66973832e-03 -3.65028427e-04 9.99970521e-01 2.28052024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.67, Y:115.34, Z:2.28 [[ 1.74303544e-01 -9.84690525e-01 -1.68654919e-03 2.81674187e+02] [ 9.84662096e-01 1.74311342e-01 -7.49090639e-03 1.15344266e+02] [ 7.67020920e-03 -3.54989533e-04 9.99970521e-01 2.28129758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29589822699995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:281.68, Y:115.37, Z:2.28 [[ 1.75451925e-01 -9.84486559e-01 -1.68447785e-03 2.81675131e+02] [ 9.84458116e-01 1.75459674e-01 -7.49137214e-03 1.15369347e+02] [ 7.67071311e-03 -3.43922224e-04 9.99970521e-01 2.28134433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.39, Z:2.28 [[ 1.77123435e-01 -9.84187207e-01 -1.68249615e-03 2.81677130e+02] [ 9.84158747e-01 1.77131120e-01 -7.49181719e-03 1.15393397e+02] [ 7.67137306e-03 -3.28866910e-04 9.99970521e-01 2.28208424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.42, Z:2.28 [[ 1.80488870e-01 -9.83575593e-01 -1.67959278e-03 2.81676239e+02] [ 9.83547101e-01 1.80496436e-01 -7.49246838e-03 1.15418909e+02] [ 7.67256954e-03 -2.99651457e-04 9.99970521e-01 2.28336390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.44, Z:2.29 [[ 1.81616342e-01 -9.83368033e-01 -1.67827132e-03 2.81678579e+02] [ 9.83339529e-01 1.81623866e-01 -7.49276437e-03 1.15443139e+02] [ 7.67295908e-03 -2.89502067e-04 9.99970521e-01 2.28519176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.47, Z:2.29 [[ 1.82149801e-01 -9.83269362e-01 -1.67697999e-03 2.81680984e+02] [ 9.83240852e-01 1.82157299e-01 -7.49305327e-03 1.15468851e+02] [ 7.67316385e-03 -2.84017074e-04 9.99970521e-01 2.28693725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.49, Z:2.29 [[ 1.82279343e-01 -9.83245360e-01 -1.67454967e-03 2.81679231e+02] [ 9.83216844e-01 1.82286819e-01 -7.49359636e-03 1.15494059e+02] [ 7.67329218e-03 -2.80517614e-04 9.99970521e-01 2.28617420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.52, Z:2.29 [[ 1.82344953e-01 -9.83233186e-01 -1.67936492e-03 2.81681161e+02] [ 9.83204679e-01 1.82352463e-01 -7.49252161e-03 1.15518609e+02] [ 7.67313222e-03 -2.84935951e-04 9.99970521e-01 2.28799301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.54, Z:2.29 [[ 1.82078222e-01 -9.83282631e-01 -1.67019264e-03 2.81683145e+02] [ 9.83254108e-01 1.82085671e-01 -7.49456569e-03 1.15543067e+02] [ 7.67339441e-03 -2.77626574e-04 9.99970521e-01 2.28809695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.57, Z:2.29 [[ 1.81916197e-01 -9.83312623e-01 -1.66817934e-03 2.81684705e+02] [ 9.83284097e-01 1.81923634e-01 -7.49501379e-03 1.15567741e+02] [ 7.67342292e-03 -2.76829810e-04 9.99970521e-01 2.28921811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.59, Z:2.29 [[ 1.82306187e-01 -9.83240397e-01 -1.66610095e-03 2.81682051e+02] [ 9.83211864e-01 1.82313598e-01 -7.49547578e-03 1.15593568e+02] [ 7.67360744e-03 -2.71658617e-04 9.99970521e-01 2.29266972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.62, Z:2.29 [[ 1.82346273e-01 -9.83232967e-01 -1.66403802e-03 2.81683083e+02] [ 9.83204430e-01 1.82353667e-01 -7.49593373e-03 1.15618387e+02] [ 7.67369260e-03 -2.69233966e-04 9.99970521e-01 2.29335211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.64, Z:2.30 [[ 1.82480623e-01 -9.83208045e-01 -1.66197436e-03 2.81684215e+02] [ 9.83179503e-01 1.82487998e-01 -7.49639125e-03 1.15642226e+02] [ 7.67380256e-03 -2.66072978e-04 9.99970521e-01 2.29596417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.67, Z:2.30 [[ 1.81722430e-01 -9.83348465e-01 -1.65983687e-03 2.81682477e+02] [ 9.83319924e-01 1.81729810e-01 -7.49686450e-03 1.15668649e+02] [ 7.67367204e-03 -2.69802230e-04 9.99970521e-01 2.29647003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:115.69, Z:2.30 [[ 1.80457426e-01 -9.83581399e-01 -1.65794342e-03 2.81684253e+02] [ 9.83552864e-01 1.80464828e-01 -7.49728322e-03 1.15693290e+02] [ 7.67338879e-03 -2.77734565e-04 9.99970521e-01 2.29677922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.69, Y:115.72, Z:2.29 [[ 1.78663172e-01 -9.83908903e-01 -1.65586912e-03 2.81686204e+02] [ 9.83880377e-01 1.78670610e-01 -7.49774133e-03 1.15718535e+02] [ 7.67294959e-03 -2.89606894e-04 9.99970521e-01 2.29407721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.69, Y:115.74, Z:2.30 [[ 1.75574846e-01 -9.84464688e-01 -1.65861869e-03 2.81685749e+02] [ 9.84436192e-01 1.75582395e-01 -7.49713489e-03 1.15744092e+02] [ 7.67188880e-03 -3.16495966e-04 9.99970521e-01 2.29554716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.69, Y:115.77, Z:2.30 [[ 1.74081133e-01 -9.84729929e-01 -1.65122219e-03 2.81688451e+02] [ 9.84701429e-01 1.74088669e-01 -7.49876359e-03 1.15768098e+02] [ 7.67171601e-03 -3.20567589e-04 9.99970521e-01 2.29658692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.69, Y:115.79, Z:2.30 [[ 1.72646598e-01 -9.84982453e-01 -1.64907510e-03 2.81691904e+02] [ 9.84953960e-01 1.72654159e-01 -7.49923574e-03 1.15793263e+02] [ 7.67133529e-03 -3.29545512e-04 9.99970521e-01 2.29649285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.69, Y:115.82, Z:2.30 [[ 1.70749986e-01 -9.85313011e-01 -1.64711212e-03 2.81694875e+02] [ 9.85284528e-01 1.70757587e-01 -7.49966686e-03 1.15817217e+02] [ 7.67077622e-03 -3.42306075e-04 9.99970521e-01 2.29612973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:115.84, Z:2.29 [[ 1.70134467e-01 -9.85419482e-01 -1.64544620e-03 2.81699081e+02] [ 9.85391001e-01 1.70142073e-01 -7.50003235e-03 1.15841845e+02] [ 7.67063762e-03 -3.45393869e-04 9.99970521e-01 2.29487768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:115.87, Z:2.29 [[ 1.70136133e-01 -9.85419193e-01 -1.64613821e-03 2.81703749e+02] [ 9.85390713e-01 1.70143744e-01 -7.49988070e-03 1.15866049e+02] [ 7.67060650e-03 -3.46088602e-04 9.99970521e-01 2.29375402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.71, Y:115.89, Z:2.29 [[ 1.70393656e-01 -9.85374704e-01 -1.64163569e-03 2.81708128e+02] [ 9.85346213e-01 1.70401226e-01 -7.50086611e-03 1.15890081e+02] [ 7.67090046e-03 -3.39479515e-04 9.99970521e-01 2.29207713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.71, Y:115.91, Z:2.29 [[ 1.72647866e-01 -9.84982247e-01 -1.63958287e-03 2.81712666e+02] [ 9.84953734e-01 1.72655354e-01 -7.50131481e-03 1.15914978e+02] [ 7.67174467e-03 -3.19827284e-04 9.99970521e-01 2.29083099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.72, Y:115.94, Z:2.29 [[ 1.73792987e-01 -9.84780847e-01 -1.63762175e-03 2.81716797e+02] [ 9.84752322e-01 1.73800427e-01 -7.50174292e-03 1.15939098e+02] [ 7.67219210e-03 -3.08901519e-04 9.99970521e-01 2.29184908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.72, Y:115.96, Z:2.29 [[ 1.74878178e-01 -9.84588720e-01 -1.63557960e-03 2.81721363e+02] [ 9.84560183e-01 1.74885572e-01 -7.50218813e-03 1.15964148e+02] [ 7.67260909e-03 -2.98357554e-04 9.99970521e-01 2.29234568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.73, Y:115.99, Z:2.29 [[ 1.75410044e-01 -9.84494107e-01 -1.63368640e-03 2.81725586e+02] [ 9.84465563e-01 1.75417409e-01 -7.50260038e-03 1.15988815e+02] [ 7.67284289e-03 -2.92276536e-04 9.99970521e-01 2.29315298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.73, Y:116.01, Z:2.29 [[ 1.75225543e-01 -9.84526966e-01 -1.63179534e-03 2.81730025e+02] [ 9.84498419e-01 1.75232898e-01 -7.50301165e-03 1.16012007e+02] [ 7.67286152e-03 -2.91780636e-04 9.99970521e-01 2.29213179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.74, Y:116.04, Z:2.29 [[ 1.74346887e-01 -9.84682948e-01 -1.62965697e-03 2.81735784e+02] [ 9.84654403e-01 1.74354251e-01 -7.50347608e-03 1.16036184e+02] [ 7.67268256e-03 -2.96441219e-04 9.99970521e-01 2.29077063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.74, Y:116.06, Z:2.29 [[ 1.73193150e-01 -9.84886533e-01 -1.62760084e-03 2.81742058e+02] [ 9.84857993e-01 1.73200532e-01 -7.50392205e-03 1.16061289e+02] [ 7.67241311e-03 -3.03327802e-04 9.99970521e-01 2.29003114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.75, Y:116.09, Z:2.29 [[ 1.72366684e-01 -9.85031514e-01 -1.62568598e-03 2.81748333e+02] [ 9.85002976e-01 1.72374076e-01 -7.50433688e-03 1.16085383e+02] [ 7.67223443e-03 -3.07807862e-04 9.99970521e-01 2.29000406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.75, Y:116.11, Z:2.29 [[ 1.71351750e-01 -9.85208577e-01 -1.62402314e-03 2.81754405e+02] [ 9.85180044e-01 1.71359158e-01 -7.50469672e-03 1.16108192e+02] [ 7.67198281e-03 -3.14012276e-04 9.99970521e-01 2.28987893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.76, Y:116.13, Z:2.29 [[ 1.71371674e-01 -9.85205115e-01 -1.62187869e-03 2.81759798e+02] [ 9.85176577e-01 1.71379066e-01 -7.50516013e-03 1.16132143e+02] [ 7.67207821e-03 -3.11665042e-04 9.99970521e-01 2.28871037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.77, Y:116.16, Z:2.29 [[ 1.71644074e-01 -9.85157697e-01 -1.61983361e-03 2.81765567e+02] [ 9.85129153e-01 1.71651442e-01 -7.50560150e-03 1.16157018e+02] [ 7.67224786e-03 -3.07453289e-04 9.99970521e-01 2.28812414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.77, Y:116.18, Z:2.29 [[ 1.71392347e-01 -9.85201526e-01 -1.61791395e-03 2.81770748e+02] [ 9.85172980e-01 1.71399707e-01 -7.50601528e-03 1.16182462e+02] [ 7.67224768e-03 -3.07451538e-04 9.99970521e-01 2.28832362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.78, Y:116.21, Z:2.29 [[ 1.71895171e-01 -9.85113922e-01 -1.61599590e-03 2.81776117e+02] [ 9.85085369e-01 1.71902502e-01 -7.50642820e-03 1.16207288e+02] [ 7.67248066e-03 -3.01575158e-04 9.99970521e-01 2.28891373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.78, Y:116.23, Z:2.29 [[ 1.74261713e-01 -9.84698050e-01 -1.61407187e-03 2.81780140e+02] [ 9.84669476e-01 1.74268961e-01 -7.50684189e-03 1.16231395e+02] [ 7.67325520e-03 -2.81172179e-04 9.99970521e-01 2.29235954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.78, Y:116.26, Z:2.29 [[ 1.75397603e-01 -9.84496360e-01 -1.61206463e-03 2.81783760e+02] [ 9.84467773e-01 1.75404803e-01 -7.50727292e-03 1.16255696e+02] [ 7.67364673e-03 -2.70268000e-04 9.99970521e-01 2.29300146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.79, Y:116.28, Z:2.29 [[ 1.76070770e-01 -9.84376194e-01 -1.60999159e-03 2.81787618e+02] [ 9.84347599e-01 1.76077935e-01 -7.50771747e-03 1.16280880e+02] [ 7.67390234e-03 -2.62901759e-04 9.99970521e-01 2.29307576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.79, Y:116.31, Z:2.29 [[ 1.76802162e-01 -9.84245096e-01 -1.60808121e-03 2.81788580e+02] [ 9.84216492e-01 1.76809291e-01 -7.50812663e-03 1.16306698e+02] [ 7.67416052e-03 -2.55247020e-04 9.99970521e-01 2.29221222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.79, Y:116.33, Z:2.29 [[ 1.76912009e-01 -9.84225361e-01 -1.60611985e-03 2.81790854e+02] [ 9.84196752e-01 1.76919119e-01 -7.50854617e-03 1.16332533e+02] [ 7.67425488e-03 -2.52385957e-04 9.99970521e-01 2.29198526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.79, Y:116.36, Z:2.29 [[ 1.77334584e-01 -9.84149314e-01 -1.60417138e-03 2.81792270e+02] [ 9.84120698e-01 1.77341667e-01 -7.50896244e-03 1.16356812e+02] [ 7.67442666e-03 -2.47099530e-04 9.99970521e-01 2.29276537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.79, Y:116.38, Z:2.29 [[ 1.79362578e-01 -9.83781733e-01 -1.60214659e-03 2.81789916e+02] [ 9.83753099e-01 1.79369587e-01 -7.50939443e-03 1.16383763e+02] [ 7.67498144e-03 -2.29212334e-04 9.99970521e-01 2.29238242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.79, Y:116.41, Z:2.29 [[ 1.79833093e-01 -9.83695836e-01 -1.60025288e-03 2.81791027e+02] [ 9.83667195e-01 1.79840074e-01 -7.50979796e-03 1.16410076e+02] [ 7.67514658e-03 -2.23606063e-04 9.99970521e-01 2.29290425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.79, Y:116.44, Z:2.29 [[ 1.79543188e-01 -9.83748793e-01 -1.59843308e-03 2.81792293e+02] [ 9.83720151e-01 1.79550164e-01 -7.51018528e-03 1.16435304e+02] [ 7.67513462e-03 -2.24008220e-04 9.99970521e-01 2.29397304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.79, Y:116.46, Z:2.29 [[ 1.77638118e-01 -9.84094584e-01 -1.59678348e-03 2.81794297e+02] [ 9.84065952e-01 1.77645136e-01 -7.51053599e-03 1.16461328e+02] [ 7.67473861e-03 -2.37182775e-04 9.99970521e-01 2.29386962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.80, Y:116.49, Z:2.29 [[ 1.70373135e-01 -9.85378329e-01 -1.59488151e-03 2.81797302e+02] [ 9.85349746e-01 1.70380350e-01 -7.51093986e-03 1.16486172e+02] [ 7.67285383e-03 -2.91853724e-04 9.99970521e-01 2.29411714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67589822699995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:281.80, Y:116.51, Z:2.29 [[ 1.65300734e-01 -9.86241922e-01 -1.59324693e-03 2.81802348e+02] [ 9.86213374e-01 1.65308084e-01 -7.51128657e-03 1.16509750e+02] [ 7.67132230e-03 -3.29660244e-04 9.99970521e-01 2.29390460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.81, Y:116.53, Z:2.29 [[ 1.60576755e-01 -9.87022074e-01 -1.59112835e-03 2.81808566e+02] [ 9.86993557e-01 1.60584225e-01 -7.51173533e-03 1.16532220e+02] [ 7.66975869e-03 -3.64223350e-04 9.99970521e-01 2.29302122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.82, Y:116.56, Z:2.29 [[ 1.53617090e-01 -9.88129174e-01 -1.58902678e-03 2.81818082e+02] [ 9.88100706e-01 1.53624745e-01 -7.51217987e-03 1.16555938e+02] [ 7.66711792e-03 -4.16119269e-04 9.99970521e-01 2.29076483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.83, Y:116.58, Z:2.29 [[ 1.52265212e-01 -9.88338397e-01 -1.58707154e-03 2.81826110e+02] [ 9.88309935e-01 1.52272891e-01 -7.51259292e-03 1.16579814e+02] [ 7.66665201e-03 -4.24612015e-04 9.99970521e-01 2.29011742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.83, Y:116.60, Z:2.29 [[ 1.52222080e-01 -9.88345044e-01 -1.58518728e-03 2.81833698e+02] [ 9.88316579e-01 1.52229746e-01 -7.51299049e-03 1.16603519e+02] [ 7.66673957e-03 -4.23023830e-04 9.99970521e-01 2.29172171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.84, Y:116.63, Z:2.29 [[ 1.55454010e-01 -9.87841862e-01 -1.58323728e-03 2.81844196e+02] [ 9.87813368e-01 1.55461568e-01 -7.51340139e-03 1.16626972e+02] [ 7.66818497e-03 -3.95954575e-04 9.99970521e-01 2.29361619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.85, Y:116.65, Z:2.30 [[ 1.57853169e-01 -9.87461329e-01 -1.58129878e-03 2.81851706e+02] [ 9.87432813e-01 1.57860643e-01 -7.51380936e-03 1.16650081e+02] [ 7.66922102e-03 -3.75347683e-04 9.99970521e-01 2.29533662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.86, Y:116.67, Z:2.30 [[ 1.60512971e-01 -9.87032468e-01 -1.57927126e-03 2.81859357e+02] [ 9.87003927e-01 1.60520352e-01 -7.51423548e-03 1.16674766e+02] [ 7.67029957e-03 -3.52614677e-04 9.99970521e-01 2.29662578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.87, Y:116.70, Z:2.30 [[ 1.62956750e-01 -9.86631953e-01 -1.57737336e-03 2.81866202e+02] [ 9.86603390e-01 1.62964046e-01 -7.51463386e-03 1.16697217e+02] [ 7.67123303e-03 -3.31681600e-04 9.99970521e-01 2.29909948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.87, Y:116.72, Z:2.30 [[ 1.65388725e-01 -9.86227199e-01 -1.57522924e-03 2.81874275e+02] [ 9.86198615e-01 1.65395935e-01 -7.51508329e-03 1.16720251e+02] [ 7.67211606e-03 -3.10578844e-04 9.99970521e-01 2.29984693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.88, Y:116.74, Z:2.30 [[ 1.64818058e-01 -9.86322733e-01 -1.57318007e-03 2.81881133e+02] [ 9.86294149e-01 1.64825269e-01 -7.51551223e-03 1.16744051e+02] [ 7.67202039e-03 -3.12926167e-04 9.99970521e-01 2.29916027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.89, Y:116.77, Z:2.30 [[ 1.62997032e-01 -9.86625308e-01 -1.57111344e-03 2.81888350e+02] [ 9.86596734e-01 1.63004280e-01 -7.51594423e-03 1.16768953e+02] [ 7.67151901e-03 -3.24978779e-04 9.99970521e-01 2.29781589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.90, Y:116.79, Z:2.30 [[ 1.58774868e-01 -9.87313567e-01 -1.56916907e-03 2.81897353e+02] [ 9.87285020e-01 1.58782223e-01 -7.51635016e-03 1.16792431e+02] [ 7.67015063e-03 -3.55809606e-04 9.99970521e-01 2.29715528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.90, Y:116.82, Z:2.30 [[ 1.56987067e-01 -9.87599415e-01 -1.56748674e-03 2.81903490e+02] [ 9.87570878e-01 1.56994461e-01 -7.51670098e-03 1.16816380e+02] [ 7.66957622e-03 -3.67979414e-04 9.99970521e-01 2.29680576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.91, Y:116.84, Z:2.30 [[ 1.55485497e-01 -9.87836935e-01 -1.56544245e-03 2.81909332e+02] [ 9.87808405e-01 1.55492919e-01 -7.51712670e-03 1.16839550e+02] [ 7.66911062e-03 -3.77553029e-04 9.99970521e-01 2.29702627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.92, Y:116.86, Z:2.30 [[ 1.53995861e-01 -9.88070256e-01 -1.56352422e-03 2.81915161e+02] [ 9.88041733e-01 1.54003312e-01 -7.51752566e-03 1.16862252e+02] [ 7.66863141e-03 -3.87159338e-04 9.99970521e-01 2.29647007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.92, Y:116.89, Z:2.29 [[ 1.52192910e-01 -9.88349574e-01 -1.56143845e-03 2.81921048e+02] [ 9.88321061e-01 1.52200397e-01 -7.51795887e-03 1.16886487e+02] [ 7.66802299e-03 -3.99022466e-04 9.99970521e-01 2.29284944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.93, Y:116.91, Z:2.29 [[ 1.52079193e-01 -9.88367081e-01 -1.55949726e-03 2.81925651e+02] [ 9.88338565e-01 1.52086669e-01 -7.51836152e-03 1.16910263e+02] [ 7.66807977e-03 -3.97924928e-04 9.99970521e-01 2.29158873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.93, Y:116.93, Z:2.29 [[ 1.52344406e-01 -9.88326240e-01 -1.55753488e-03 2.81930502e+02] [ 9.88297718e-01 1.52351858e-01 -7.51876803e-03 1.16933986e+02] [ 7.66828907e-03 -3.93865916e-04 9.99970521e-01 2.29034339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:116.96, Z:2.29 [[ 1.52976905e-01 -9.88228540e-01 -1.55548172e-03 2.81936038e+02] [ 9.88200009e-01 1.52984324e-01 -7.51919276e-03 1.16957572e+02] [ 7.66864520e-03 -3.86864214e-04 9.99970521e-01 2.29052232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:116.98, Z:2.29 [[ 1.53160759e-01 -9.88200065e-01 -1.55344439e-03 2.81940853e+02] [ 9.88171529e-01 1.53168157e-01 -7.51961365e-03 1.16980816e+02] [ 7.66882091e-03 -3.83359789e-04 9.99970521e-01 2.29030608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:117.00, Z:2.29 [[ 1.52542225e-01 -9.88295737e-01 -1.55134062e-03 2.81944441e+02] [ 9.88267201e-01 1.52549625e-01 -7.52004764e-03 1.17003919e+02] [ 7.66868745e-03 -3.86014255e-04 9.99970521e-01 2.28949474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.95, Y:117.03, Z:2.29 [[ 1.51659940e-01 -9.88431516e-01 -1.54925198e-03 2.81948230e+02] [ 9.88402983e-01 1.51667349e-01 -7.52047791e-03 1.17027997e+02] [ 7.66844833e-03 -3.90730052e-04 9.99970521e-01 2.28905615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.95, Y:117.05, Z:2.29 [[ 1.50383615e-01 -9.88626509e-01 -1.54723994e-03 2.81951827e+02] [ 9.88597982e-01 1.50391046e-01 -7.52089184e-03 1.17051247e+02] [ 7.66804408e-03 -3.98579385e-04 9.99970521e-01 2.28893521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.95, Y:117.07, Z:2.29 [[ 1.48198271e-01 -9.88956463e-01 -1.54516421e-03 2.81954613e+02] [ 9.88927948e-01 1.48205750e-01 -7.52131827e-03 1.17074360e+02] [ 7.66725853e-03 -4.13409699e-04 9.99970521e-01 2.29105418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.10, Z:2.29 [[ 1.46885430e-01 -9.89152308e-01 -1.54309359e-03 2.81957350e+02] [ 9.89123799e-01 1.46892931e-01 -7.52174306e-03 1.17098283e+02] [ 7.66681905e-03 -4.21476127e-04 9.99970521e-01 2.29236193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.12, Z:2.29 [[ 1.45746526e-01 -9.89320765e-01 -1.54104696e-03 2.81959430e+02] [ 9.89292260e-01 1.45754044e-01 -7.52216235e-03 1.17121946e+02] [ 7.66644524e-03 -4.28216799e-04 9.99970521e-01 2.29244773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.15, Z:2.29 [[ 1.45215494e-01 -9.89398854e-01 -1.53900454e-03 2.81961974e+02] [ 9.89370349e-01 1.45223011e-01 -7.52258020e-03 1.17145114e+02] [ 7.66633110e-03 -4.30250262e-04 9.99970521e-01 2.29186888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.17, Z:2.29 [[ 1.44984075e-01 -9.89432795e-01 -1.53697715e-03 2.81961638e+02] [ 9.89404288e-01 1.44991584e-01 -7.52299440e-03 1.17170649e+02] [ 7.66634613e-03 -4.29977392e-04 9.99970521e-01 2.29108794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.20, Z:2.29 [[ 1.44940315e-01 -9.89439209e-01 -1.53503944e-03 2.81962989e+02] [ 9.89410699e-01 1.44947810e-01 -7.52338976e-03 1.17195551e+02] [ 7.66643743e-03 -4.28341964e-04 9.99970521e-01 2.29038992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.22, Z:2.29 [[ 1.44736514e-01 -9.89469045e-01 -1.53310480e-03 2.81964036e+02] [ 9.89440532e-01 1.44744000e-01 -7.52378398e-03 1.17220532e+02] [ 7.66645907e-03 -4.27949768e-04 9.99970521e-01 2.29058217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.24, Z:2.29 [[ 1.44027453e-01 -9.89572508e-01 -1.53116530e-03 2.81961863e+02] [ 9.89543997e-01 1.44034946e-01 -7.52417867e-03 1.17244865e+02] [ 7.66626167e-03 -4.31467142e-04 9.99970521e-01 2.28789654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.27, Z:2.29 [[ 1.43335380e-01 -9.89672992e-01 -1.52915315e-03 2.81963065e+02] [ 9.89644482e-01 1.43342877e-01 -7.52458758e-03 1.17269523e+02] [ 7.66607431e-03 -4.34778355e-04 9.99970521e-01 2.28527695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.29, Z:2.29 [[ 1.42581712e-01 -9.89781857e-01 -1.52711572e-03 2.81963890e+02] [ 9.89753348e-01 1.42589215e-01 -7.52500105e-03 1.17293031e+02] [ 7.66585974e-03 -4.38540367e-04 9.99970521e-01 2.28542210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.32, Z:2.28 [[ 1.41757938e-01 -9.89900177e-01 -1.52519336e-03 2.81964702e+02] [ 9.89871671e-01 1.41765451e-01 -7.52539066e-03 1.17317664e+02] [ 7.66560528e-03 -4.42961832e-04 9.99970521e-01 2.28444100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.34, Z:2.28 [[ 1.41456796e-01 -9.89943258e-01 -1.52316910e-03 2.81961118e+02] [ 9.89914751e-01 1.41464302e-01 -7.52580036e-03 1.17343634e+02] [ 7.66558938e-03 -4.43231955e-04 9.99970521e-01 2.28450849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.37, Z:2.28 [[ 1.41433426e-01 -9.89946601e-01 -1.52115813e-03 2.81960903e+02] [ 9.89918089e-01 1.41440918e-01 -7.52620681e-03 1.17368270e+02] [ 7.66569685e-03 -4.41364730e-04 9.99970521e-01 2.28497145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.39, Z:2.29 [[ 1.41799084e-01 -9.89894294e-01 -1.51906995e-03 2.81960930e+02] [ 9.89865775e-01 1.41806549e-01 -7.52662826e-03 1.17393228e+02] [ 7.66598043e-03 -4.36406370e-04 9.99970521e-01 2.28512130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.42, Z:2.29 [[ 1.43916210e-01 -9.89588714e-01 -1.51704111e-03 2.81955321e+02] [ 9.89560176e-01 1.43923599e-01 -7.52703716e-03 1.17418011e+02] [ 7.66700904e-03 -4.17940807e-04 9.99970521e-01 2.28864978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.44, Z:2.29 [[ 1.45285355e-01 -9.89388635e-01 -1.51494601e-03 2.81955062e+02] [ 9.89360082e-01 1.45292689e-01 -7.52745881e-03 1.17444514e+02] [ 7.66769277e-03 -4.05197581e-04 9.99970521e-01 2.28771674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.95, Y:117.47, Z:2.29 [[ 1.46401011e-01 -9.89224168e-01 -1.51302685e-03 2.81954126e+02] [ 9.89195604e-01 1.46408297e-01 -7.52784454e-03 1.17470043e+02] [ 7.66824544e-03 -3.94595458e-04 9.99970521e-01 2.28949187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.95, Y:117.50, Z:2.29 [[ 1.46934546e-01 -9.89145063e-01 -1.51102957e-03 2.81952863e+02] [ 9.89116491e-01 1.46941802e-01 -7.52824543e-03 1.17496004e+02] [ 7.66856021e-03 -3.88424946e-04 9.99970521e-01 2.29128575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.95, Y:117.52, Z:2.29 [[ 1.45819532e-01 -9.89310056e-01 -1.50916504e-03 2.81945743e+02] [ 9.89281488e-01 1.45826806e-01 -7.52861919e-03 1.17522778e+02] [ 7.66821538e-03 -3.95169312e-04 9.99970521e-01 2.29299286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:117.55, Z:2.29 [[ 1.43964996e-01 -9.89581633e-01 -1.50722567e-03 2.81944926e+02] [ 9.89553075e-01 1.43972309e-01 -7.52900743e-03 1.17548614e+02] [ 7.66756622e-03 -4.07566272e-04 9.99970521e-01 2.29228858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:117.57, Z:2.29 [[ 1.41633816e-01 -9.89917974e-01 -1.50533365e-03 2.81943927e+02] [ 9.89889430e-01 1.41641182e-01 -7.52938570e-03 1.17574103e+02] [ 7.66669147e-03 -4.23698233e-04 9.99970521e-01 2.29227312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:117.60, Z:2.29 [[ 1.39174108e-01 -9.90266786e-01 -1.50336791e-03 2.81943092e+02] [ 9.90238256e-01 1.39181530e-01 -7.52977817e-03 1.17598637e+02] [ 7.66573027e-03 -4.40742253e-04 9.99970521e-01 2.29160601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:117.62, Z:2.29 [[ 1.34581302e-01 -9.90901418e-01 -1.50131490e-03 2.81936060e+02] [ 9.90872918e-01 1.34588840e-01 -7.53018748e-03 1.17623813e+02] [ 7.66373368e-03 -4.74189843e-04 9.99970521e-01 2.28969640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:117.65, Z:2.29 [[ 1.32798820e-01 -9.91141880e-01 -1.49928249e-03 2.81935385e+02] [ 9.91113390e-01 1.32806394e-01 -7.53059212e-03 1.17650310e+02] [ 7.66299953e-03 -4.85905212e-04 9.99970521e-01 2.28770177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.93, Y:117.67, Z:2.29 [[ 1.31778992e-01 -9.91277991e-01 -1.49740355e-03 2.81934887e+02] [ 9.91249505e-01 1.31786581e-01 -7.53096571e-03 1.17674964e+02] [ 7.66261826e-03 -4.91877455e-04 9.99970521e-01 2.28616603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.93, Y:117.70, Z:2.28 [[ 1.31112291e-01 -9.91366396e-01 -1.49545225e-03 2.81930409e+02] [ 9.91337911e-01 1.31119885e-01 -7.53135317e-03 1.17702290e+02] [ 7.66241398e-03 -4.95045539e-04 9.99970521e-01 2.28354866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:117.73, Z:2.28 [[ 1.30868334e-01 -9.91398632e-01 -1.49359460e-03 2.81935184e+02] [ 9.91370146e-01 1.30875921e-01 -7.53172156e-03 1.17727780e+02] [ 7.66241402e-03 -4.95041241e-04 9.99970521e-01 2.28374813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:117.75, Z:2.28 [[ 1.30871188e-01 -9.91398258e-01 -1.49174106e-03 2.81935516e+02] [ 9.91369768e-01 1.30878761e-01 -7.53208865e-03 1.17753118e+02] [ 7.66253679e-03 -4.93133599e-04 9.99970521e-01 2.28386407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:117.78, Z:2.28 [[ 1.30969786e-01 -9.91385241e-01 -1.48981307e-03 2.81936472e+02] [ 9.91356746e-01 1.30977341e-01 -7.53246998e-03 1.17779180e+02] [ 7.66271132e-03 -4.90410261e-04 9.99970521e-01 2.28374051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:117.80, Z:2.28 [[ 1.30766842e-01 -9.91412033e-01 -1.48794945e-03 2.81937032e+02] [ 9.91383536e-01 1.30774389e-01 -7.53283810e-03 1.17803843e+02] [ 7.66273201e-03 -4.90083137e-04 9.99970521e-01 2.28483323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:117.83, Z:2.28 [[ 1.30121412e-01 -9.91496954e-01 -1.48600530e-03 2.81936294e+02] [ 9.91468458e-01 1.30128962e-01 -7.53322160e-03 1.17829547e+02] [ 7.66253860e-03 -4.93093951e-04 9.99970521e-01 2.28452320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:117.86, Z:2.28 [[ 1.29830020e-01 -9.91535155e-01 -1.48419505e-03 2.81939923e+02] [ 9.91506657e-01 1.29837565e-01 -7.53357824e-03 1.17855143e+02] [ 7.66251194e-03 -4.93504655e-04 9.99970521e-01 2.28341028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:117.88, Z:2.28 [[ 1.29709373e-01 -9.91550947e-01 -1.48237918e-03 2.81944497e+02] [ 9.91522447e-01 1.29716908e-01 -7.53393553e-03 1.17879461e+02] [ 7.66257056e-03 -4.92590179e-04 9.99970521e-01 2.28187232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.95, Y:117.90, Z:2.28 [[ 1.30101653e-01 -9.91499555e-01 -1.48048384e-03 2.81949450e+02] [ 9.91471049e-01 1.30109163e-01 -7.53430796e-03 1.17903950e+02] [ 7.66288751e-03 -4.87630948e-04 9.99970521e-01 2.28064196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.95, Y:117.93, Z:2.28 [[ 1.32309425e-01 -9.91207360e-01 -1.47867504e-03 2.81953545e+02] [ 9.91178833e-01 1.32316857e-01 -7.53466294e-03 1.17929113e+02] [ 7.66406699e-03 -4.68724482e-04 9.99970521e-01 2.27914373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.95, Z:2.28 [[ 1.34129673e-01 -9.90962688e-01 -1.47679053e-03 2.81957858e+02] [ 9.90934144e-01 1.34137039e-01 -7.53503229e-03 1.17952884e+02] [ 7.66502816e-03 -4.52730746e-04 9.99970521e-01 2.27979175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:117.98, Z:2.28 [[ 1.36226836e-01 -9.90676574e-01 -1.47483238e-03 2.81963049e+02] [ 9.90648010e-01 1.36234127e-01 -7.53541553e-03 1.17978180e+02] [ 7.66608215e-03 -4.34513949e-04 9.99970521e-01 2.28061318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.97, Y:118.00, Z:2.28 [[ 1.40773291e-01 -9.90040762e-01 -1.47302246e-03 2.81968165e+02] [ 9.90012162e-01 1.40780436e-01 -7.53576932e-03 1.18001058e+02] [ 7.66809155e-03 -3.97475105e-04 9.99970521e-01 2.28368658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.97, Y:118.03, Z:2.29 [[ 1.43077021e-01 -9.89710464e-01 -1.47097712e-03 2.81972397e+02] [ 9.89681843e-01 1.43084084e-01 -7.53616855e-03 1.18025608e+02] [ 7.66909828e-03 -3.77546804e-04 9.99970521e-01 2.28506421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.98, Y:118.05, Z:2.28 [[ 1.45399632e-01 -9.89371916e-01 -1.46910427e-03 2.81976610e+02] [ 9.89343276e-01 1.45406613e-01 -7.53653363e-03 1.18051152e+02] [ 7.67005219e-03 -3.57639223e-04 9.99970521e-01 2.28469387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.98, Y:118.08, Z:2.28 [[ 1.48830272e-01 -9.88861668e-01 -1.46722710e-03 2.81981265e+02] [ 9.88833000e-01 1.48837140e-01 -7.53689906e-03 1.18075282e+02] [ 7.67132846e-03 -3.29123837e-04 9.99970521e-01 2.28288848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.99, Y:118.10, Z:2.28 [[ 1.49264483e-01 -9.88796221e-01 -1.46561716e-03 2.81986606e+02] [ 9.88767547e-01 1.49271327e-01 -7.53721211e-03 1.18100357e+02] [ 7.67154147e-03 -3.24116611e-04 9.99970521e-01 2.28189271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.99, Y:118.12, Z:2.28 [[ 1.49096164e-01 -9.88821618e-01 -1.46370061e-03 2.81991174e+02] [ 9.88792941e-01 1.49102998e-01 -7.53758428e-03 1.18124096e+02] [ 7.67156843e-03 -3.23471924e-04 9.99970521e-01 2.28237851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.00, Y:118.15, Z:2.28 [[ 1.48543866e-01 -9.88904739e-01 -1.46170329e-03 2.81995382e+02] [ 9.88876063e-01 1.48550701e-01 -7.53797159e-03 1.18147894e+02] [ 7.67147287e-03 -3.25723946e-04 9.99970521e-01 2.28383006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.00, Y:118.17, Z:2.29 [[ 1.46900560e-01 -9.89150188e-01 -1.46011187e-03 2.81997781e+02] [ 9.89121520e-01 1.46907430e-01 -7.53827983e-03 1.18172834e+02] [ 7.67099219e-03 -3.36850547e-04 9.99970521e-01 2.28710979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.00, Y:118.20, Z:2.29 [[ 1.45612734e-01 -9.89340591e-01 -1.45828637e-03 2.82001062e+02] [ 9.89311929e-01 1.45619627e-01 -7.53863296e-03 1.18197158e+02] [ 7.67063071e-03 -3.44979144e-04 9.99970521e-01 2.28829493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.00, Y:118.22, Z:2.29 [[ 1.44423119e-01 -9.89514953e-01 -1.45638385e-03 2.82004921e+02] [ 9.89486296e-01 1.44430032e-01 -7.53900049e-03 1.18222204e+02] [ 7.67029928e-03 -3.52265895e-04 9.99970521e-01 2.28723121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.01, Y:118.25, Z:2.29 [[ 1.43253182e-01 -9.89685006e-01 -1.45453539e-03 2.82007636e+02] [ 9.89656353e-01 1.43260115e-01 -7.53935711e-03 1.18247360e+02] [ 7.66996559e-03 -3.59453299e-04 9.99970521e-01 2.28691698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.01, Y:118.27, Z:2.29 [[ 1.41284796e-01 -9.89967927e-01 -1.45269814e-03 2.82008533e+02] [ 9.89939285e-01 1.41291772e-01 -7.53971109e-03 1.18273238e+02] [ 7.66932646e-03 -3.72836412e-04 9.99970521e-01 2.28607074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.01, Y:118.30, Z:2.29 [[ 1.39894825e-01 -9.90165306e-01 -1.45082306e-03 2.82011800e+02] [ 9.90136670e-01 1.39901827e-01 -7.54007189e-03 1.18297763e+02] [ 7.66889038e-03 -3.81696079e-04 9.99970521e-01 2.28525025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.02, Y:118.32, Z:2.28 [[ 1.35628671e-01 -9.90758681e-01 -1.44886567e-03 2.82015635e+02] [ 9.90730072e-01 1.35635782e-01 -7.54044799e-03 1.18322904e+02] [ 7.66728234e-03 -4.12733850e-04 9.99970521e-01 2.28256718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.02, Y:118.35, Z:2.28 [[ 1.32744053e-01 -9.91149294e-01 -1.44705270e-03 2.82019493e+02] [ 9.91120702e-01 1.32751233e-01 -7.54079589e-03 1.18348063e+02] [ 7.66615256e-03 -4.33208076e-04 9.99970521e-01 2.28216492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.02, Y:118.37, Z:2.28 [[ 1.30015419e-01 -9.91510919e-01 -1.44523271e-03 2.82023689e+02] [ 9.91482344e-01 1.30022664e-01 -7.54114469e-03 1.18373555e+02] [ 7.66504031e-03 -4.52457622e-04 9.99970521e-01 2.28222118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.03, Y:118.40, Z:2.28 [[ 1.27382285e-01 -9.91852645e-01 -1.44336945e-03 2.82028420e+02] [ 9.91824086e-01 1.27389591e-01 -7.54150130e-03 1.18397925e+02] [ 7.66392826e-03 -4.70914921e-04 9.99970521e-01 2.28253635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.04, Y:118.42, Z:2.28 [[ 1.23250569e-01 -9.92374536e-01 -1.44143741e-03 2.82035360e+02] [ 9.92346004e-01 1.23257980e-01 -7.54187056e-03 1.18422742e+02] [ 7.66202896e-03 -5.00864820e-04 9.99970521e-01 2.28482536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.04589822699995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:282.04, Y:118.45, Z:2.28 [[ 1.22064695e-01 -9.92521102e-01 -1.43963529e-03 2.82040399e+02] [ 9.92492575e-01 1.22072126e-01 -7.54221454e-03 1.18447310e+02] [ 7.66154643e-03 -5.08189217e-04 9.99970521e-01 2.28365803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.05, Y:118.47, Z:2.28 [[ 1.21582183e-01 -9.92580327e-01 -1.43775670e-03 2.82045209e+02] [ 9.92551800e-01 1.21589614e-01 -7.54257264e-03 1.18472147e+02] [ 7.66142550e-03 -5.10005549e-04 9.99970521e-01 2.28172520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.05, Y:118.50, Z:2.28 [[ 1.22138817e-01 -9.92511989e-01 -1.43588646e-03 2.82049781e+02] [ 9.92483454e-01 1.22146218e-01 -7.54292866e-03 1.18497330e+02] [ 7.66183523e-03 -5.03809169e-04 9.99970521e-01 2.27995468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.05, Y:118.52, Z:2.28 [[ 1.25090828e-01 -9.92144258e-01 -1.43401634e-03 2.82054154e+02] [ 9.92115697e-01 1.25098130e-01 -7.54328418e-03 1.18521219e+02] [ 7.66341885e-03 -4.79114454e-04 9.99970521e-01 2.27797462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.16589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:282.06, Y:118.55, Z:2.28 [[ 1.26508302e-01 -9.91964515e-01 -1.43206279e-03 2.82058080e+02] [ 9.91935940e-01 1.26515548e-01 -7.54365503e-03 1.18545338e+02] [ 7.66421632e-03 -4.66179568e-04 9.99970521e-01 2.27863542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.06, Y:118.57, Z:2.28 [[ 1.27750357e-01 -9.91805324e-01 -1.43016537e-03 2.82061744e+02] [ 9.91776737e-01 1.27757553e-01 -7.54401474e-03 1.18568364e+02] [ 7.66490841e-03 -4.54654171e-04 9.99970521e-01 2.27965410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.07, Y:118.59, Z:2.28 [[ 1.31406477e-01 -9.91327543e-01 -1.42812419e-03 2.82066311e+02] [ 9.91298926e-01 1.31413552e-01 -7.54440113e-03 1.18592879e+02] [ 7.66664751e-03 -4.24314797e-04 9.99970521e-01 2.28091974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.07, Y:118.62, Z:2.28 [[ 1.32849623e-01 -9.91135179e-01 -1.42629412e-03 2.82070678e+02] [ 9.91106548e-01 1.32856643e-01 -7.54474709e-03 1.18616938e+02] [ 7.66735691e-03 -4.11292634e-04 9.99970521e-01 2.27989418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.07, Y:118.64, Z:2.28 [[ 1.33904555e-01 -9.90993209e-01 -1.42447622e-03 2.82074899e+02] [ 9.90964567e-01 1.33911531e-01 -7.54509030e-03 1.18642108e+02] [ 7.66788704e-03 -4.01283504e-04 9.99970521e-01 2.27923468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.08, Y:118.67, Z:2.28 [[ 1.34549320e-01 -9.90905877e-01 -1.42265639e-03 2.82078319e+02] [ 9.90877227e-01 1.34556263e-01 -7.54543342e-03 1.18667161e+02] [ 7.66824165e-03 -3.94444884e-04 9.99970521e-01 2.27898695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.08, Y:118.69, Z:2.28 [[ 1.36287385e-01 -9.90668325e-01 -1.42076613e-03 2.82077495e+02] [ 9.90639659e-01 1.36294263e-01 -7.54578933e-03 1.18692028e+02] [ 7.66901675e-03 -3.79071376e-04 9.99970521e-01 2.27855254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.08, Y:118.72, Z:2.28 [[ 1.37273243e-01 -9.90532202e-01 -1.41880688e-03 2.82078727e+02] [ 9.90503526e-01 1.37280078e-01 -7.54615771e-03 1.18716589e+02] [ 7.66948613e-03 -3.69447671e-04 9.99970521e-01 2.27820812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.08, Y:118.74, Z:2.28 [[ 1.38089009e-01 -9.90418809e-01 -1.41694182e-03 2.82079967e+02] [ 9.90390125e-01 1.38095806e-01 -7.54650789e-03 1.18740745e+02] [ 7.66987708e-03 -3.61235395e-04 9.99970521e-01 2.27770696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.08, Y:118.77, Z:2.28 [[ 1.38975710e-01 -9.90294779e-01 -1.41499988e-03 2.82079741e+02] [ 9.90266085e-01 1.38982467e-01 -7.54687200e-03 1.18766942e+02] [ 7.67028811e-03 -3.52394494e-04 9.99970521e-01 2.27791569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.08, Y:118.79, Z:2.28 [[ 1.37861723e-01 -9.90450478e-01 -1.41315992e-03 2.82082094e+02] [ 9.90421787e-01 1.37868498e-01 -7.54721652e-03 1.18792455e+02] [ 7.66997444e-03 -3.59152098e-04 9.99970521e-01 2.27884646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.08, Y:118.82, Z:2.28 [[ 1.35934270e-01 -9.90716853e-01 -1.41133125e-03 2.82084204e+02] [ 9.90688173e-01 1.35941087e-01 -7.54755846e-03 1.18817271e+02] [ 7.66935127e-03 -3.72217322e-04 9.99970521e-01 2.27969569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.09, Y:118.84, Z:2.28 [[ 1.29636827e-01 -9.91560541e-01 -1.40974014e-03 2.82085783e+02] [ 9.91531901e-01 1.29643814e-01 -7.54785564e-03 1.18842530e+02] [ 7.66691991e-03 -4.19322263e-04 9.99970521e-01 2.27843752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.09, Y:118.87, Z:2.28 [[ 1.25859048e-01 -9.92047135e-01 -1.40792723e-03 2.82089294e+02] [ 9.92018519e-01 1.25866130e-01 -7.54819379e-03 1.18867611e+02] [ 7.66537438e-03 -4.46681401e-04 9.99970521e-01 2.27743802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.09, Y:118.89, Z:2.28 [[ 1.22046405e-01 -9.92523399e-01 -1.40606737e-03 2.82092895e+02] [ 9.92494807e-01 1.22053583e-01 -7.54854023e-03 1.18891307e+02] [ 7.66371837e-03 -4.74242367e-04 9.99970521e-01 2.27671047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.10, Y:118.92, Z:2.27 [[ 1.16287462e-01 -9.93214607e-01 -1.40413645e-03 2.82096494e+02] [ 9.93186053e-01 1.16294791e-01 -7.54889939e-03 1.18916403e+02] [ 7.66097089e-03 -5.16726394e-04 9.99970521e-01 2.27491312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.10, Y:118.94, Z:2.27 [[ 1.14536691e-01 -9.93418029e-01 -1.40233148e-03 2.82100666e+02] [ 9.93389485e-01 1.14544057e-01 -7.54923468e-03 1.18941968e+02] [ 7.66017457e-03 -5.28396986e-04 9.99970521e-01 2.27473260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.10, Y:118.97, Z:2.28 [[ 1.13569893e-01 -9.93529022e-01 -1.40047736e-03 2.82104131e+02] [ 9.93500482e-01 1.13577273e-01 -7.54957862e-03 1.18966537e+02] [ 7.65978787e-03 -5.33970093e-04 9.99970521e-01 2.27538213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.11, Y:118.99, Z:2.28 [[ 1.13289750e-01 -9.93561008e-01 -1.39854818e-03 2.82107891e+02] [ 9.93532466e-01 1.13297123e-01 -7.54993598e-03 1.18991598e+02] [ 7.65977349e-03 -5.34172661e-04 9.99970521e-01 2.27602011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.11, Y:119.02, Z:2.28 [[ 1.13229024e-01 -9.93567933e-01 -1.39667507e-03 2.82112810e+02] [ 9.93539388e-01 1.13236384e-01 -7.55028248e-03 1.19016669e+02] [ 7.65987299e-03 -5.32740580e-04 9.99970521e-01 2.27550828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.12, Y:119.04, Z:2.28 [[ 1.12682774e-01 -9.93630035e-01 -1.39480383e-03 2.82118364e+02] [ 9.93601490e-01 1.12690136e-01 -7.55062815e-03 1.19041110e+02] [ 7.65971154e-03 -5.35053437e-04 9.99970521e-01 2.27506628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.12, Y:119.07, Z:2.28 [[ 1.12041375e-01 -9.93702566e-01 -1.39290436e-03 2.82124059e+02] [ 9.93674022e-01 1.12048742e-01 -7.55097853e-03 1.19065223e+02] [ 7.65949993e-03 -5.38070859e-04 9.99970521e-01 2.27536208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.13, Y:119.09, Z:2.28 [[ 1.11100232e-01 -9.93808233e-01 -1.39092575e-03 2.82132140e+02] [ 9.93779692e-01 1.11107610e-01 -7.55134299e-03 1.19089532e+02] [ 7.65912927e-03 -5.43317806e-04 9.99970521e-01 2.27780999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.14, Y:119.11, Z:2.28 [[ 1.10760953e-01 -9.93846106e-01 -1.38904616e-03 2.82138141e+02] [ 9.93817564e-01 1.10768327e-01 -7.55168872e-03 1.19113061e+02] [ 7.65907874e-03 -5.44026232e-04 9.99970521e-01 2.27793827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.14, Y:119.14, Z:2.28 [[ 1.10911475e-01 -9.93829322e-01 -1.38708143e-03 2.82144511e+02] [ 9.93800775e-01 1.10918829e-01 -7.55204958e-03 1.19136692e+02] [ 7.65930176e-03 -5.40873639e-04 9.99970521e-01 2.27844537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.15, Y:119.16, Z:2.28 [[ 1.12720151e-01 -9.93625809e-01 -1.38518945e-03 2.82151783e+02] [ 9.93597245e-01 1.12727439e-01 -7.55239659e-03 1.19160709e+02] [ 7.66040503e-03 -5.25013135e-04 9.99970521e-01 2.27791491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.16, Y:119.19, Z:2.28 [[ 1.14293928e-01 -9.93446015e-01 -1.38337427e-03 2.82157614e+02] [ 9.93417436e-01 1.14301157e-01 -7.55272906e-03 1.19185217e+02] [ 7.66134986e-03 -5.11037043e-04 9.99970521e-01 2.27822033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.16, Y:119.21, Z:2.28 [[ 1.15987078e-01 -9.93249762e-01 -1.38154272e-03 2.82162992e+02] [ 9.93221167e-01 1.15994245e-01 -7.55306407e-03 1.19210032e+02] [ 7.66233009e-03 -4.96119640e-04 9.99970521e-01 2.27924800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.17, Y:119.23, Z:2.28 [[ 1.17803074e-01 -9.93036018e-01 -1.37971056e-03 2.82168613e+02] [ 9.93007406e-01 1.17810174e-01 -7.55339873e-03 1.19234259e+02] [ 7.66334094e-03 -4.80249213e-04 9.99970521e-01 2.28012474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.17, Y:119.26, Z:2.28 [[ 1.20693638e-01 -9.92688847e-01 -1.37780751e-03 2.82174080e+02] [ 9.92660212e-01 1.20700641e-01 -7.55374585e-03 1.19258969e+02] [ 7.66482151e-03 -4.56005626e-04 9.99970521e-01 2.28086556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.18, Y:119.28, Z:2.28 [[ 1.21599826e-01 -9.92578253e-01 -1.37597088e-03 2.82178087e+02] [ 9.92549608e-01 1.21606788e-01 -7.55408039e-03 1.19283950e+02] [ 7.66534332e-03 -4.47144494e-04 9.99970521e-01 2.27999941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.18, Y:119.31, Z:2.28 [[ 1.21353963e-01 -9.92608346e-01 -1.37410387e-03 2.82182454e+02] [ 9.92579699e-01 1.21360918e-01 -7.55441999e-03 1.19309505e+02] [ 7.66534284e-03 -4.47148802e-04 9.99970521e-01 2.28019888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.19, Y:119.33, Z:2.28 [[ 1.22061100e-01 -9.92521640e-01 -1.37223252e-03 2.82185895e+02] [ 9.92492984e-01 1.22068021e-01 -7.55475990e-03 1.19334077e+02] [ 7.66576839e-03 -4.39788844e-04 9.99970521e-01 2.27843945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.19, Y:119.36, Z:2.28 [[ 1.22409814e-01 -9.92478695e-01 -1.37028605e-03 2.82189483e+02] [ 9.92450034e-01 1.22416711e-01 -7.55511293e-03 1.19359763e+02] [ 7.66603454e-03 -4.35120464e-04 9.99970521e-01 2.27649117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.19, Y:119.38, Z:2.28 [[ 1.21543688e-01 -9.92585140e-01 -1.36840482e-03 2.82192960e+02] [ 9.92556481e-01 1.21550595e-01 -7.55545365e-03 1.19384138e+02] [ 7.66576144e-03 -4.39901367e-04 9.99970521e-01 2.27523671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.20, Y:119.41, Z:2.28 [[ 1.20305791e-01 -9.92735942e-01 -1.36644924e-03 2.82196833e+02] [ 9.92707288e-01 1.20312718e-01 -7.55580731e-03 1.19409758e+02] [ 7.66532271e-03 -4.47476750e-04 9.99970521e-01 2.27581171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.20, Y:119.43, Z:2.27 [[ 1.18797289e-01 -9.92917591e-01 -1.36462868e-03 2.82200025e+02] [ 9.92888944e-01 1.18804246e-01 -7.55613611e-03 1.19432953e+02] [ 7.66474414e-03 -4.57276251e-04 9.99970521e-01 2.27487629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.20, Y:119.46, Z:2.27 [[ 1.15797785e-01 -9.93271874e-01 -1.36276199e-03 2.82202141e+02] [ 9.93243245e-01 1.15804815e-01 -7.55647275e-03 1.19456979e+02] [ 7.66344625e-03 -4.78531334e-04 9.99970521e-01 2.27467285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.21, Y:119.48, Z:2.28 [[ 1.13724846e-01 -9.93511352e-01 -1.36091587e-03 2.82205636e+02] [ 9.93482735e-01 1.13731922e-01 -7.55680522e-03 1.19481704e+02] [ 7.66255135e-03 -4.92649912e-04 9.99970521e-01 2.27549571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.21, Y:119.51, Z:2.27 [[ 1.11438267e-01 -9.93770429e-01 -1.35925163e-03 2.82209094e+02] [ 9.93741825e-01 1.11445396e-01 -7.55710456e-03 1.19505506e+02] [ 7.66150937e-03 -5.08594565e-04 9.99970521e-01 2.27480753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.21, Y:119.53, Z:2.27 [[ 1.07312906e-01 -9.94224370e-01 -1.35764049e-03 2.82212302e+02] [ 9.94195792e-01 1.07320142e-01 -7.55739399e-03 1.19530012e+02] [ 7.65944744e-03 -5.38754553e-04 9.99970521e-01 2.27422536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.22, Y:119.55, Z:2.27 [[ 1.05445744e-01 -9.94424133e-01 -1.35567983e-03 2.82215463e+02] [ 9.94395566e-01 1.05453018e-01 -7.55774569e-03 1.19554415e+02] [ 7.65856523e-03 -5.51149895e-04 9.99970521e-01 2.27420297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.22, Y:119.58, Z:2.27 [[ 1.03836830e-01 -9.94593425e-01 -1.35372554e-03 2.82218862e+02] [ 9.94564865e-01 1.03844135e-01 -7.55809572e-03 1.19579909e+02] [ 7.65780876e-03 -5.61559157e-04 9.99970521e-01 2.27425285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.22, Y:119.61, Z:2.28 [[ 1.01416230e-01 -9.94843164e-01 -1.35191954e-03 2.82223532e+02] [ 9.94814619e-01 1.01423591e-01 -7.55841874e-03 1.19605274e+02] [ 7.65655775e-03 -5.78362989e-04 9.99970521e-01 2.27637540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.23, Y:119.63, Z:2.28 [[ 9.98931330e-02 -9.94997256e-01 -1.35000583e-03 2.82228040e+02] [ 9.94968718e-01 9.99005236e-02 -7.55876054e-03 1.19628794e+02] [ 7.65581228e-03 -5.88145296e-04 9.99970521e-01 2.27666737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.23, Y:119.65, Z:2.28 [[ 9.85699545e-02 -9.95129211e-01 -1.34802518e-03 2.82232643e+02] [ 9.95100680e-01 9.85773681e-02 -7.55911375e-03 1.19653891e+02] [ 7.65517967e-03 -5.96319274e-04 9.99970521e-01 2.27727711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.24, Y:119.68, Z:2.28 [[ 9.64805199e-02 -9.95333963e-01 -1.34615978e-03 2.82239733e+02] [ 9.95305443e-01 9.64879793e-02 -7.55944593e-03 1.19677506e+02] [ 7.65406151e-03 -6.10500887e-04 9.99970521e-01 2.27578741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.25, Y:119.70, Z:2.28 [[ 9.60188197e-02 -9.95378611e-01 -1.34421544e-03 2.82246653e+02] [ 9.95350091e-01 9.60262777e-02 -7.55979166e-03 1.19701754e+02] [ 7.65393492e-03 -6.12082689e-04 9.99970521e-01 2.27550839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.25, Y:119.73, Z:2.28 [[ 9.61324814e-02 -9.95367643e-01 -1.34235784e-03 2.82253920e+02] [ 9.95339118e-01 9.61399221e-02 -7.56012149e-03 1.19725465e+02] [ 7.65415448e-03 -6.09328027e-04 9.99970521e-01 2.27598663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.26, Y:119.75, Z:2.28 [[ 9.68100998e-02 -9.95301968e-01 -1.34041829e-03 2.82260487e+02] [ 9.95273435e-01 9.68175064e-02 -7.56046536e-03 1.19750426e+02] [ 7.65472201e-03 -6.02153310e-04 9.99970521e-01 2.27642720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.27, Y:119.77, Z:2.28 [[ 9.91049586e-02 -9.95076085e-01 -1.33853898e-03 2.82266043e+02] [ 9.95047531e-01 9.91122852e-02 -7.56079806e-03 1.19774274e+02] [ 7.65623500e-03 -5.82597326e-04 9.99970521e-01 2.27665093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.27, Y:119.80, Z:2.28 [[ 1.00922277e-01 -9.94893415e-01 -1.33658090e-03 2.82270894e+02] [ 9.94864844e-01 1.00929536e-01 -7.56114419e-03 1.19799103e+02] [ 7.65743306e-03 -5.66629465e-04 9.99970521e-01 2.27769604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.28, Y:119.82, Z:2.28 [[ 1.03533324e-01 -9.94625090e-01 -1.33472963e-03 2.82276451e+02] [ 9.94596496e-01 1.03540495e-01 -7.56147097e-03 1.19823117e+02] [ 7.65902731e-03 -5.44653189e-04 9.99970521e-01 2.27710556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.28, Y:119.85, Z:2.28 [[ 1.09905422e-01 -9.93941156e-01 -1.33280486e-03 2.82282015e+02] [ 9.93912514e-01 1.09912395e-01 -7.56181022e-03 1.19846857e+02] [ 7.66248617e-03 -4.93607485e-04 9.99970521e-01 2.27708831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.28, Y:119.87, Z:2.28 [[ 1.13280579e-01 -9.93562146e-01 -1.33100331e-03 2.82284593e+02] [ 9.93533477e-01 1.13287441e-01 -7.56212731e-03 1.19871787e+02] [ 7.66422940e-03 -4.65754182e-04 9.99970521e-01 2.27769873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.29, Y:119.90, Z:2.28 [[ 1.16240622e-01 -9.93220193e-01 -1.32917411e-03 2.82286315e+02] [ 9.93191500e-01 1.16247384e-01 -7.56244881e-03 1.19896876e+02] [ 7.66568988e-03 -4.41060676e-04 9.99970521e-01 2.27887157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.29, Y:119.92, Z:2.28 [[ 1.18019659e-01 -9.93010372e-01 -1.32737076e-03 2.82287893e+02] [ 9.92981663e-01 1.18026356e-01 -7.56276533e-03 1.19920944e+02] [ 7.66656914e-03 -4.25499836e-04 9.99970521e-01 2.27998668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.29, Y:119.95, Z:2.28 [[ 1.16793481e-01 -9.93155338e-01 -1.32539518e-03 2.82289019e+02] [ 9.93126635e-01 1.16800198e-01 -7.56311154e-03 1.19945096e+02] [ 7.66615102e-03 -4.32963132e-04 9.99970521e-01 2.28193510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.29, Y:119.97, Z:2.28 [[ 1.13965738e-01 -9.93483799e-01 -1.32334165e-03 2.82292654e+02] [ 9.93455111e-01 1.13972522e-01 -7.56347083e-03 1.19970322e+02] [ 7.66501032e-03 -4.52703992e-04 9.99970521e-01 2.28156788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.30, Y:120.00, Z:2.28 [[ 1.09792376e-01 -9.93953665e-01 -1.32150043e-03 2.82296446e+02] [ 9.93925002e-01 1.09799266e-01 -7.56379252e-03 1.19995271e+02] [ 7.66315907e-03 -4.83025569e-04 9.99970521e-01 2.28133598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.30, Y:120.02, Z:2.28 [[ 1.05336653e-01 -9.94435744e-01 -1.31965791e-03 2.82300954e+02] [ 9.94407109e-01 1.05343658e-01 -7.56411397e-03 1.20018855e+02] [ 7.66104289e-03 -5.15498756e-04 9.99970521e-01 2.28026759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.31, Y:120.04, Z:2.28 [[ 9.67928971e-02 -9.95303672e-01 -1.31773932e-03 2.82306381e+02] [ 9.95275094e-01 9.68001330e-02 -7.56444819e-03 1.20044146e+02] [ 7.65648040e-03 -5.79328268e-04 9.99970521e-01 2.27892986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.31, Y:120.07, Z:2.28 [[ 9.34845185e-02 -9.95619864e-01 -1.31585357e-03 2.82310377e+02] [ 9.95591307e-01 9.34918351e-02 -7.56477621e-03 1.20067812e+02] [ 7.65466302e-03 -6.02862910e-04 9.99970521e-01 2.27871521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.31, Y:120.09, Z:2.28 [[ 9.16900573e-02 -9.95786728e-01 -1.31390229e-03 2.82313905e+02] [ 9.95758180e-01 9.16974106e-02 -7.56511510e-03 1.20092270e+02] [ 7.65372265e-03 -6.14683117e-04 9.99970521e-01 2.27913758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:120.12, Z:2.28 [[ 9.12778405e-02 -9.95824600e-01 -1.31201524e-03 2.82316813e+02] [ 9.95796052e-01 9.12851913e-02 -7.56544236e-03 1.20117639e+02] [ 7.65362118e-03 -6.15942358e-04 9.99970521e-01 2.28000111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:282.32, Y:120.14, Z:2.28 [[ 9.43401635e-02 -9.95539159e-01 -1.31020951e-03 2.82318185e+02] [ 9.95510585e-01 9.43474129e-02 -7.56575507e-03 1.20140962e+02] [ 7.65562032e-03 -5.90572868e-04 9.99970521e-01 2.28181236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:120.17, Z:2.28 [[ 9.62530293e-02 -9.95356038e-01 -1.30835778e-03 2.82320832e+02] [ 9.95327447e-01 9.62602097e-02 -7.56607528e-03 1.20165733e+02] [ 7.65688151e-03 -5.73986748e-04 9.99970521e-01 2.28303205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:120.19, Z:2.28 [[ 9.84167566e-02 -9.95144429e-01 -1.30640170e-03 2.82322922e+02] [ 9.95115819e-01 9.84238601e-02 -7.56641301e-03 1.20190851e+02] [ 7.65825486e-03 -5.55359169e-04 9.99970521e-01 2.28461794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:120.22, Z:2.29 [[ 1.01938914e-01 -9.94789805e-01 -1.30452878e-03 2.82321022e+02] [ 9.94761166e-01 1.01945902e-01 -7.56673591e-03 1.20215902e+02] [ 7.66030310e-03 -5.26349730e-04 9.99970521e-01 2.28566790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:120.24, Z:2.28 [[ 1.02670242e-01 -9.94714595e-01 -1.30258459e-03 2.82321655e+02] [ 9.94685947e-01 1.02677194e-01 -7.56707058e-03 1.20241578e+02] [ 7.66082127e-03 -5.18749626e-04 9.99970521e-01 2.28452234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:120.27, Z:2.28 [[ 1.03143198e-01 -9.94665667e-01 -1.30073221e-03 2.82322690e+02] [ 9.94637013e-01 1.03150123e-01 -7.56738898e-03 1.20266675e+02] [ 7.66119269e-03 -5.13231703e-04 9.99970521e-01 2.28294228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:120.29, Z:2.28 [[ 1.03004324e-01 -9.94680060e-01 -1.29880268e-03 2.82323660e+02] [ 9.94651403e-01 1.03011238e-01 -7.56772013e-03 1.20292629e+02] [ 7.66125159e-03 -5.12348008e-04 9.99970521e-01 2.28197550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:120.32, Z:2.28 [[ 1.00912803e-01 -9.94894429e-01 -1.29696596e-03 2.82321121e+02] [ 9.94865783e-01 1.00919763e-01 -7.56803490e-03 1.20317713e+02] [ 7.66028525e-03 -5.26595441e-04 9.99970521e-01 2.28266305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:120.34, Z:2.28 [[ 9.89645042e-02 -9.95090121e-01 -1.29505211e-03 2.82322943e+02] [ 9.95061486e-01 9.89715061e-02 -7.56836238e-03 1.20342998e+02] [ 7.65937590e-03 -5.39657246e-04 9.99970521e-01 2.28261903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.33, Y:120.37, Z:2.28 [[ 9.65264496e-02 -9.95329580e-01 -1.29323006e-03 2.82325748e+02] [ 9.95300958e-01 9.65335079e-02 -7.56867371e-03 1.20368195e+02] [ 7.65816486e-03 -5.56575911e-04 9.99970521e-01 2.28125800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.33, Y:120.39, Z:2.28 [[ 9.36155343e-02 -9.95607585e-01 -1.29141400e-03 2.82328567e+02] [ 9.95578981e-01 9.36226625e-02 -7.56898357e-03 1.20392228e+02] [ 7.65664307e-03 -5.77130192e-04 9.99970521e-01 2.27973236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.33, Y:120.42, Z:2.28 [[ 8.87063001e-02 -9.96056991e-01 -1.28953687e-03 2.82329760e+02] [ 9.96028419e-01 8.87135550e-02 -7.56930336e-03 1.20415714e+02] [ 7.65385693e-03 -6.12970478e-04 9.99970521e-01 2.27704870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.33, Y:120.44, Z:2.28 [[ 8.73588535e-02 -9.96176075e-01 -1.28751191e-03 2.82331941e+02] [ 9.96147509e-01 8.73661318e-02 -7.56964778e-03 1.20441189e+02] [ 7.65318696e-03 -6.21276035e-04 9.99970521e-01 2.27661647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.33, Y:120.46, Z:2.28 [[ 8.69511214e-02 -9.96211749e-01 -1.28573961e-03 2.82333978e+02] [ 9.96183182e-01 8.69583980e-02 -7.56994881e-03 1.20464409e+02] [ 7.65307780e-03 -6.22616635e-04 9.99970521e-01 2.27687154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.33, Y:120.49, Z:2.28 [[ 8.84887363e-02 -9.96076350e-01 -1.28373327e-03 2.82334498e+02] [ 9.96047768e-01 8.84959536e-02 -7.57028903e-03 1.20489699e+02] [ 7.65419107e-03 -6.08774344e-04 9.99970521e-01 2.28153205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.34, Y:120.51, Z:2.28 [[ 8.94421291e-02 -9.95991196e-01 -1.28186637e-03 2.82336550e+02] [ 9.95962604e-01 8.94493051e-02 -7.57060514e-03 1.20514344e+02] [ 7.65491812e-03 -5.99559923e-04 9.99970521e-01 2.28370883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.34, Y:120.54, Z:2.28 [[ 9.01236800e-02 -9.95929758e-01 -1.28026875e-03 2.82338826e+02] [ 9.95901158e-01 9.01308242e-02 -7.57087530e-03 1.20540080e+02] [ 7.65545169e-03 -5.92705987e-04 9.99970521e-01 2.28496657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.34, Y:120.56, Z:2.29 [[ 8.95819617e-02 -9.95978633e-01 -1.27848746e-03 2.82341151e+02] [ 9.95950033e-01 8.95891081e-02 -7.57117609e-03 1.20564403e+02] [ 7.65526817e-03 -5.95068825e-04 9.99970521e-01 2.28529561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.34, Y:120.59, Z:2.29 [[ 8.60526162e-02 -9.96289776e-01 -1.27663154e-03 2.82343516e+02] [ 9.96261198e-01 8.60598498e-02 -7.57148902e-03 1.20590350e+02] [ 7.65326382e-03 -6.20312028e-04 9.99970521e-01 2.28527179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.35, Y:120.61, Z:2.29 [[ 8.33203326e-02 -9.96521993e-01 -1.28031271e-03 2.82346028e+02] [ 9.96493443e-01 8.33276724e-02 -7.57086904e-03 1.20613672e+02] [ 7.65122298e-03 -6.45015898e-04 9.99970521e-01 2.28631543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.35, Y:120.64, Z:2.29 [[ 8.03507693e-02 -9.96765837e-01 -1.27316960e-03 2.82348470e+02] [ 9.96737294e-01 8.03581402e-02 -7.57207008e-03 1.20638481e+02] [ 7.64989031e-03 -6.60593968e-04 9.99970521e-01 2.28583757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.35, Y:120.66, Z:2.28 [[ 7.50714757e-02 -9.97177345e-01 -1.27131279e-03 2.82351108e+02] [ 9.97148838e-01 7.50789837e-02 -7.57238182e-03 1.20662701e+02] [ 7.64645647e-03 -6.99218193e-04 9.99970521e-01 2.28193516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.36, Y:120.69, Z:2.28 [[ 7.27267342e-02 -9.97351097e-01 -1.26938416e-03 2.82356022e+02] [ 9.97322604e-01 7.27342947e-02 -7.57270511e-03 1.20687470e+02] [ 7.64497351e-03 -7.15247407e-04 9.99970521e-01 2.28041470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.36, Y:120.71, Z:2.28 [[ 7.07874863e-02 -9.97490614e-01 -1.26761320e-03 2.82361232e+02] [ 9.97462132e-01 7.07950888e-02 -7.57300154e-03 1.20711967e+02] [ 7.64373874e-03 -7.28322427e-04 9.99970521e-01 2.28093738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.37, Y:120.74, Z:2.28 [[ 6.91988063e-02 -9.97602086e-01 -1.26585046e-03 2.82366183e+02] [ 9.97573613e-01 6.92064409e-02 -7.57329618e-03 1.20735757e+02] [ 7.64274107e-03 -7.38715958e-04 9.99970521e-01 2.28254455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.37, Y:120.76, Z:2.29 [[ 6.70984743e-02 -9.97745557e-01 -1.26402197e-03 2.82372704e+02] [ 9.97717096e-01 6.71061551e-02 -7.57360135e-03 1.20760426e+02] [ 7.64135075e-03 -7.52959234e-04 9.99970521e-01 2.28600417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.38, Y:120.79, Z:2.29 [[ 6.71003205e-02 -9.97745435e-01 -1.26226223e-03 2.82378432e+02] [ 9.97716971e-01 6.71079881e-02 -7.57389463e-03 1.20785208e+02] [ 7.64152667e-03 -7.51169696e-04 9.99970521e-01 2.28592139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.38, Y:120.81, Z:2.28 [[ 6.75493787e-02 -9.97715136e-01 -1.26049897e-03 2.82384053e+02] [ 9.97686665e-01 6.75570202e-02 -7.57418807e-03 1.20810440e+02] [ 7.64203763e-03 -7.45951313e-04 9.99970521e-01 2.28439573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.39, Y:120.83, Z:2.28 [[ 6.97711169e-02 -9.97562232e-01 -1.25872673e-03 2.82391105e+02] [ 9.97533740e-01 6.97786816e-02 -7.57448258e-03 1.20833914e+02] [ 7.64385004e-03 -7.27142270e-04 9.99970521e-01 2.28138601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.39, Y:120.86, Z:2.28 [[ 6.95230936e-02 -9.97579551e-01 -1.25687686e-03 2.82394899e+02] [ 9.97551057e-01 6.95306515e-02 -7.57478953e-03 1.20858707e+02] [ 7.64384660e-03 -7.27176035e-04 9.99970521e-01 2.28157907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.40, Y:120.88, Z:2.28 [[ 7.08322702e-02 -9.97487451e-01 -1.25499343e-03 2.82400256e+02] [ 9.97458943e-01 7.08397765e-02 -7.57510156e-03 1.20881357e+02] [ 7.64497220e-03 -7.15242776e-04 9.99970521e-01 2.28121378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.41, Y:120.90, Z:2.28 [[ 7.23590523e-02 -9.97377861e-01 -1.25304072e-03 2.82406273e+02] [ 9.97349338e-01 7.23665003e-02 -7.57542456e-03 1.20904637e+02] [ 7.64623891e-03 -7.01568787e-04 9.99970521e-01 2.28078390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.41, Y:120.93, Z:2.28 [[ 7.39217448e-02 -9.97263260e-01 -1.25110690e-03 2.82412639e+02] [ 9.97234722e-01 7.39291335e-02 -7.57574392e-03 1.20928369e+02] [ 7.64750433e-03 -6.87635031e-04 9.99970521e-01 2.27988607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.42, Y:120.95, Z:2.28 [[ 7.69462529e-02 -9.97034460e-01 -1.24925403e-03 2.82421632e+02] [ 9.97005896e-01 7.69535410e-02 -7.57604945e-03 1.20953092e+02] [ 7.64971689e-03 -6.62565014e-04 9.99970521e-01 2.27981131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.43, Y:120.98, Z:2.28 [[ 7.81616727e-02 -9.96939916e-01 -1.24745896e-03 2.82427885e+02] [ 9.96911340e-01 7.81689124e-02 -7.57634501e-03 1.20977612e+02] [ 7.65067327e-03 -6.51426189e-04 9.99970521e-01 2.28044626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.43, Y:121.00, Z:2.28 [[ 7.91761984e-02 -9.96859859e-01 -1.24566678e-03 2.82434223e+02] [ 9.96831272e-01 7.91833955e-02 -7.57663966e-03 1.21001380e+02] [ 7.65148407e-03 -6.41830076e-04 9.99970521e-01 2.28010787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.44, Y:121.03, Z:2.28 [[ 7.99131842e-02 -9.96801051e-01 -1.24379632e-03 2.82440947e+02] [ 9.96772456e-01 7.99203461e-02 -7.57694671e-03 1.21026217e+02] [ 7.65211307e-03 -6.34283977e-04 9.99970521e-01 2.28044784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.45, Y:121.05, Z:2.28 [[ 7.98438541e-02 -9.96806609e-01 -1.24191363e-03 2.82451168e+02] [ 9.96778011e-01 7.98510038e-02 -7.57725528e-03 1.21049951e+02] [ 7.65222619e-03 -6.32914929e-04 9.99970521e-01 2.27899474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.255898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:282.46, Y:121.07, Z:2.28 [[ 7.85699045e-02 -9.96907836e-01 -1.24002923e-03 2.82458212e+02] [ 9.96879242e-01 7.85770765e-02 -7.57756365e-03 1.21073622e+02] [ 7.65157045e-03 -6.40790943e-04 9.99970521e-01 2.27689323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.47, Y:121.10, Z:2.28 [[ 7.75177231e-02 -9.96990206e-01 -1.23806682e-03 2.82466364e+02] [ 9.96961616e-01 7.75249105e-02 -7.57788427e-03 1.21096578e+02] [ 7.65105741e-03 -6.46884760e-04 9.99970521e-01 2.27585303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.48, Y:121.12, Z:2.27 [[ 7.61704474e-02 -9.97094045e-01 -1.23649309e-03 2.82478075e+02] [ 9.97065462e-01 7.61776615e-02 -7.57814105e-03 1.21118265e+02] [ 7.65031246e-03 -6.55634156e-04 9.99970521e-01 2.27491219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.49, Y:121.14, Z:2.28 [[ 7.60539584e-02 -9.97102939e-01 -1.23464575e-03 2.82485597e+02] [ 9.97074354e-01 7.60611619e-02 -7.57844201e-03 1.21140862e+02] [ 7.65039539e-03 -6.54663103e-04 9.99970521e-01 2.27569057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.49, Y:121.16, Z:2.28 [[ 7.61724779e-02 -9.97093894e-01 -1.23265969e-03 2.82493052e+02] [ 9.97065304e-01 7.61796630e-02 -7.57876503e-03 1.21164496e+02] [ 7.65064394e-03 -6.51748892e-04 9.99970521e-01 2.27794244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.50, Y:121.19, Z:2.28 [[ 7.73035809e-02 -9.97006841e-01 -1.23068169e-03 2.82502451e+02] [ 9.96978240e-01 7.73107187e-02 -7.57908622e-03 1.21189134e+02] [ 7.65154570e-03 -6.41072356e-04 9.99970521e-01 2.28186441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.51, Y:121.21, Z:2.28 [[ 7.81254461e-02 -9.96942779e-01 -1.22881969e-03 2.82508365e+02] [ 9.96914168e-01 7.81325462e-02 -7.57938810e-03 1.21213512e+02] [ 7.65222704e-03 -6.32884687e-04 9.99970521e-01 2.28337578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.51, Y:121.24, Z:2.28 [[ 7.92974043e-02 -9.96850248e-01 -1.22696272e-03 2.82514113e+02] [ 9.96821625e-01 7.93044568e-02 -7.57968869e-03 1.21237078e+02] [ 7.65311816e-03 -6.22013338e-04 9.99970521e-01 2.28466346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49589822699994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:282.52, Y:121.26, Z:2.28 [[ 8.13804174e-02 -9.96682360e-01 -1.22537242e-03 2.82520886e+02] [ 9.96653719e-01 8.13873981e-02 -7.57994578e-03 1.21260406e+02] [ 7.65452812e-03 -6.04412831e-04 9.99970521e-01 2.28348725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.53, Y:121.28, Z:2.28 [[ 8.18738959e-02 -9.96641946e-01 -1.22378440e-03 2.82525822e+02] [ 9.96613299e-01 8.18808504e-02 -7.58020216e-03 1.21283337e+02] [ 7.65495194e-03 -5.99019129e-04 9.99970521e-01 2.28129863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.53, Y:121.31, Z:2.28 [[ 8.15738275e-02 -9.96666553e-01 -1.22172571e-03 2.82530375e+02] [ 9.96637905e-01 8.15807750e-02 -7.58053395e-03 1.21307998e+02] [ 7.65493397e-03 -5.99244981e-04 9.99970521e-01 2.28070630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.54, Y:121.33, Z:2.28 [[ 8.00383713e-02 -9.96791037e-01 -1.21975307e-03 2.82537070e+02] [ 9.96762395e-01 8.00453480e-02 -7.58085135e-03 1.21331868e+02] [ 7.65416023e-03 -6.09044994e-04 9.99970521e-01 2.28111235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.54, Y:121.35, Z:2.28 [[ 7.87574637e-02 -9.96893063e-01 -1.21778344e-03 2.82542667e+02] [ 9.96864427e-01 7.87644623e-02 -7.58116773e-03 1.21354601e+02] [ 7.65353158e-03 -6.16891451e-04 9.99970521e-01 2.28279674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.55, Y:121.38, Z:2.28 [[ 7.79247882e-02 -9.96958499e-01 -1.21574105e-03 2.82548319e+02] [ 9.96929865e-01 7.79317954e-02 -7.58149525e-03 1.21378208e+02] [ 7.65318100e-03 -6.21222149e-04 9.99970521e-01 2.28471301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.55, Y:121.40, Z:2.29 [[ 7.78268815e-02 -9.96966150e-01 -1.21379714e-03 2.82553757e+02] [ 9.96937513e-01 7.78338768e-02 -7.58180645e-03 1.21402136e+02] [ 7.65327892e-03 -6.20011552e-04 9.99970521e-01 2.28629781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.56, Y:121.42, Z:2.29 [[ 7.95564110e-02 -9.96829629e-01 -1.21184663e-03 2.82560610e+02] [ 9.96800976e-01 7.95633418e-02 -7.58211820e-03 1.21424564e+02] [ 7.65449864e-03 -6.04763790e-04 9.99970521e-01 2.28641192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.57, Y:121.45, Z:2.29 [[ 8.10531588e-02 -9.96709046e-01 -1.20981530e-03 2.82565835e+02] [ 9.96680379e-01 8.10600313e-02 -7.58244231e-03 1.21448283e+02] [ 7.65555650e-03 -5.91218275e-04 9.99970521e-01 2.28572238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.57, Y:121.47, Z:2.29 [[ 8.27002982e-02 -9.96573731e-01 -1.20796608e-03 2.82571537e+02] [ 9.96545050e-01 8.27071092e-02 -7.58273690e-03 1.21472047e+02] [ 7.65666379e-03 -5.76698015e-04 9.99970521e-01 2.28515086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.58, Y:121.50, Z:2.29 [[ 8.58349101e-02 -9.96308644e-01 -1.20603361e-03 2.82581264e+02] [ 9.96279938e-01 8.58416162e-02 -7.58304425e-03 1.21496364e+02] [ 7.65858040e-03 -5.50657165e-04 9.99970521e-01 2.28626872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.59, Y:121.52, Z:2.29 [[ 8.70760838e-02 -9.96200936e-01 -1.20414358e-03 2.82588000e+02] [ 9.96172219e-01 8.70827399e-02 -7.58334436e-03 1.21520312e+02] [ 7.65939487e-03 -5.39206454e-04 9.99970521e-01 2.28751757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.59, Y:121.54, Z:2.29 [[ 8.84176593e-02 -9.96082763e-01 -1.20252375e-03 2.82594335e+02] [ 9.96054034e-01 8.84242644e-02 -7.58360121e-03 1.21543593e+02] [ 7.66022673e-03 -5.27254366e-04 9.99970521e-01 2.28812696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.885898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:282.60, Y:121.57, Z:2.29 [[ 9.21790287e-02 -9.95741726e-01 -1.20056521e-03 2.82602103e+02] [ 9.95712969e-01 9.21855104e-02 -7.58391126e-03 1.21568066e+02] [ 7.66229161e-03 -4.96340775e-04 9.99970521e-01 2.28835525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.61, Y:121.59, Z:2.28 [[ 9.49333590e-02 -9.95482908e-01 -1.19867390e-03 2.82607574e+02] [ 9.95454130e-01 9.49397468e-02 -7.58421018e-03 1.21591797e+02] [ 7.66375340e-03 -4.73230338e-04 9.99970521e-01 2.28495333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.61, Y:121.62, Z:2.29 [[ 9.75631127e-02 -9.95228620e-01 -1.19670412e-03 2.82612244e+02] [ 9.95199822e-01 9.75694095e-02 -7.58452098e-03 1.21616444e+02] [ 7.66509406e-03 -4.50990253e-04 9.99970521e-01 2.28521816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.62, Y:121.64, Z:2.29 [[ 1.00085160e-01 -9.94978157e-01 -1.19482925e-03 2.82616294e+02] [ 9.94949340e-01 1.00091370e-01 -7.58481632e-03 1.21641077e+02] [ 7.66631866e-03 -4.29667020e-04 9.99970521e-01 2.28589387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.62, Y:121.66, Z:2.29 [[ 1.04251506e-01 -9.94550250e-01 -1.19293515e-03 2.82622151e+02] [ 9.94521404e-01 1.04257580e-01 -7.58511421e-03 1.21664907e+02] [ 7.66814977e-03 -3.95639964e-04 9.99970521e-01 2.28557620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.63, Y:121.69, Z:2.28 [[ 1.05050282e-01 -9.94466199e-01 -1.19095965e-03 2.82627426e+02] [ 9.94437344e-01 1.05056318e-01 -7.58542438e-03 1.21687571e+02] [ 7.66856598e-03 -3.87483779e-04 9.99970521e-01 2.28405155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.63, Y:121.71, Z:2.28 [[ 1.05390674e-01 -9.94430185e-01 -1.18883707e-03 2.82633344e+02] [ 9.94401325e-01 1.05396684e-01 -7.58575703e-03 1.21710841e+02] [ 7.66880525e-03 -3.82713118e-04 9.99970521e-01 2.28265510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.64, Y:121.74, Z:2.28 [[ 1.05204660e-01 -9.94449883e-01 -1.18763546e-03 2.82639269e+02] [ 9.94421022e-01 1.05210666e-01 -7.58594500e-03 1.21735136e+02] [ 7.66879404e-03 -3.82932909e-04 9.99970521e-01 2.28422432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.65, Y:121.76, Z:2.28 [[ 1.06312250e-01 -9.94332088e-01 -1.18475480e-03 2.82647344e+02] [ 9.94303217e-01 1.06318202e-01 -7.58639487e-03 1.21759024e+02] [ 7.66935686e-03 -3.71478805e-04 9.99970521e-01 2.28489794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.65, Y:121.78, Z:2.29 [[ 1.07894222e-01 -9.94161676e-01 -1.18272420e-03 2.82652769e+02] [ 9.94132792e-01 1.07900112e-01 -7.58671143e-03 1.21783440e+02] [ 7.67003382e-03 -3.57222590e-04 9.99970521e-01 2.28596962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.66, Y:121.81, Z:2.29 [[ 1.11718715e-01 -9.93739168e-01 -1.18080334e-03 2.82658605e+02] [ 9.93710258e-01 1.11724480e-01 -7.58701038e-03 1.21807119e+02] [ 7.67143403e-03 -3.25765341e-04 9.99970521e-01 2.28627633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.66, Y:121.83, Z:2.29 [[ 1.12973131e-01 -9.93597344e-01 -1.17879961e-03 2.82663448e+02] [ 9.93568424e-01 1.12978845e-01 -7.58732169e-03 1.21831723e+02] [ 7.67192210e-03 -3.14054578e-04 9.99970521e-01 2.28771740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.67, Y:121.86, Z:2.29 [[ 1.14307816e-01 -9.93444683e-01 -1.17686424e-03 2.82668304e+02] [ 9.93415753e-01 1.14313476e-01 -7.58762187e-03 1.21855520e+02] [ 7.67241405e-03 -3.01790988e-04 9.99970521e-01 2.28727490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.67, Y:121.88, Z:2.29 [[ 1.15044259e-01 -9.93359672e-01 -1.17518305e-03 2.82673860e+02] [ 9.93330735e-01 1.15049884e-01 -7.58788225e-03 1.21879526e+02] [ 7.67270089e-03 -2.94403153e-04 9.99970521e-01 2.28809213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.68, Y:121.90, Z:2.29 [[ 1.15958862e-01 -9.93253324e-01 -1.17311864e-03 2.82683845e+02] [ 9.93224379e-01 1.15964445e-01 -7.58820140e-03 1.21904082e+02] [ 7.67304632e-03 -2.85250830e-04 9.99970521e-01 2.29031528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.69, Y:121.93, Z:2.29 [[ 1.16127726e-01 -9.93233598e-01 -1.17120602e-03 2.82689974e+02] [ 9.93204649e-01 1.16133290e-01 -7.58849659e-03 1.21926830e+02] [ 7.67316578e-03 -2.82012415e-04 9.99970521e-01 2.28933838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.70, Y:121.95, Z:2.29 [[ 1.16559826e-01 -9.93182984e-01 -1.16904463e-03 2.82695443e+02] [ 9.93154030e-01 1.16565360e-01 -7.58882955e-03 1.21951007e+02] [ 7.67336649e-03 -2.76488732e-04 9.99970521e-01 2.28850780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.70, Y:121.97, Z:2.29 [[ 1.17395333e-01 -9.93084575e-01 -1.16696514e-03 2.82700415e+02] [ 9.93055613e-01 1.17400828e-01 -7.58914931e-03 1.21973709e+02] [ 7.67366980e-03 -2.67930572e-04 9.99970521e-01 2.28669872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.71, Y:122.00, Z:2.29 [[ 1.18379901e-01 -9.92967694e-01 -1.16502251e-03 2.82708672e+02] [ 9.92938724e-01 1.18385352e-01 -7.58944752e-03 1.21997862e+02] [ 7.67399780e-03 -2.58357916e-04 9.99970521e-01 2.28511892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.71, Y:122.02, Z:2.29 [[ 1.17873476e-01 -9.93027941e-01 -1.16305562e-03 2.82714519e+02] [ 9.92998970e-01 1.17878927e-01 -7.58974892e-03 1.22021316e+02] [ 7.67393249e-03 -2.60282943e-04 9.99970521e-01 2.28641212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.72, Y:122.04, Z:2.29 [[ 1.17221966e-01 -9.93105061e-01 -1.16111900e-03 2.82719127e+02] [ 9.93076091e-01 1.17227421e-01 -7.59004519e-03 1.22044319e+02] [ 7.67382727e-03 -2.63359505e-04 9.99970521e-01 2.28902626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.72, Y:122.07, Z:2.29 [[ 1.17612502e-01 -9.93058888e-01 -1.15919347e-03 2.82724034e+02] [ 9.93029914e-01 1.17617931e-01 -7.59033925e-03 1.22068306e+02] [ 7.67399580e-03 -2.58395004e-04 9.99970521e-01 2.29479972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.73, Y:122.09, Z:2.30 [[ 1.18253797e-01 -9.92982729e-01 -1.15716950e-03 2.82728300e+02] [ 9.92953748e-01 1.18259192e-01 -7.59064780e-03 1.22091410e+02] [ 7.67422810e-03 -2.51392862e-04 9.99970521e-01 2.29521988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.73, Y:122.12, Z:2.29 [[ 1.18444235e-01 -9.92960034e-01 -1.15506567e-03 2.82733227e+02] [ 9.92931049e-01 1.18449608e-01 -7.59096793e-03 1.22116059e+02] [ 7.67434484e-03 -2.47794170e-04 9.99970521e-01 2.29315912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.74, Y:122.14, Z:2.29 [[ 1.18203921e-01 -9.92988672e-01 -1.15306079e-03 2.82737767e+02] [ 9.92959686e-01 1.18209286e-01 -7.59127245e-03 1.22140034e+02] [ 7.67435005e-03 -2.47624712e-04 9.99970521e-01 2.29065988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.74, Y:122.16, Z:2.29 [[ 1.17267220e-01 -9.93099730e-01 -1.15099725e-03 2.82741345e+02] [ 9.93070746e-01 1.17272596e-01 -7.59158532e-03 1.22163404e+02] [ 7.67418177e-03 -2.52777588e-04 9.99970521e-01 2.28607531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.74, Y:122.19, Z:2.29 [[ 1.16396535e-01 -9.93202158e-01 -1.14885547e-03 2.82744699e+02] [ 9.93173175e-01 1.16401920e-01 -7.59190942e-03 1.22187620e+02] [ 7.67402981e-03 -2.57340492e-04 9.99970521e-01 2.28571625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.75, Y:122.21, Z:2.29 [[ 1.15192160e-01 -9.93342565e-01 -1.14687166e-03 2.82748152e+02] [ 9.93313586e-01 1.15197566e-01 -7.59220910e-03 1.22212352e+02] [ 7.67378128e-03 -2.64640234e-04 9.99970521e-01 2.28653625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.75, Y:122.24, Z:2.29 [[ 1.12697601e-01 -9.93628673e-01 -1.14482068e-03 2.82749959e+02] [ 9.93599705e-01 1.12703063e-01 -7.59251835e-03 1.22236360e+02] [ 7.67316873e-03 -2.81834888e-04 9.99970521e-01 2.28664705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.75, Y:122.26, Z:2.29 [[ 1.12091426e-01 -9.93697241e-01 -1.14268659e-03 2.82752649e+02] [ 9.93668273e-01 1.12096889e-01 -7.59283952e-03 1.22260739e+02] [ 7.67307529e-03 -2.84359203e-04 9.99970521e-01 2.28805926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.76, Y:122.28, Z:2.29 [[ 1.11558181e-01 -9.93757250e-01 -1.14059772e-03 2.82755274e+02] [ 9.93728281e-01 1.11563644e-01 -7.59315330e-03 1.22284702e+02] [ 7.67300037e-03 -2.86365840e-04 9.99970521e-01 2.28828151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.76, Y:122.31, Z:2.29 [[ 1.10961268e-01 -9.93824079e-01 -1.13862373e-03 2.82758171e+02] [ 9.93795111e-01 1.10966734e-01 -7.59344929e-03 1.22309249e+02] [ 7.67290211e-03 -2.88979931e-04 9.99970521e-01 2.28939029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.76, Y:122.33, Z:2.29 [[ 1.09868026e-01 -9.93945534e-01 -1.13651479e-03 2.82758875e+02] [ 9.93916570e-01 1.09873507e-01 -7.59376493e-03 1.22333022e+02] [ 7.67266160e-03 -2.95288917e-04 9.99970521e-01 2.29127321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.76, Y:122.36, Z:2.29 [[ 1.09504829e-01 -9.93985617e-01 -1.13433672e-03 2.82761050e+02] [ 9.93956651e-01 1.09510304e-01 -7.59409026e-03 1.22357658e+02] [ 7.67263805e-03 -2.95891977e-04 9.99970521e-01 2.29249901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.76, Y:122.38, Z:2.29 [[ 1.09231280e-01 -9.94015717e-01 -1.13224568e-03 2.82764419e+02] [ 9.93986749e-01 1.09236747e-01 -7.59440202e-03 1.22382546e+02] [ 7.67263780e-03 -2.95890947e-04 9.99970521e-01 2.29269208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.77, Y:122.41, Z:2.29 [[ 1.08478832e-01 -9.94098117e-01 -1.13015556e-03 2.82766359e+02] [ 9.94069150e-01 1.08484306e-01 -7.59471305e-03 1.22407994e+02] [ 7.67249408e-03 -2.99587170e-04 9.99970521e-01 2.29247049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.77, Y:122.43, Z:2.29 [[ 1.07361093e-01 -9.94219454e-01 -1.12820969e-03 2.82768082e+02] [ 9.94190491e-01 1.07366584e-01 -7.59500210e-03 1.22432036e+02] [ 7.67223086e-03 -3.06247613e-04 9.99970521e-01 2.29099791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.77, Y:122.46, Z:2.29 [[ 1.03988469e-01 -9.94577865e-01 -1.12618609e-03 2.82768610e+02] [ 9.94548918e-01 1.03994043e-01 -7.59530214e-03 1.22456014e+02] [ 7.67123604e-03 -3.30223321e-04 9.99970521e-01 2.29055198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.77, Y:122.48, Z:2.29 [[ 1.01226427e-01 -9.94862778e-01 -1.12410699e-03 2.82771341e+02] [ 9.94833843e-01 1.01232065e-01 -7.59560984e-03 1.22481696e+02] [ 7.67038518e-03 -3.49423230e-04 9.99970521e-01 2.29229153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.77, Y:122.51, Z:2.29 [[ 9.82245336e-02 -9.95163646e-01 -1.12215492e-03 2.82774915e+02] [ 9.95134725e-01 9.82302443e-02 -7.59589822e-03 1.22505946e+02] [ 7.66939132e-03 -3.70591773e-04 9.99970521e-01 2.29200099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.78, Y:122.53, Z:2.29 [[ 9.18833586e-02 -9.95769147e-01 -1.12012491e-03 2.82781298e+02] [ 9.95740260e-01 9.18892379e-02 -7.59619756e-03 1.22529731e+02] [ 7.66698659e-03 -4.17389324e-04 9.99970521e-01 2.29135252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.79, Y:122.55, Z:2.29 [[ 8.90168223e-02 -9.96029495e-01 -1.11812743e-03 2.82786133e+02] [ 9.96000622e-01 8.90227696e-02 -7.59649157e-03 1.22553392e+02] [ 7.66586847e-03 -4.37440079e-04 9.99970521e-01 2.29255156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.79, Y:122.58, Z:2.29 [[ 8.71370424e-02 -9.96195709e-01 -1.11614572e-03 2.82790718e+02] [ 9.96166844e-01 8.71430291e-02 -7.59678273e-03 1.22577676e+02] [ 7.66514668e-03 -4.49906183e-04 9.99970521e-01 2.29384977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.80, Y:122.60, Z:2.30 [[ 8.64641744e-02 -9.96254338e-01 -1.11416101e-03 2.82795008e+02] [ 9.96225474e-01 8.64701656e-02 -7.59707380e-03 1.22601730e+02] [ 7.66495942e-03 -4.53080865e-04 9.99970521e-01 2.29503921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.80, Y:122.63, Z:2.30 [[ 8.90307304e-02 -9.96028259e-01 -1.11217750e-03 2.82800337e+02] [ 9.95999377e-01 8.90366321e-02 -7.59736417e-03 1.22625349e+02] [ 7.66621394e-03 -4.31329215e-04 9.99970521e-01 2.29722762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.80, Y:122.65, Z:2.30 [[ 9.06648491e-02 -9.95880843e-01 -1.11018896e-03 2.82804460e+02] [ 9.95851948e-01 9.06706882e-02 -7.59765474e-03 1.22649920e+02] [ 7.66702040e-03 -4.16743614e-04 9.99970521e-01 2.29810695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.81, Y:122.67, Z:2.30 [[ 9.23209079e-02 -9.95728689e-01 -1.10817253e-03 2.82808835e+02] [ 9.95699781e-01 9.23266837e-02 -7.59794884e-03 1.22673159e+02] [ 7.66780953e-03 -4.01957612e-04 9.99970521e-01 2.29841990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.81, Y:122.70, Z:2.30 [[ 9.33102895e-02 -9.95636463e-01 -1.10617049e-03 2.82813477e+02] [ 9.95607547e-01 9.33160213e-02 -7.59824030e-03 1.22697768e+02] [ 7.66830853e-03 -3.92317686e-04 9.99970521e-01 2.29931451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.82, Y:122.72, Z:2.30 [[ 9.40851020e-02 -9.95563546e-01 -1.10412531e-03 2.82819018e+02] [ 9.95534622e-01 9.40907957e-02 -7.59853748e-03 1.22720508e+02] [ 7.66871495e-03 -3.84285804e-04 9.99970521e-01 2.29792902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.82, Y:122.74, Z:2.30 [[ 9.32234119e-02 -9.95644606e-01 -1.10200411e-03 2.82822711e+02] [ 9.95615684e-01 9.32291145e-02 -7.59884510e-03 1.22744398e+02] [ 7.66848801e-03 -3.88782306e-04 9.99970521e-01 2.29586781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:122.77, Z:2.29 [[ 9.20028705e-02 -9.95758134e-01 -1.09999115e-03 2.82825756e+02] [ 9.95729216e-01 9.20085932e-02 -7.59913648e-03 1.22768872e+02] [ 7.66811060e-03 -3.96150957e-04 9.99970521e-01 2.29443751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:122.79, Z:2.29 [[ 9.03124071e-02 -9.95912880e-01 -1.09797565e-03 2.82827293e+02] [ 9.95883968e-01 9.03181636e-02 -7.59942769e-03 1.22793911e+02] [ 7.66753505e-03 -4.07133744e-04 9.99970521e-01 2.29496639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:122.82, Z:2.29 [[ 8.99566723e-02 -9.95945077e-01 -1.09589286e-03 2.82829353e+02] [ 9.95916164e-01 8.99624232e-02 -7.59972803e-03 1.22817858e+02] [ 7.66750089e-03 -4.07771174e-04 9.99970521e-01 2.29477381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:122.84, Z:2.29 [[ 8.97117598e-02 -9.95967170e-01 -1.09373536e-03 2.82831637e+02] [ 9.95938256e-01 8.97175014e-02 -7.60003852e-03 1.22842030e+02] [ 7.66751606e-03 -4.07480052e-04 9.99970521e-01 2.29478674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:122.87, Z:2.29 [[ 8.87748644e-02 -9.96051119e-01 -1.09171583e-03 2.82833322e+02] [ 9.96022207e-01 8.87806179e-02 -7.60032860e-03 1.22865418e+02] [ 7.66723902e-03 -4.12655065e-04 9.99970521e-01 2.29355685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.84, Y:122.89, Z:2.29 [[ 8.80990775e-02 -9.96111121e-01 -1.08961562e-03 2.82835163e+02] [ 9.96082210e-01 8.81048346e-02 -7.60062969e-03 1.22889535e+02] [ 7.66707216e-03 -4.15738271e-04 9.99970521e-01 2.29373143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.84, Y:122.91, Z:2.29 [[ 8.72577754e-02 -9.96185172e-01 -1.08765670e-03 2.82837367e+02] [ 9.96156263e-01 8.72635420e-02 -7.60091000e-03 1.22913074e+02] [ 7.66682661e-03 -4.20237537e-04 9.99970521e-01 2.29276353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.84, Y:122.94, Z:2.29 [[ 8.59801946e-02 -9.96296255e-01 -1.08552699e-03 2.82840503e+02] [ 9.96267350e-01 8.59859821e-02 -7.60121414e-03 1.22937998e+02] [ 7.66640129e-03 -4.27921229e-04 9.99970521e-01 2.29351303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.85, Y:122.96, Z:2.29 [[ 8.35045530e-02 -9.96506807e-01 -1.08358539e-03 2.82845464e+02] [ 9.96477913e-01 8.35103975e-02 -7.60149092e-03 1.22961927e+02] [ 7.66542808e-03 -4.45009810e-04 9.99970521e-01 2.29036575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.85, Y:122.99, Z:2.29 [[ 8.19814903e-02 -9.96633265e-01 -1.08191019e-03 2.82849807e+02] [ 9.96604378e-01 8.19873662e-02 -7.60172934e-03 1.22986921e+02] [ 7.66483930e-03 -4.55035334e-04 9.99970521e-01 2.29246513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.85, Y:123.01, Z:2.29 [[ 8.00622149e-02 -9.96789283e-01 -1.07996426e-03 2.82854074e+02] [ 9.96760404e-01 8.00681316e-02 -7.60200578e-03 1.23011458e+02] [ 7.66406862e-03 -4.67832192e-04 9.99970521e-01 2.29294870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.86, Y:123.03, Z:2.29 [[ 7.68401231e-02 -9.97042844e-01 -1.07794950e-03 2.82860733e+02] [ 9.97013982e-01 7.68461179e-02 -7.60229146e-03 1.23034469e+02] [ 7.66264654e-03 -4.90569715e-04 9.99970521e-01 2.28986934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.87, Y:123.06, Z:2.29 [[ 7.55510086e-02 -9.97141358e-01 -1.07603272e-03 2.82866690e+02] [ 9.97112500e-01 7.55570261e-02 -7.60256275e-03 1.23058326e+02] [ 7.66213158e-03 -4.98544392e-04 9.99970521e-01 2.29103891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.87, Y:123.08, Z:2.29 [[ 7.46662881e-02 -9.97207998e-01 -1.07396351e-03 2.82872763e+02] [ 9.97179142e-01 7.46723156e-02 -7.60285505e-03 1.23081670e+02] [ 7.66182320e-03 -5.03257050e-04 9.99970521e-01 2.29068097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.88, Y:123.10, Z:2.29 [[ 7.39117240e-02 -9.97264212e-01 -1.07201983e-03 2.82880752e+02] [ 9.97235357e-01 7.39177585e-02 -7.60312910e-03 1.23104507e+02] [ 7.66156985e-03 -5.07095695e-04 9.99970521e-01 2.29378660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.89, Y:123.13, Z:2.29 [[ 7.42030214e-02 -9.97242582e-01 -1.06998771e-03 2.82885559e+02] [ 9.97213722e-01 7.42090321e-02 -7.60341507e-03 1.23128433e+02] [ 7.66185203e-03 -5.02810055e-04 9.99970521e-01 2.29493611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.89, Y:123.15, Z:2.29 [[ 7.51941291e-02 -9.97168342e-01 -1.06801875e-03 2.82890204e+02] [ 9.97139473e-01 7.52000961e-02 -7.60369163e-03 1.23151576e+02] [ 7.66247569e-03 -4.93210679e-04 9.99970521e-01 2.29488802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.89, Y:123.18, Z:2.29 [[ 7.64700755e-02 -9.97071307e-01 -1.06597328e-03 2.82894116e+02] [ 9.97042428e-01 7.64759900e-02 -7.60397838e-03 1.23175736e+02] [ 7.66323002e-03 -4.81343786e-04 9.99970521e-01 2.29432864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.90, Y:123.20, Z:2.29 [[ 7.89828446e-02 -9.96875408e-01 -1.06392849e-03 2.82898088e+02] [ 9.96846510e-01 7.89886709e-02 -7.60426447e-03 1.23200739e+02] [ 7.66454254e-03 -4.59966963e-04 9.99970521e-01 2.29196158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.90, Y:123.23, Z:2.29 [[ 7.95876480e-02 -9.96827306e-01 -1.06197196e-03 2.82900797e+02] [ 9.96798402e-01 7.95934418e-02 -7.60453770e-03 1.23225335e+02] [ 7.66493683e-03 -4.53344681e-04 9.99970521e-01 2.29323737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.90, Y:123.25, Z:2.29 [[ 7.98425275e-02 -9.96806926e-01 -1.05988899e-03 2.82903476e+02] [ 9.96778017e-01 7.98482981e-02 -7.60482800e-03 1.23249689e+02] [ 7.66517555e-03 -4.49285362e-04 9.99970521e-01 2.29396135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.91, Y:123.27, Z:2.29 [[ 7.87643532e-02 -9.96892701e-01 -1.05790101e-03 2.82906588e+02] [ 9.96863796e-01 7.87701400e-02 -7.60510454e-03 1.23273784e+02] [ 7.66480421e-03 -4.55572078e-04 9.99970521e-01 2.29400665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.91, Y:123.30, Z:2.30 [[ 7.79525855e-02 -9.96956508e-01 -1.05590182e-03 2.82909526e+02] [ 9.96927605e-01 7.79583806e-02 -7.60538210e-03 1.23297753e+02] [ 7.66455158e-03 -4.59798475e-04 9.99970521e-01 2.29717481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.91, Y:123.32, Z:2.30 [[ 7.73740720e-02 -9.97001576e-01 -1.05384158e-03 2.82911891e+02] [ 9.96972673e-01 7.73798682e-02 -7.60566756e-03 1.23321268e+02] [ 7.66440867e-03 -4.62169782e-04 9.99970521e-01 2.29759190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.91, Y:123.35, Z:2.30 [[ 7.71458955e-02 -9.97019260e-01 -1.05169584e-03 2.82914024e+02] [ 9.96990355e-01 7.71516820e-02 -7.60596426e-03 1.23345541e+02] [ 7.66443296e-03 -4.61761685e-04 9.99970521e-01 2.29812437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:123.37, Z:2.30 [[ 7.56984787e-02 -9.97130201e-01 -1.04968870e-03 2.82915791e+02] [ 9.97101301e-01 7.57042919e-02 -7.60624125e-03 1.23370729e+02] [ 7.66387881e-03 -4.70865080e-04 9.99970521e-01 2.29800750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:123.40, Z:2.30 [[ 7.44713063e-02 -9.97222596e-01 -1.05748154e-03 2.82917337e+02] [ 9.97193715e-01 7.44772143e-02 -7.60516875e-03 1.23395898e+02] [ 7.66280441e-03 -4.88147095e-04 9.99970521e-01 2.29927863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:123.42, Z:2.29 [[ 6.98743912e-02 -9.97555250e-01 -1.04490148e-03 2.82917097e+02] [ 9.97526377e-01 6.98803367e-02 -7.60689678e-03 1.23420229e+02] [ 7.66131789e-03 -5.10789511e-04 9.99970521e-01 2.29427705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:123.45, Z:2.30 [[ 6.70197653e-02 -9.97751103e-01 -1.04281861e-03 2.82919627e+02] [ 9.97722244e-01 6.70257776e-02 -7.60718231e-03 1.23445240e+02] [ 7.65997026e-03 -5.30611754e-04 9.99970521e-01 2.29550611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:123.47, Z:2.30 [[ 6.48086341e-02 -9.97897168e-01 -1.04082656e-03 2.82921670e+02] [ 9.97868319e-01 6.48146953e-02 -7.60745485e-03 1.23468858e+02] [ 7.65891851e-03 -5.45579089e-04 9.99970521e-01 2.29579883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:123.49, Z:2.30 [[ 6.29979168e-02 -9.98013118e-01 -1.03867576e-03 2.82921177e+02] [ 9.97984277e-01 6.30040139e-02 -7.60774850e-03 1.23493151e+02] [ 7.65807354e-03 -5.57309774e-04 9.99970521e-01 2.30059647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:123.52, Z:2.30 [[ 6.24309190e-02 -9.98048749e-01 -1.03672991e-03 2.82921722e+02] [ 9.98019908e-01 6.24370178e-02 -7.60801365e-03 1.23517845e+02] [ 7.65789883e-03 -5.59701803e-04 9.99970521e-01 2.30217849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:123.54, Z:2.30 [[ 6.12220750e-02 -9.98123633e-01 -1.03472841e-03 2.82921833e+02] [ 9.98094796e-01 6.12281935e-02 -7.60828586e-03 1.23541498e+02] [ 7.65736447e-03 -5.66961992e-04 9.99970521e-01 2.30109358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:123.57, Z:2.30 [[ 5.94756914e-02 -9.98229220e-01 -1.03283920e-03 2.82922422e+02] [ 9.98200391e-01 5.94818460e-02 -7.60854231e-03 1.23565830e+02] [ 7.65650444e-03 -5.78457184e-04 9.99970521e-01 2.30141409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:123.59, Z:2.30 [[ 5.54583586e-02 -9.98460469e-01 -1.03078968e-03 2.82920855e+02] [ 9.98431661e-01 5.54646137e-02 -7.60881997e-03 1.23590313e+02] [ 7.65427831e-03 -6.07200389e-04 9.99970521e-01 2.30003098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:123.61, Z:2.30 [[ 5.40666463e-02 -9.98536799e-01 -1.02887564e-03 2.82921651e+02] [ 9.98507997e-01 5.40729270e-02 -7.60907878e-03 1.23614812e+02] [ 7.65357949e-03 -6.15943188e-04 9.99970521e-01 2.30109562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:123.64, Z:2.30 [[ 5.33117116e-02 -9.98577392e-01 -1.02685751e-03 2.82922686e+02] [ 9.98548591e-01 5.33179989e-02 -7.60935112e-03 1.23638312e+02] [ 7.65327598e-03 -6.19699592e-04 9.99970521e-01 2.30216806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:123.66, Z:2.30 [[ 5.28303358e-02 -9.98602977e-01 -1.02476013e-03 2.82923088e+02] [ 9.98574176e-01 5.28366211e-02 -7.60963356e-03 1.23662693e+02] [ 7.65314759e-03 -6.21279510e-04 9.99970521e-01 2.30385073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.93, Y:123.69, Z:2.30 [[ 5.22182152e-02 -9.98635175e-01 -1.02277739e-03 2.82925314e+02] [ 9.98606374e-01 5.22245031e-02 -7.60990005e-03 1.23686795e+02] [ 7.65292790e-03 -6.23976621e-04 9.99970521e-01 2.30480041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.93, Y:123.71, Z:2.31 [[ 5.13928681e-02 -9.98677992e-01 -1.02073917e-03 2.82927431e+02] [ 9.98649193e-01 5.13991644e-02 -7.61017343e-03 1.23710192e+02] [ 7.65257786e-03 -6.28251705e-04 9.99970521e-01 2.30506660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.93, Y:123.73, Z:2.31 [[ 5.03492563e-02 -9.98731152e-01 -1.01862055e-03 2.82930569e+02] [ 9.98702357e-01 5.03555667e-02 -7.61045700e-03 1.23734627e+02] [ 7.65209370e-03 -6.34117896e-04 9.99970521e-01 2.30560116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.93, Y:123.76, Z:2.30 [[ 4.75483383e-02 -9.98868421e-01 -1.01655497e-03 2.82934910e+02] [ 9.98839640e-01 4.75547138e-02 -7.61073289e-03 1.23758135e+02] [ 7.65046273e-03 -6.53497700e-04 9.99970521e-01 2.29953650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.94, Y:123.78, Z:2.30 [[ 4.68840575e-02 -9.98899823e-01 -1.01440924e-03 2.82938943e+02] [ 9.98871042e-01 4.68904358e-02 -7.61101888e-03 1.23783535e+02] [ 7.65021150e-03 -6.56428567e-04 9.99970521e-01 2.29971552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.94, Y:123.81, Z:2.30 [[ 4.73924244e-02 -9.98875835e-01 -1.01249329e-03 2.82942298e+02] [ 9.98847048e-01 4.73987737e-02 -7.61127375e-03 1.23807594e+02] [ 7.65070836e-03 -6.50609220e-04 9.99970521e-01 2.29795206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.94, Y:123.83, Z:2.30 [[ 5.07186204e-02 -9.98712471e-01 -1.01050621e-03 2.82944205e+02] [ 9.98683660e-01 5.07248586e-02 -7.61153755e-03 1.23833365e+02] [ 7.65299527e-03 -6.23129356e-04 9.99970521e-01 2.29762534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.95, Y:123.86, Z:2.30 [[ 5.31280484e-02 -9.98587194e-01 -1.01315710e-03 2.82946066e+02] [ 9.98558372e-01 5.31342372e-02 -7.61118635e-03 1.23857742e+02] [ 7.65426655e-03 -6.07329025e-04 9.99970521e-01 2.29917227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.95, Y:123.88, Z:2.30 [[ 5.53830793e-02 -9.98464673e-01 -1.00591858e-03 2.82947161e+02] [ 9.98435825e-01 5.53891481e-02 -7.61214290e-03 1.23881085e+02] [ 7.65617274e-03 -5.82761229e-04 9.99970521e-01 2.29871335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.95, Y:123.91, Z:2.30 [[ 5.51129557e-02 -9.98479622e-01 -1.00377017e-03 2.82950127e+02] [ 9.98450772e-01 5.51190161e-02 -7.61242618e-03 1.23906022e+02] [ 7.65617924e-03 -5.82671796e-04 9.99970521e-01 2.29890641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.95, Y:123.93, Z:2.30 [[ 5.74381070e-02 -9.98348567e-01 -1.00171060e-03 2.82951777e+02] [ 9.98319700e-01 5.74440846e-02 -7.61269719e-03 1.23929636e+02] [ 7.65766768e-03 -5.62768506e-04 9.99970521e-01 2.29887696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.95, Y:123.95, Z:2.30 [[ 6.01293577e-02 -9.98190093e-01 -9.99772988e-04 2.82954145e+02] [ 9.98161207e-01 6.01352427e-02 -7.61295165e-03 1.23954699e+02] [ 7.65929450e-03 -5.40172720e-04 9.99970521e-01 2.30131166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.96, Y:123.98, Z:2.30 [[ 5.94943735e-02 -9.98228142e-01 -9.97877678e-04 2.82957442e+02] [ 9.98199258e-01 5.95002625e-02 -7.61320007e-03 1.23977629e+02] [ 7.65908455e-03 -5.43138189e-04 9.99970521e-01 2.30224768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.96, Y:124.00, Z:2.30 [[ 5.80087483e-02 -9.98315578e-01 -9.95730406e-04 2.82961741e+02] [ 9.98286699e-01 5.80146640e-02 -7.61348090e-03 1.24002295e+02] [ 7.65842355e-03 -5.52375923e-04 9.99970521e-01 2.30414722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.97, Y:124.03, Z:2.30 [[ 5.33781164e-02 -9.98573878e-01 -9.93673691e-04 2.82968834e+02] [ 9.98545023e-01 5.33841504e-02 -7.61374933e-03 1.24025235e+02] [ 7.65593761e-03 -5.85820321e-04 9.99970521e-01 2.30264764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.98, Y:124.05, Z:2.30 [[ 5.07431467e-02 -9.98711245e-01 -9.91544614e-04 2.82975249e+02] [ 9.98682403e-01 5.07492407e-02 -7.61402659e-03 1.24048412e+02] [ 7.65453410e-03 -6.03878489e-04 9.99970521e-01 2.30276205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.98, Y:124.07, Z:2.31 [[ 4.85479787e-02 -9.98820362e-01 -9.89483203e-04 2.82983034e+02] [ 9.98791530e-01 4.85541204e-02 -7.61429447e-03 1.24072450e+02] [ 7.65335584e-03 -6.18628837e-04 9.99970521e-01 2.30507995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.99, Y:124.10, Z:2.31 [[ 4.64515767e-02 -9.98920055e-01 -9.87446498e-04 2.82990068e+02] [ 9.98891233e-01 4.64577635e-02 -7.61455859e-03 1.24097461e+02] [ 7.65220984e-03 -6.32643398e-04 9.99970521e-01 2.30833222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.065898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:283.00, Y:124.12, Z:2.31 [[ 4.37191677e-02 -9.99043374e-01 -9.85533008e-04 2.82998474e+02] [ 9.99014566e-01 4.37254188e-02 -7.61480624e-03 1.24120074e+02] [ 7.65061456e-03 -6.51648840e-04 9.99970521e-01 2.31120519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.00, Y:124.14, Z:2.31 [[ 4.31004622e-02 -9.99070259e-01 -9.83365587e-04 2.83004127e+02] [ 9.99041451e-01 4.31067148e-02 -7.61508612e-03 1.24142692e+02] [ 7.65039573e-03 -6.54209252e-04 9.99970521e-01 2.30999428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.01, Y:124.17, Z:2.31 [[ 4.26231448e-02 -9.99090739e-01 -9.81246431e-04 2.83009480e+02] [ 9.99061931e-01 4.26293951e-02 -7.61535918e-03 1.24166894e+02] [ 7.65026477e-03 -6.55735397e-04 9.99970521e-01 2.30900662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.02, Y:124.19, Z:2.31 [[ 4.44141205e-02 -9.99012726e-01 -9.79197623e-04 2.83016734e+02] [ 9.98983903e-01 4.44203037e-02 -7.61562261e-03 1.24189594e+02] [ 7.65160016e-03 -6.39961483e-04 9.99970521e-01 2.30614867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.02, Y:124.21, Z:2.31 [[ 4.67333215e-02 -9.98906923e-01 -9.77302710e-04 2.83020893e+02] [ 9.98878083e-01 4.67394234e-02 -7.61586577e-03 1.24214139e+02] [ 7.65321961e-03 -6.20291554e-04 9.99970521e-01 2.30688659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.02, Y:124.24, Z:2.31 [[ 4.97109037e-02 -9.98763173e-01 -9.75266929e-04 2.83024216e+02] [ 9.98734311e-01 4.97169042e-02 -7.61612646e-03 1.24239105e+02] [ 7.65519388e-03 -5.95428015e-04 9.99970521e-01 2.30906955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.03, Y:124.26, Z:2.31 [[ 5.75498263e-02 -9.98342161e-01 -9.73335829e-04 2.83027501e+02] [ 9.98313250e-01 5.75555853e-02 -7.61637325e-03 1.24263623e+02] [ 7.65976744e-03 -5.33373098e-04 9.99970521e-01 2.31151335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.03, Y:124.29, Z:2.31 [[ 6.08401368e-02 -9.98147050e-01 -9.71325328e-04 2.83030805e+02] [ 9.98118118e-01 6.08457852e-02 -7.61662964e-03 1.24288311e+02] [ 7.66161746e-03 -5.06100619e-04 9.99970521e-01 2.31209468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.03, Y:124.31, Z:2.31 [[ 6.33767161e-02 -9.97989205e-01 -9.69262042e-04 2.83033893e+02] [ 9.97960255e-01 6.33822753e-02 -7.61689220e-03 1.24311522e+02] [ 7.66301022e-03 -4.84551381e-04 9.99970521e-01 2.31130162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.04, Y:124.34, Z:2.31 [[ 6.67758097e-02 -9.97767536e-01 -9.67323241e-04 2.83037679e+02] [ 9.97738565e-01 6.67812555e-02 -7.61713841e-03 1.24335659e+02] [ 7.66473248e-03 -4.56495117e-04 9.99970521e-01 2.31013278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.04, Y:124.36, Z:2.31 [[ 6.78341601e-02 -9.97696144e-01 -9.65247692e-04 2.83041414e+02] [ 9.97667164e-01 6.78395594e-02 -7.61740142e-03 1.24361184e+02] [ 7.66533400e-03 -4.46275899e-04 9.99970521e-01 2.31189524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.05, Y:124.39, Z:2.31 [[ 6.83860217e-02 -9.97658471e-01 -9.63278116e-04 2.83045577e+02] [ 9.97629485e-01 6.83913899e-02 -7.61765048e-03 1.24385681e+02] [ 7.66569345e-03 -4.40053840e-04 9.99970521e-01 2.31361798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.05, Y:124.41, Z:2.32 [[ 6.93093467e-02 -9.97594752e-01 -9.61562303e-04 2.83052923e+02] [ 9.97565759e-01 6.93146750e-02 -7.61786705e-03 1.24408811e+02] [ 7.66619457e-03 -4.31232240e-04 9.99970521e-01 2.31625861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.06, Y:124.43, Z:2.32 [[ 6.89326486e-02 -9.97620855e-01 -9.59398800e-04 2.83058004e+02] [ 9.97591860e-01 6.89379714e-02 -7.61813952e-03 1.24432855e+02] [ 7.66615386e-03 -4.31949899e-04 9.99970521e-01 2.31576460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.06, Y:124.46, Z:2.31 [[ 6.85176374e-02 -9.97649446e-01 -9.57336884e-04 2.83063397e+02] [ 9.97620451e-01 6.85229566e-02 -7.61839862e-03 1.24455863e+02] [ 7.66609071e-03 -4.33064180e-04 9.99970521e-01 2.31358493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.07, Y:124.48, Z:2.31 [[ 6.81989396e-02 -9.97671285e-01 -9.55388825e-04 2.83069823e+02] [ 9.97642289e-01 6.82042533e-02 -7.61864291e-03 1.24479996e+02] [ 7.66606284e-03 -4.33552926e-04 9.99970521e-01 2.31214515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.08, Y:124.50, Z:2.31 [[ 6.86223468e-02 -9.97642253e-01 -9.53354035e-04 2.83081191e+02] [ 9.97613252e-01 6.86276327e-02 -7.61889752e-03 1.24503608e+02] [ 7.66636052e-03 -4.28251991e-04 9.99970521e-01 2.31297359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.09, Y:124.53, Z:2.31 [[ 6.98487855e-02 -9.97557137e-01 -9.51291116e-04 2.83087876e+02] [ 9.97528127e-01 6.98540200e-02 -7.61915509e-03 1.24527302e+02] [ 7.66699405e-03 -4.16750916e-04 9.99970521e-01 2.31462782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.09, Y:124.55, Z:2.32 [[ 7.22073741e-02 -9.97389189e-01 -9.49216414e-04 2.83093828e+02] [ 9.97360164e-01 7.22125241e-02 -7.61941355e-03 1.24550438e+02] [ 7.66806602e-03 -3.96532793e-04 9.99970521e-01 2.31650835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.10, Y:124.57, Z:2.32 [[ 7.58302512e-02 -9.97120292e-01 -9.47056222e-04 2.83099028e+02] [ 9.97091245e-01 7.58352794e-02 -7.61968204e-03 1.24574479e+02] [ 7.66955986e-03 -3.66499064e-04 9.99970521e-01 2.31809260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:124.60, Z:2.32 [[ 8.54288531e-02 -9.96343825e-01 -9.44954044e-04 2.83105700e+02] [ 9.96314729e-01 8.54335852e-02 -7.61994274e-03 1.24597640e+02] [ 7.67281371e-03 -2.90508664e-04 9.99970521e-01 2.31586397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:124.62, Z:2.31 [[ 9.02689983e-02 -9.95916974e-01 -9.42769530e-04 2.83109282e+02] [ 9.95887852e-01 9.02735723e-02 -7.62021300e-03 1.24622016e+02] [ 7.67420665e-03 -2.51023728e-04 9.99970521e-01 2.31427354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:124.65, Z:2.31 [[ 1.00020791e-01 -9.94984903e-01 -9.40685508e-04 2.83110657e+02] [ 9.94955735e-01 1.00025064e-01 -7.62047026e-03 1.24645335e+02] [ 7.67634499e-03 -1.73734976e-04 9.99970521e-01 2.31387034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:124.67, Z:2.32 [[ 1.04165855e-01 -9.94559497e-01 -9.38603636e-04 2.83112567e+02] [ 9.94530310e-01 1.04169990e-01 -7.62072667e-03 1.24669968e+02] [ 7.67704042e-03 -1.39650254e-04 9.99970521e-01 2.31590355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.12, Y:124.69, Z:2.32 [[ 1.07405814e-01 -9.94214823e-01 -9.36492316e-04 2.83115113e+02] [ 9.94185620e-01 1.07409838e-01 -7.62098612e-03 1.24694574e+02] [ 7.67748585e-03 -1.12508973e-04 9.99970521e-01 2.31805087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.12, Y:124.72, Z:2.32 [[ 1.09667620e-01 -9.93967877e-01 -9.34364649e-04 2.83117429e+02] [ 9.93938663e-01 1.09671560e-01 -7.62124697e-03 1.24717963e+02] [ 7.67774790e-03 -9.28971369e-05 9.99970521e-01 2.31843197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.12, Y:124.74, Z:2.32 [[ 1.13043732e-01 -9.93589576e-01 -9.32244868e-04 2.83116967e+02] [ 9.93560347e-01 1.13047558e-01 -7.62150626e-03 1.24742812e+02] [ 7.67803718e-03 -6.46780197e-05 9.99970521e-01 2.31879226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.12, Y:124.77, Z:2.32 [[ 1.14447694e-01 -9.93428840e-01 -9.30188333e-04 2.83116934e+02] [ 9.93399603e-01 1.14451462e-01 -7.62175724e-03 1.24768071e+02] [ 7.67813487e-03 -5.17561808e-05 9.99970521e-01 2.31913655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.12, Y:124.79, Z:2.32 [[ 1.15670853e-01 -9.93287165e-01 -9.28064227e-04 2.83116415e+02] [ 9.93257922e-01 1.15674570e-01 -7.62201588e-03 1.24793357e+02] [ 7.67820397e-03 -4.01620633e-05 9.99970521e-01 2.31906145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.12, Y:124.82, Z:2.32 [[ 1.16905538e-01 -9.93142607e-01 -9.25937122e-04 2.83115918e+02] [ 9.93113357e-01 1.16909202e-01 -7.62227427e-03 1.24818590e+02] [ 7.67825591e-03 -2.84744470e-05 9.99970521e-01 2.31857724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:124.84, Z:2.32 [[ 1.18148238e-01 -9.92995539e-01 -9.23803407e-04 2.83111593e+02] [ 9.92966282e-01 1.18151848e-01 -7.62253287e-03 1.24843354e+02] [ 7.67829021e-03 -1.67168110e-05 9.99970521e-01 2.31675829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:124.87, Z:2.32 [[ 1.17887396e-01 -9.93026542e-01 -9.21594489e-04 2.83111443e+02] [ 9.92997284e-01 1.17890998e-01 -7.62279992e-03 1.24867172e+02] [ 7.67829034e-03 -1.65087880e-05 9.99970521e-01 2.31564470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:124.89, Z:2.32 [[ 1.16793676e-01 -9.93155774e-01 -9.19612467e-04 2.83112641e+02] [ 9.93126518e-01 1.16797294e-01 -7.62303903e-03 1.24891651e+02] [ 7.67827347e-03 -2.29687779e-05 9.99970521e-01 2.31605761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:124.92, Z:2.32 [[ 1.14732166e-01 -9.93396038e-01 -9.17516315e-04 2.83114955e+02] [ 9.93366788e-01 1.14735829e-01 -7.62329131e-03 1.24916315e+02] [ 7.67821938e-03 -3.67935093e-05 9.99970521e-01 2.31823060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.12, Y:124.94, Z:2.32 [[ 1.09461402e-01 -9.93990626e-01 -9.15390744e-04 2.83117045e+02] [ 9.93961393e-01 1.09465203e-01 -7.62354654e-03 1.24939913e+02] [ 7.67793723e-03 -7.53789674e-05 9.99970521e-01 2.32009537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.12, Y:124.96, Z:2.32 [[ 1.07196785e-01 -9.94237404e-01 -9.13207490e-04 2.83119203e+02] [ 9.94208178e-01 1.07200637e-01 -7.62380806e-03 1.24963999e+02] [ 7.67777156e-03 -9.06706381e-05 9.99970521e-01 2.32038162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.12, Y:124.99, Z:2.32 [[ 1.05372627e-01 -9.94432391e-01 -9.11159921e-04 2.83121712e+02] [ 9.94403170e-01 1.05376516e-01 -7.62405277e-03 1.24988713e+02] [ 7.67761988e-03 -1.02693848e-04 9.99970521e-01 2.31994279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.12, Y:125.01, Z:2.32 [[ 1.03835242e-01 -9.94594096e-01 -9.09127921e-04 2.83124572e+02] [ 9.94564879e-01 1.03839161e-01 -7.62429506e-03 1.25012636e+02] [ 7.67748194e-03 -1.12516180e-04 9.99970521e-01 2.31946523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.205898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.13, Y:125.04, Z:2.32 [[ 1.02558461e-01 -9.94726565e-01 -9.07021918e-04 2.83129524e+02] [ 9.94697351e-01 1.02562401e-01 -7.62454560e-03 1.25037195e+02] [ 7.67736440e-03 -1.20250641e-04 9.99970521e-01 2.31845860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.13, Y:125.06, Z:2.32 [[ 1.02957439e-01 -9.94685351e-01 -9.04941334e-04 2.83133575e+02] [ 9.94656133e-01 1.02961351e-01 -7.62479253e-03 1.25060529e+02] [ 7.67744341e-03 -1.15076337e-04 9.99970521e-01 2.31643402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.14, Y:125.09, Z:2.31 [[ 1.04305186e-01 -9.94544928e-01 -9.02785225e-04 2.83137609e+02] [ 9.94515702e-01 1.04309042e-01 -7.62504780e-03 1.25085146e+02] [ 7.67762128e-03 -1.02502055e-04 9.99970521e-01 2.31436222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.29589822699995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:283.14, Y:125.11, Z:2.31 [[ 1.06674585e-01 -9.94293579e-01 -9.00729325e-04 2.83141731e+02] [ 9.94264343e-01 1.06678356e-01 -7.62529066e-03 1.25109996e+02] [ 7.67786586e-03 -8.21383374e-05 9.99970521e-01 2.31321930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.15, Y:125.13, Z:2.31 [[ 1.12267388e-01 -9.93677627e-01 -8.98761632e-04 2.83147891e+02] [ 9.93648368e-01 1.12270980e-01 -7.62552257e-03 1.25133675e+02] [ 7.67821602e-03 -3.69555259e-05 9.99970521e-01 2.31342703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.35589822699995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:283.15, Y:125.16, Z:2.32 [[ 1.14025116e-01 -9.93477463e-01 -8.96720192e-04 2.83152399e+02] [ 9.93448195e-01 1.14028640e-01 -7.62576263e-03 1.25156764e+02] [ 7.67827509e-03 -2.13165847e-05 9.99970521e-01 2.31723363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.16, Y:125.18, Z:2.32 [[ 1.15252377e-01 -9.93335839e-01 -8.94587050e-04 2.83157638e+02] [ 9.93306566e-01 1.15255849e-01 -7.62601286e-03 1.25181195e+02] [ 7.67829827e-03 -9.68307810e-06 9.99970521e-01 2.32077445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.17, Y:125.20, Z:2.32 [[ 1.16927522e-01 -9.93140049e-01 -8.92624739e-04 2.83165753e+02] [ 9.93110768e-01 1.16930929e-01 -7.62624254e-03 1.25204258e+02] [ 7.67830234e-03 5.24240209e-06 9.99970521e-01 2.32148153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.17, Y:125.23, Z:2.32 [[ 1.17994981e-01 -9.93013792e-01 -8.90508454e-04 2.83171081e+02] [ 9.92984506e-01 1.17998340e-01 -7.62648965e-03 1.25228110e+02] [ 7.67828793e-03 1.56264060e-05 9.99970521e-01 2.32259470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.18, Y:125.25, Z:2.32 [[ 1.20199021e-01 -9.92749418e-01 -8.88370179e-04 2.83176491e+02] [ 9.92720122e-01 1.20202299e-01 -7.62673872e-03 1.25251051e+02] [ 7.67822456e-03 3.48235758e-05 9.99970521e-01 2.32058521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.18, Y:125.27, Z:2.32 [[ 1.23628609e-01 -9.92328162e-01 -8.86151116e-04 2.83181230e+02] [ 9.92298854e-01 1.23631769e-01 -7.62699654e-03 1.25274158e+02] [ 7.67803989e-03 6.35882381e-05 9.99970521e-01 2.32151458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:125.30, Z:2.33 [[ 1.34113611e-01 -9.90965568e-01 -8.84043299e-04 2.83185386e+02] [ 9.90936226e-01 1.34116444e-01 -7.62724085e-03 1.25298257e+02] [ 7.67689781e-03 1.46886283e-04 9.99970521e-01 2.32580415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:125.32, Z:2.33 [[ 1.39608614e-01 -9.90206371e-01 -8.81905243e-04 2.83187073e+02] [ 9.90177012e-01 1.39611268e-01 -7.62748806e-03 1.25322967e+02] [ 7.67591118e-03 1.91620736e-04 9.99970521e-01 2.32584924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:125.35, Z:2.32 [[ 1.44428798e-01 -9.89514805e-01 -8.79748303e-04 2.83188012e+02] [ 9.89485432e-01 1.44431293e-01 -7.62773683e-03 1.25346725e+02] [ 7.67482170e-03 2.31166734e-04 9.99970521e-01 2.32277555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:125.37, Z:2.32 [[ 1.50317378e-01 -9.88637404e-01 -8.77724888e-04 2.83187018e+02] [ 9.88608015e-01 1.50319682e-01 -7.62796966e-03 1.25371386e+02] [ 7.67323544e-03 2.78890537e-04 9.99970521e-01 2.32282744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:125.39, Z:2.32 [[ 1.50917824e-01 -9.88545924e-01 -8.75643779e-04 2.83188987e+02] [ 9.88516533e-01 1.50920094e-01 -7.62820855e-03 1.25394829e+02] [ 7.67298671e-03 2.85644285e-04 9.99970521e-01 2.32451719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:125.42, Z:2.33 [[ 1.49821811e-01 -9.88712629e-01 -8.73491274e-04 2.83191967e+02] [ 9.88683239e-01 1.49824097e-01 -7.62845502e-03 1.25419350e+02] [ 7.67321986e-03 2.79302763e-04 9.99970521e-01 2.32691336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:125.44, Z:2.33 [[ 1.49544557e-01 -9.88754604e-01 -8.71347139e-04 2.83194457e+02] [ 9.88725213e-01 1.49546834e-01 -7.62869992e-03 1.25444362e+02] [ 7.67321937e-03 2.79307663e-04 9.99970521e-01 2.32710643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.20, Y:125.47, Z:2.33 [[ 1.43468198e-01 -9.89654546e-01 -8.69207817e-04 2.83197824e+02] [ 9.89625169e-01 1.43470640e-01 -7.62894367e-03 1.25467603e+02] [ 7.67472458e-03 2.34320870e-04 9.99970521e-01 2.32504675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.20, Y:125.49, Z:2.32 [[ 1.39623029e-01 -9.90204352e-01 -8.66991157e-04 2.83201923e+02] [ 9.90174983e-01 1.39625567e-01 -7.62919557e-03 1.25491827e+02] [ 7.67551679e-03 2.06738438e-04 9.99970521e-01 2.32459951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.21, Y:125.52, Z:2.33 [[ 1.35933303e-01 -9.90717613e-01 -8.64854461e-04 2.83206224e+02] [ 9.90688252e-01 1.35935935e-01 -7.62943778e-03 1.25515129e+02] [ 7.67618319e-03 1.80293527e-04 9.99970521e-01 2.32524697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.21, Y:125.54, Z:2.33 [[ 1.31782697e-01 -9.91278254e-01 -8.62633714e-04 2.83213017e+02] [ 9.91248903e-01 1.31785435e-01 -7.62968887e-03 1.25538653e+02] [ 7.67682722e-03 1.50376255e-04 9.99970521e-01 2.32801679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.22, Y:125.56, Z:2.33 [[ 1.31968662e-01 -9.91253515e-01 -8.60492010e-04 2.83216476e+02] [ 9.91224162e-01 1.31971378e-01 -7.62993040e-03 1.25561601e+02] [ 7.67675565e-03 1.53971235e-04 9.99970521e-01 2.32833762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.22, Y:125.59, Z:2.33 [[ 1.33677245e-01 -9.91024549e-01 -8.58268518e-04 2.83219255e+02] [ 9.90995190e-01 1.33679893e-01 -7.63018051e-03 1.25585613e+02] [ 7.67642944e-03 1.69441539e-04 9.99970521e-01 2.32804549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.22, Y:125.61, Z:2.33 [[ 1.36366886e-01 -9.90658034e-01 -8.56146680e-04 2.83221379e+02] [ 9.90628666e-01 1.36369438e-01 -7.63041858e-03 1.25609880e+02] [ 7.67588771e-03 1.92412982e-04 9.99970521e-01 2.32622669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.22, Y:125.63, Z:2.32 [[ 1.42222692e-01 -9.89834318e-01 -8.54029366e-04 2.83223083e+02] [ 9.89804934e-01 1.42225054e-01 -7.63065556e-03 1.25634378e+02] [ 7.67454911e-03 2.39929898e-04 9.99970521e-01 2.32298271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.23, Y:125.66, Z:2.32 [[ 1.43756664e-01 -9.89612700e-01 -8.51860896e-04 2.83225197e+02] [ 9.89583311e-01 1.43758964e-01 -7.63089763e-03 1.25657705e+02] [ 7.67409584e-03 2.54005063e-04 9.99970521e-01 2.32110910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.23, Y:125.68, Z:2.32 [[ 1.44239766e-01 -9.89542403e-01 -8.49624721e-04 2.83227880e+02] [ 9.89513012e-01 1.44242034e-01 -7.63114660e-03 1.25682406e+02] [ 7.67389474e-03 2.60000079e-04 9.99970521e-01 2.32179432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.23, Y:125.71, Z:2.32 [[ 1.41218696e-01 -9.89978061e-01 -8.47488955e-04 2.83233151e+02] [ 9.89948676e-01 1.41221037e-01 -7.63138378e-03 1.25706944e+02] [ 7.67458579e-03 2.38723495e-04 9.99970521e-01 2.32035540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.24, Y:125.73, Z:2.32 [[ 1.37848378e-01 -9.90452982e-01 -8.45346346e-04 2.83238074e+02] [ 9.90423604e-01 1.37850802e-01 -7.63162111e-03 1.25730140e+02] [ 7.67529356e-03 2.14755615e-04 9.99970521e-01 2.31880583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.24, Y:125.75, Z:2.32 [[ 1.34253768e-01 -9.90946626e-01 -8.43321553e-04 2.83243388e+02] [ 9.90917254e-01 1.34256284e-01 -7.63184485e-03 1.25753562e+02] [ 7.67597212e-03 1.88942053e-04 9.99970521e-01 2.31721465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.25, Y:125.78, Z:2.32 [[ 1.31246489e-01 -9.91349409e-01 -8.41137026e-04 2.83249119e+02] [ 9.91320045e-01 1.31249077e-01 -7.63208561e-03 1.25777265e+02] [ 7.67646202e-03 1.67848446e-04 9.99970521e-01 2.31821126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.26, Y:125.80, Z:2.32 [[ 1.28018720e-01 -9.91771397e-01 -8.38972946e-04 2.83257889e+02] [ 9.91742039e-01 1.28021387e-01 -7.63232350e-03 1.25799928e+02] [ 7.67692661e-03 1.45035542e-04 9.99970521e-01 2.31862495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.26, Y:125.82, Z:2.32 [[ 1.28984003e-01 -9.91646321e-01 -8.36724271e-04 2.83262542e+02] [ 9.91616960e-01 1.28986624e-01 -7.63257001e-03 1.25824464e+02] [ 7.67673621e-03 1.54769455e-04 9.99970521e-01 2.32082551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.27, Y:125.85, Z:2.32 [[ 1.32282995e-01 -9.91211639e-01 -8.34668687e-04 2.83266343e+02] [ 9.91182267e-01 1.32285502e-01 -7.63279479e-03 1.25848331e+02] [ 7.67612960e-03 1.82380152e-04 9.99970521e-01 2.32317342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.27, Y:125.87, Z:2.32 [[ 1.37006901e-01 -9.90569743e-01 -8.32518428e-04 2.83269298e+02] [ 9.90540359e-01 1.37009252e-01 -7.63302932e-03 1.25871874e+02] [ 7.67511062e-03 2.21134589e-04 9.99970521e-01 2.32374715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.27, Y:125.90, Z:2.33 [[ 1.48901221e-01 -9.88851727e-01 -8.30297539e-04 2.83271734e+02] [ 9.88822315e-01 1.48903201e-01 -7.63327089e-03 1.25896814e+02] [ 7.67180706e-03 3.15586620e-04 9.99970521e-01 2.32870474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.315898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:283.27, Y:125.92, Z:2.33 [[ 1.54577486e-01 -9.87980321e-01 -8.28283313e-04 2.83272401e+02] [ 9.87950897e-01 1.54579282e-01 -7.63348945e-03 1.25920874e+02] [ 7.66977279e-03 3.61662367e-04 9.99970521e-01 2.33115070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.27, Y:125.95, Z:2.33 [[ 1.63661057e-01 -9.86516283e-01 -8.26022547e-04 2.83271401e+02] [ 9.86486843e-01 1.63662565e-01 -7.63373408e-03 1.25945486e+02] [ 7.66599193e-03 4.34484612e-04 9.99970521e-01 2.33359856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.27, Y:125.97, Z:2.33 [[ 1.65967599e-01 -9.86130862e-01 -8.23928548e-04 2.83272379e+02] [ 9.86101418e-01 1.65969022e-01 -7.63396008e-03 1.25969342e+02] [ 7.66483025e-03 4.54512914e-04 9.99970521e-01 2.33254258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.27, Y:125.99, Z:2.33 [[ 1.67123694e-01 -9.85935594e-01 -8.21978331e-04 2.83274037e+02] [ 9.85906147e-01 1.67125068e-01 -7.63417006e-03 1.25993925e+02] [ 7.66417318e-03 4.65457216e-04 9.99970521e-01 2.33100140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:126.02, Z:2.33 [[ 1.67410055e-01 -9.85887013e-01 -8.19891318e-04 2.83275615e+02] [ 9.85857565e-01 1.67411403e-01 -7.63439420e-03 1.26018240e+02] [ 7.66390924e-03 4.69778293e-04 9.99970521e-01 2.32878514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.46589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.28, Y:126.04, Z:2.32 [[ 1.66764631e-01 -9.85996394e-01 -8.17790212e-04 2.83275035e+02] [ 9.85966947e-01 1.66765982e-01 -7.63461926e-03 1.26042692e+02] [ 7.66408665e-03 4.66870344e-04 9.99970521e-01 2.32462016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:126.07, Z:2.32 [[ 1.65359552e-01 -9.86233012e-01 -8.15702260e-04 2.83275006e+02] [ 9.86203565e-01 1.65360930e-01 -7.63484233e-03 1.26066108e+02] [ 7.66461883e-03 4.58045634e-04 9.99970521e-01 2.32382628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:126.09, Z:2.33 [[ 1.63871549e-01 -9.86481350e-01 -8.13531038e-04 2.83275571e+02] [ 9.86451905e-01 1.63872954e-01 -7.63507368e-03 1.26090869e+02] [ 7.66517353e-03 4.48662109e-04 9.99970521e-01 2.32510192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:126.12, Z:2.33 [[ 1.62107096e-01 -9.86772837e-01 -8.11411595e-04 2.83276323e+02] [ 9.86743393e-01 1.62108538e-01 -7.63529892e-03 1.26116038e+02] [ 7.66584232e-03 4.37081106e-04 9.99970521e-01 2.32619531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:126.14, Z:2.33 [[ 1.57216949e-01 -9.87563758e-01 -8.09301830e-04 2.83276181e+02] [ 9.87534321e-01 1.57218520e-01 -7.63552254e-03 1.26140835e+02] [ 7.66780257e-03 4.01220220e-04 9.99970521e-01 2.32922042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:126.17, Z:2.33 [[ 1.54652119e-01 -9.87968659e-01 -8.07233362e-04 2.83277658e+02] [ 9.87939225e-01 1.54653750e-01 -7.63574121e-03 1.26165430e+02] [ 7.66871467e-03 3.83386052e-04 9.99970522e-01 2.32943681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.645898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.28, Y:126.19, Z:2.33 [[ 1.52145943e-01 -9.88357711e-01 -8.05117474e-04 2.83279416e+02] [ 9.88328280e-01 1.52147633e-01 -7.63596430e-03 1.26189687e+02] [ 7.66956091e-03 3.66060620e-04 9.99970522e-01 2.32881998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:126.21, Z:2.33 [[ 1.50717096e-01 -9.88576609e-01 -8.02964589e-04 2.83281681e+02] [ 9.88547181e-01 1.50718812e-01 -7.63619068e-03 1.26213489e+02] [ 7.66998136e-03 3.57136105e-04 9.99970522e-01 2.32615572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:126.24, Z:2.32 [[ 1.50622162e-01 -9.88591080e-01 -8.00732407e-04 2.83283668e+02] [ 9.88561650e-01 1.50623864e-01 -7.63642474e-03 1.26238252e+02] [ 7.66991079e-03 3.58641457e-04 9.99970522e-01 2.32276817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.29, Y:126.26, Z:2.32 [[ 1.51695026e-01 -9.88427024e-01 -7.98686521e-04 2.83285276e+02] [ 9.88397592e-01 1.51696679e-01 -7.63663872e-03 1.26263423e+02] [ 7.66941817e-03 3.69020271e-04 9.99970522e-01 2.32337599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.765898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.29, Y:126.29, Z:2.32 [[ 1.53083357e-01 -9.88212958e-01 -7.96665996e-04 2.83285692e+02] [ 9.88183523e-01 1.53084954e-01 -7.63684949e-03 1.26287843e+02] [ 7.66879121e-03 3.81822350e-04 9.99970522e-01 2.32259663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.79589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.28, Y:126.31, Z:2.33 [[ 1.56411499e-01 -9.87691658e-01 -7.94565390e-04 2.83284280e+02] [ 9.87662217e-01 1.56412980e-01 -7.63706804e-03 1.26313499e+02] [ 7.66734874e-03 4.09763043e-04 9.99970522e-01 2.32837601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:126.34, Z:2.33 [[ 1.57553092e-01 -9.87510200e-01 -7.92612712e-04 2.83284844e+02] [ 9.87480756e-01 1.57554525e-01 -7.63727070e-03 1.26337905e+02] [ 7.66676243e-03 4.20585814e-04 9.99970522e-01 2.32828375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.29, Y:126.36, Z:2.33 [[ 1.57914465e-01 -9.87452478e-01 -7.90492240e-04 2.83285292e+02] [ 9.87423033e-01 1.57915871e-01 -7.63749017e-03 1.26361169e+02] [ 7.66648986e-03 4.25519933e-04 9.99970522e-01 2.32684495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:126.39, Z:2.33 [[ 1.57783121e-01 -9.87473476e-01 -7.88302708e-04 2.83284886e+02] [ 9.87444030e-01 1.57784513e-01 -7.63771615e-03 1.26386284e+02] [ 7.66642408e-03 4.26697888e-04 9.99970522e-01 2.32610664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.29, Y:126.41, Z:2.33 [[ 1.56909729e-01 -9.87612636e-01 -7.86186274e-04 2.83286497e+02] [ 9.87583191e-01 1.56911131e-01 -7.63793400e-03 1.26411972e+02] [ 7.66668151e-03 4.22041802e-04 9.99970522e-01 2.32768078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.29, Y:126.44, Z:2.33 [[ 1.56038756e-01 -9.87750622e-01 -7.84169113e-04 2.83288722e+02] [ 9.87721178e-01 1.56040169e-01 -7.63814109e-03 1.26436755e+02] [ 7.66694050e-03 4.17305597e-04 9.99970522e-01 2.32795230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.29, Y:126.46, Z:2.33 [[ 1.53867532e-01 -9.88091176e-01 -7.82073896e-04 2.83291523e+02] [ 9.88061733e-01 1.53868993e-01 -7.63835562e-03 1.26460493e+02] [ 7.66772870e-03 4.02557637e-04 9.99970522e-01 2.32925746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.005898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:283.29, Y:126.48, Z:2.33 [[ 1.52674399e-01 -9.88276237e-01 -7.79893234e-04 2.83294187e+02] [ 9.88246795e-01 1.52675878e-01 -7.63857826e-03 1.26484700e+02] [ 7.66809626e-03 3.95488355e-04 9.99970522e-01 2.33083257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.30, Y:126.51, Z:2.33 [[ 1.51843355e-01 -9.88404265e-01 -7.77764451e-04 2.83299233e+02] [ 9.88374824e-01 1.51844843e-01 -7.63879501e-03 1.26509101e+02] [ 7.66831709e-03 3.91177463e-04 9.99970522e-01 2.33152385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.30, Y:126.53, Z:2.33 [[ 1.52473308e-01 -9.88307285e-01 -7.75614001e-04 2.83302807e+02] [ 9.88277842e-01 1.52474760e-01 -7.63901335e-03 1.26532807e+02] [ 7.66795410e-03 3.98223501e-04 9.99970522e-01 2.33158344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.31, Y:126.56, Z:2.33 [[ 1.53275245e-01 -9.88183233e-01 -7.73383897e-04 2.83306330e+02] [ 9.88153788e-01 1.53276656e-01 -7.63923912e-03 1.26556528e+02] [ 7.66750971e-03 4.06684017e-04 9.99970522e-01 2.33009697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.31, Y:126.58, Z:2.33 [[ 1.54342814e-01 -9.88017055e-01 -7.71180795e-04 2.83309617e+02] [ 9.87987608e-01 1.54344177e-01 -7.63946152e-03 1.26581436e+02] [ 7.66694554e-03 4.17178923e-04 9.99970522e-01 2.33025362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.31, Y:126.60, Z:2.33 [[ 1.55502579e-01 -9.87835187e-01 -7.69056383e-04 2.83312950e+02] [ 9.87805738e-01 1.55503891e-01 -7.63967538e-03 1.26604661e+02] [ 7.66633141e-03 4.28310918e-04 9.99970522e-01 2.32982888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.32, Y:126.63, Z:2.33 [[ 1.54637284e-01 -9.87971013e-01 -7.66859406e-04 2.83315249e+02] [ 9.87941564e-01 1.54638604e-01 -7.63989590e-03 1.26629270e+02] [ 7.66658176e-03 4.23800469e-04 9.99970522e-01 2.33302487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.32, Y:126.65, Z:2.34 [[ 1.53115639e-01 -9.88207982e-01 -7.64840252e-04 2.83318673e+02] [ 9.88178535e-01 1.53116990e-01 -7.64009804e-03 1.26654382e+02] [ 7.66711590e-03 4.14019775e-04 9.99970522e-01 2.33570324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.32, Y:126.68, Z:2.34 [[ 1.50142876e-01 -9.88664015e-01 -7.62826788e-04 2.83323643e+02] [ 9.88634571e-01 1.50144300e-01 -7.64029906e-03 1.26677434e+02] [ 7.66822284e-03 3.92979542e-04 9.99970522e-01 2.33727722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.33, Y:126.70, Z:2.34 [[ 1.49334188e-01 -9.88786490e-01 -7.60651266e-04 2.83326972e+02] [ 9.88757046e-01 1.49335619e-01 -7.64051565e-03 1.26700586e+02] [ 7.66843097e-03 3.88890901e-04 9.99970522e-01 2.33658904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.33, Y:126.73, Z:2.34 [[ 1.48956209e-01 -9.88843503e-01 -7.58530462e-04 2.83329863e+02] [ 9.88814059e-01 1.48957635e-01 -7.64072619e-03 1.26725489e+02] [ 7.66847135e-03 3.88088023e-04 9.99970522e-01 2.33523120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.33, Y:126.75, Z:2.33 [[ 1.48686429e-01 -9.88884105e-01 -7.56471715e-04 2.83332185e+02] [ 9.88854661e-01 1.48687847e-01 -7.64093001e-03 1.26748978e+02] [ 7.66847239e-03 3.88062020e-04 9.99970522e-01 2.33405886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.33, Y:126.77, Z:2.33 [[ 1.48379271e-01 -9.88930242e-01 -7.54538713e-04 2.83334632e+02] [ 9.88900797e-01 1.48380683e-01 -7.64112089e-03 1.26773270e+02] [ 7.66849450e-03 3.87620012e-04 9.99970522e-01 2.33410038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.34, Y:126.80, Z:2.34 [[ 1.47070538e-01 -9.89125720e-01 -7.52489222e-04 2.83338270e+02] [ 9.89096277e-01 1.47071974e-01 -7.64132272e-03 1.26797514e+02] [ 7.66889891e-03 3.79529158e-04 9.99970522e-01 2.33755250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.34, Y:126.82, Z:2.34 [[ 1.46061216e-01 -9.89275269e-01 -7.50531037e-04 2.83341249e+02] [ 9.89245826e-01 1.46062666e-01 -7.64151504e-03 1.26822165e+02] [ 7.66918642e-03 3.73669285e-04 9.99970522e-01 2.33932507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.34, Y:126.85, Z:2.34 [[ 1.44828685e-01 -9.89456463e-01 -7.48508890e-04 2.83344400e+02] [ 9.89427021e-01 1.44830157e-01 -7.64171312e-03 1.26846473e+02] [ 7.66954909e-03 3.66144342e-04 9.99970522e-01 2.33960169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.35, Y:126.87, Z:2.34 [[ 1.43255129e-01 -9.89685511e-01 -7.46490092e-04 2.83347716e+02] [ 9.89656071e-01 1.43256632e-01 -7.64191032e-03 1.26871216e+02] [ 7.67002758e-03 3.55974400e-04 9.99970522e-01 2.33845890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.35, Y:126.90, Z:2.34 [[ 1.41670213e-01 -9.89913631e-01 -7.44473110e-04 2.83351299e+02] [ 9.89884192e-01 1.41671747e-01 -7.64210681e-03 1.26896122e+02] [ 7.67049650e-03 3.45716733e-04 9.99970522e-01 2.33643373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.36, Y:126.92, Z:2.33 [[ 1.39322645e-01 -9.90246762e-01 -7.42457218e-04 2.83355910e+02] [ 9.90217326e-01 1.39324234e-01 -7.64230265e-03 1.26920173e+02] [ 7.67120774e-03 3.29551822e-04 9.99970522e-01 2.33380423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.36, Y:126.95, Z:2.33 [[ 1.38169641e-01 -9.90408301e-01 -7.40455101e-04 2.83359723e+02] [ 9.90378866e-01 1.38171248e-01 -7.64249663e-03 1.26945047e+02] [ 7.67150171e-03 3.22629933e-04 9.99970522e-01 2.33413497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.36, Y:126.97, Z:2.33 [[ 1.37910903e-01 -9.90444364e-01 -7.38461415e-04 2.83361760e+02] [ 9.90414929e-01 1.37912503e-01 -7.64268927e-03 1.26970107e+02] [ 7.67150157e-03 3.22626967e-04 9.99970522e-01 2.33432803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.37, Y:126.99, Z:2.33 [[ 1.36935692e-01 -9.90579666e-01 -7.36464735e-04 2.83365894e+02] [ 9.90550231e-01 1.36937306e-01 -7.64288167e-03 1.26992965e+02] [ 7.67173266e-03 3.17077978e-04 9.99970522e-01 2.33431158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.37, Y:127.02, Z:2.34 [[ 1.35833016e-01 -9.90731474e-01 -7.34311950e-04 2.83371597e+02] [ 9.90702040e-01 1.35834645e-01 -7.64308850e-03 1.27015743e+02] [ 7.67199333e-03 3.10699413e-04 9.99970522e-01 2.33615112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.38, Y:127.04, Z:2.34 [[ 1.35605148e-01 -9.90762690e-01 -7.32252137e-04 2.83375252e+02] [ 9.90733256e-01 1.35606769e-01 -7.64328583e-03 1.27038512e+02] [ 7.67198078e-03 3.11002364e-04 9.99970522e-01 2.33623443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.38, Y:127.06, Z:2.34 [[ 1.36358217e-01 -9.90659328e-01 -7.30050083e-04 2.83379225e+02] [ 9.90629892e-01 1.36359798e-01 -7.64349616e-03 1.27062040e+02] [ 7.67165025e-03 3.19044073e-04 9.99970522e-01 2.33574559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.38, Y:127.09, Z:2.33 [[ 1.37601514e-01 -9.90487402e-01 -7.27933486e-04 2.83383454e+02] [ 9.90457963e-01 1.37603042e-01 -7.64369773e-03 1.27085681e+02] [ 7.67115217e-03 3.30796861e-04 9.99970522e-01 2.33455015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.39, Y:127.11, Z:2.33 [[ 1.40712468e-01 -9.90050238e-01 -7.25815907e-04 2.83390182e+02] [ 9.90020794e-01 1.40713887e-01 -7.64389880e-03 1.27108284e+02] [ 7.66997621e-03 3.57019026e-04 9.99970522e-01 2.33180539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.39, Y:127.13, Z:2.33 [[ 1.41769880e-01 -9.89899378e-01 -7.23644491e-04 2.83394295e+02] [ 9.89869931e-01 1.41771251e-01 -7.64410436e-03 1.27130815e+02] [ 7.66948613e-03 3.67389835e-04 9.99970522e-01 2.33051248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.40, Y:127.15, Z:2.33 [[ 1.42292488e-01 -9.89824392e-01 -7.21482733e-04 2.83398108e+02] [ 9.89794944e-01 1.42293826e-01 -7.64430839e-03 1.27154021e+02] [ 7.66918545e-03 3.73607695e-04 9.99970522e-01 2.32960596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.40, Y:127.18, Z:2.33 [[ 1.42812292e-01 -9.89749530e-01 -7.19409642e-04 2.83402159e+02] [ 9.89720080e-01 1.42813599e-01 -7.64450349e-03 1.27177193e+02] [ 7.66888521e-03 3.79714894e-04 9.99970522e-01 2.32954276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.41, Y:127.20, Z:2.33 [[ 1.44297526e-01 -9.89534087e-01 -7.17331530e-04 2.83410407e+02] [ 9.89504635e-01 1.44298773e-01 -7.64469848e-03 1.27201192e+02] [ 7.66819979e-03 3.93308207e-04 9.99970522e-01 2.33252609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.42, Y:127.23, Z:2.33 [[ 1.45152282e-01 -9.89409068e-01 -7.15224319e-04 2.83415968e+02] [ 9.89379614e-01 1.45153488e-01 -7.64489563e-03 1.27225415e+02] [ 7.66774636e-03 4.02045687e-04 9.99970522e-01 2.33330076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.42, Y:127.25, Z:2.34 [[ 1.46302892e-01 -9.89239584e-01 -7.13128090e-04 2.83420949e+02] [ 9.89210129e-01 1.46304047e-01 -7.64509116e-03 1.27250086e+02] [ 7.66716033e-03 4.13065416e-04 9.99970522e-01 2.33572294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.42, Y:127.27, Z:2.34 [[ 1.47933458e-01 -9.88997061e-01 -7.11033008e-04 2.83424803e+02] [ 9.88967603e-01 1.47934548e-01 -7.64528601e-03 1.27273187e+02] [ 7.66635174e-03 4.27804987e-04 9.99970522e-01 2.33838214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.43, Y:127.30, Z:2.34 [[ 1.50150445e-01 -9.88662906e-01 -7.08822323e-04 2.83427858e+02] [ 9.88633445e-01 1.50151452e-01 -7.64549096e-03 1.27297375e+02] [ 7.66524401e-03 4.47208413e-04 9.99970522e-01 2.34033515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.43, Y:127.32, Z:2.34 [[ 1.52872079e-01 -9.88245733e-01 -7.06807687e-04 2.83430601e+02] [ 9.88216268e-01 1.52872989e-01 -7.64567721e-03 1.27322094e+02] [ 7.66385968e-03 4.70331714e-04 9.99970522e-01 2.34279870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.43, Y:127.35, Z:2.34 [[ 1.58631206e-01 -9.87337654e-01 -7.04788398e-04 2.83434523e+02] [ 9.87308185e-01 1.58631929e-01 -7.64586334e-03 1.27346611e+02] [ 7.66085072e-03 5.17029169e-04 9.99970522e-01 2.34425257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.44, Y:127.37, Z:2.34 [[ 1.60483104e-01 -9.87038338e-01 -7.02686400e-04 2.83437042e+02] [ 9.87008866e-01 1.60483755e-01 -7.64605652e-03 1.27370330e+02] [ 7.65972067e-03 5.33505174e-04 9.99970522e-01 2.34383616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.44, Y:127.39, Z:2.34 [[ 1.61430293e-01 -9.86883868e-01 -7.00720952e-04 2.83439190e+02] [ 9.86854396e-01 1.61430901e-01 -7.64623664e-03 1.27393480e+02] [ 7.65906561e-03 5.42824667e-04 9.99970522e-01 2.34265104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.44, Y:127.42, Z:2.34 [[ 1.61921076e-01 -9.86803464e-01 -6.98776042e-04 2.83442280e+02] [ 9.86773992e-01 1.61921654e-01 -7.64641438e-03 1.27418053e+02] [ 7.65865517e-03 5.48581617e-04 9.99970522e-01 2.34343018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.44, Y:127.44, Z:2.35 [[ 1.61944352e-01 -9.86799646e-01 -6.96714397e-04 2.83444469e+02] [ 9.86770173e-01 1.61944914e-01 -7.64660222e-03 1.27442748e+02] [ 7.65849372e-03 5.50827054e-04 9.99970522e-01 2.34546491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.45, Y:127.47, Z:2.35 [[ 1.61854980e-01 -9.86814310e-01 -6.94607680e-04 2.83446454e+02] [ 9.86784837e-01 1.61855529e-01 -7.64679359e-03 1.27467516e+02] [ 7.65839143e-03 5.52243301e-04 9.99970522e-01 2.34728726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.45, Y:127.49, Z:2.35 [[ 1.61354281e-01 -9.86896305e-01 -6.92503999e-04 2.83448092e+02] [ 9.86866832e-01 1.61354828e-01 -7.64698410e-03 1.27491221e+02] [ 7.65851921e-03 5.50464391e-04 9.99970522e-01 2.34606849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.45, Y:127.52, Z:2.34 [[ 1.60898102e-01 -9.86970782e-01 -6.90324084e-04 2.83449294e+02] [ 9.86941309e-01 1.60898646e-01 -7.64718088e-03 1.27516310e+02] [ 7.65861630e-03 5.49107532e-04 9.99970522e-01 2.34465591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.325898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:283.45, Y:127.54, Z:2.34 [[ 1.60433288e-01 -9.87046446e-01 -6.88239150e-04 2.83449841e+02] [ 9.87016973e-01 1.60433829e-01 -7.64736852e-03 1.27540725e+02] [ 7.65872476e-03 5.47588752e-04 9.99970522e-01 2.34393850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.45, Y:127.57, Z:2.34 [[ 1.60258834e-01 -9.87074787e-01 -6.86155384e-04 2.83452082e+02] [ 9.87045314e-01 1.60259365e-01 -7.64755548e-03 1.27565614e+02] [ 7.65867202e-03 5.48321866e-04 9.99970522e-01 2.34367217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.45, Y:127.59, Z:2.35 [[ 1.59178413e-01 -9.87249596e-01 -6.84075582e-04 2.83454471e+02] [ 9.87220123e-01 1.59178960e-01 -7.64774151e-03 1.27589696e+02] [ 7.65912016e-03 5.42022180e-04 9.99970522e-01 2.34576767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:127.61, Z:2.35 [[ 1.55783050e-01 -9.87791059e-01 -6.81993115e-04 2.83458753e+02] [ 9.87761587e-01 1.55783682e-01 -7.64792721e-03 1.27613155e+02] [ 7.66079752e-03 5.17770825e-04 9.99970522e-01 2.34616838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:127.64, Z:2.35 [[ 1.54055207e-01 -9.88062008e-01 -6.79841637e-04 2.83462484e+02] [ 9.88032537e-01 1.54055874e-01 -7.64811846e-03 1.27637801e+02] [ 7.66154888e-03 5.06526816e-04 9.99970522e-01 2.34538706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.47, Y:127.66, Z:2.34 [[ 1.52511405e-01 -9.88301478e-01 -6.77779135e-04 2.83466538e+02] [ 9.88272008e-01 1.52512102e-01 -7.64830124e-03 1.27661927e+02] [ 7.66219694e-03 4.96623018e-04 9.99970522e-01 2.34425865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:127.69, Z:2.34 [[ 1.51269941e-01 -9.88492260e-01 -6.75726759e-04 2.83470944e+02] [ 9.88462791e-01 1.51270660e-01 -7.64848256e-03 1.27686214e+02] [ 7.66268344e-03 4.89054747e-04 9.99970522e-01 2.34440574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:127.71, Z:2.34 [[ 1.50247593e-01 -9.88648172e-01 -6.73627717e-04 2.83475831e+02] [ 9.88618702e-01 1.50248326e-01 -7.64866742e-03 1.27709254e+02] [ 7.66305250e-03 4.83232909e-04 9.99970522e-01 2.34425203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:127.73, Z:2.35 [[ 1.47901454e-01 -9.89001875e-01 -6.71648333e-04 2.83485517e+02] [ 9.88972407e-01 1.47902241e-01 -7.64884123e-03 1.27732905e+02] [ 7.66405662e-03 4.67033070e-04 9.99970522e-01 2.34562719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:127.76, Z:2.35 [[ 1.46756491e-01 -9.89172424e-01 -6.69623869e-04 2.83491093e+02] [ 9.89142956e-01 1.46757297e-01 -7.64901846e-03 1.27756832e+02] [ 7.66447032e-03 4.60189378e-04 9.99970522e-01 2.34651119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:127.78, Z:2.35 [[ 1.46140064e-01 -9.89263684e-01 -6.67533810e-04 2.83496567e+02] [ 9.89234216e-01 1.46140873e-01 -7.64920086e-03 1.27780478e+02] [ 7.66463059e-03 4.57507421e-04 9.99970522e-01 2.34594080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:127.81, Z:2.35 [[ 1.46360948e-01 -9.89231030e-01 -6.65371244e-04 2.83501190e+02] [ 9.89201562e-01 1.46361734e-01 -7.64938897e-03 1.27805117e+02] [ 7.66439781e-03 4.61385551e-04 9.99970522e-01 2.34536219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.51, Y:127.83, Z:2.34 [[ 1.49239428e-01 -9.88800866e-01 -6.63296916e-04 2.83508180e+02] [ 9.88771396e-01 1.49240112e-01 -7.64956883e-03 1.27828352e+02] [ 7.66289079e-03 4.85768262e-04 9.99970522e-01 2.34499289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.51, Y:127.85, Z:2.35 [[ 1.50653685e-01 -9.88586380e-01 -6.61156438e-04 2.83511806e+02] [ 9.88556908e-01 1.50654310e-01 -7.64975383e-03 1.27853021e+02] [ 7.66204851e-03 4.98872841e-04 9.99970522e-01 2.34624876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74589822699994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:283.51, Y:127.88, Z:2.35 [[ 1.51531284e-01 -9.88452243e-01 -6.59043107e-04 2.83514187e+02] [ 9.88422770e-01 1.51531866e-01 -7.64993589e-03 1.27877561e+02] [ 7.66146232e-03 5.07791393e-04 9.99970522e-01 2.34637681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:127.90, Z:2.34 [[ 1.50727019e-01 -9.88575204e-01 -6.56922267e-04 2.83517974e+02] [ 9.88545732e-01 1.50727609e-01 -7.65011801e-03 1.27900716e+02] [ 7.66173330e-03 5.03681777e-04 9.99970522e-01 2.34391329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.80589822699994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:283.52, Y:127.93, Z:2.35 [[ 1.47539550e-01 -9.89055940e-01 -6.54728689e-04 2.83521522e+02] [ 9.89026469e-01 1.47540219e-01 -7.65030574e-03 1.27926026e+02] [ 7.66317915e-03 4.81178667e-04 9.99970522e-01 2.34650182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:127.95, Z:2.35 [[ 1.43265320e-01 -9.89684102e-01 -6.52717733e-04 2.83526922e+02] [ 9.89654634e-01 1.43266100e-01 -7.65047731e-03 1.27949956e+02] [ 7.66506810e-03 4.50082948e-04 9.99970522e-01 2.34570512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:127.97, Z:2.35 [[ 1.37887623e-01 -9.90447666e-01 -6.50957772e-04 2.83531842e+02] [ 9.90418202e-01 1.37888550e-01 -7.65062706e-03 1.27973856e+02] [ 7.66730534e-03 4.10206356e-04 9.99970522e-01 2.34905420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.00, Z:2.35 [[ 1.32358031e-01 -9.91201761e-01 -6.48812319e-04 2.83535521e+02] [ 9.91172302e-01 1.32359105e-01 -7.65080900e-03 1.27997190e+02] [ 7.66937157e-03 3.69561212e-04 9.99970522e-01 2.35063131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.02, Z:2.35 [[ 1.24517155e-01 -9.92217244e-01 -6.46583839e-04 2.83539063e+02] [ 9.92187794e-01 1.24518445e-01 -7.65099733e-03 1.28022031e+02] [ 7.67196310e-03 3.11147826e-04 9.99970522e-01 2.35324553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.05, Z:2.35 [[ 1.22155073e-01 -9.92510817e-01 -6.44547487e-04 2.83541482e+02] [ 9.92481370e-01 1.22156418e-01 -7.65116888e-03 1.28045157e+02] [ 7.67260349e-03 2.94927721e-04 9.99970522e-01 2.35115748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.07, Z:2.35 [[ 1.20495288e-01 -9.92713691e-01 -6.42234980e-04 2.83543590e+02] [ 9.92684245e-01 1.20496664e-01 -7.65136298e-03 1.28070006e+02] [ 7.67299996e-03 2.84416637e-04 9.99970522e-01 2.35055617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.09, Z:2.35 [[ 1.19327963e-01 -9.92854686e-01 -6.40154145e-04 2.83544971e+02] [ 9.92825241e-01 1.19329357e-01 -7.65153707e-03 1.28093449e+02] [ 7.67325362e-03 2.77481137e-04 9.99970522e-01 2.35095913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.12, Z:2.35 [[ 1.18755034e-01 -9.92923378e-01 -6.37998794e-04 2.83543538e+02] [ 9.92893933e-01 1.18756429e-01 -7.65171678e-03 1.28118495e+02] [ 7.67333494e-03 2.75214756e-04 9.99970522e-01 2.35391841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.14, Z:2.35 [[ 1.18478506e-01 -9.92956414e-01 -6.35886364e-04 2.83542509e+02] [ 9.92926968e-01 1.18479893e-01 -7.65189233e-03 1.28142434e+02] [ 7.67333531e-03 2.75196051e-04 9.99970522e-01 2.35321830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.17, Z:2.35 [[ 1.17842026e-01 -9.93032152e-01 -6.33700812e-04 2.83542183e+02] [ 9.93002707e-01 1.17843415e-01 -7.65207333e-03 1.28167735e+02] [ 7.67343231e-03 2.72469201e-04 9.99970522e-01 2.35045867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.19, Z:2.35 [[ 1.16166677e-01 -9.93229532e-01 -6.31696446e-04 2.83541973e+02] [ 9.93200089e-01 1.16168100e-01 -7.65223879e-03 1.28192937e+02] [ 7.67381253e-03 2.61534186e-04 9.99970522e-01 2.34908478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.22, Z:2.35 [[ 1.10228793e-01 -9.93906040e-01 -6.29570373e-04 2.83539194e+02] [ 9.93876604e-01 1.10230376e-01 -7.65241370e-03 1.28217089e+02] [ 7.67517798e-03 2.17801063e-04 9.99970522e-01 2.35113678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.24, Z:2.35 [[ 1.06319552e-01 -9.94331816e-01 -6.27368862e-04 2.83538655e+02] [ 9.94302385e-01 1.06321233e-01 -7.65259418e-03 1.28241402e+02] [ 7.67592050e-03 1.89826029e-04 9.99970522e-01 2.35345253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.27, Z:2.35 [[ 1.02239847e-01 -9.94759580e-01 -6.25266032e-04 2.83538933e+02] [ 9.94730156e-01 1.02241633e-01 -7.65276599e-03 1.28266411e+02] [ 7.67659051e-03 1.60446649e-04 9.99970522e-01 2.35400740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.29, Z:2.35 [[ 9.41935131e-02 -9.95553712e-01 -6.23113158e-04 2.83538736e+02] [ 9.95524302e-01 9.41955204e-02 -7.65294128e-03 1.28290014e+02] [ 7.67760857e-03 1.00533133e-04 9.99970522e-01 2.35156035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.31, Z:2.35 [[ 9.04427061e-02 -9.95901467e-01 -6.20961295e-04 2.83538686e+02] [ 9.95872063e-01 9.04448077e-02 -7.65311588e-03 1.28314634e+02] [ 7.67791206e-03 7.37705045e-05 9.99970522e-01 2.35267428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.34, Z:2.35 [[ 8.72765263e-02 -9.96183931e-01 -6.18822161e-04 2.83537702e+02] [ 9.96154534e-01 8.72787049e-02 -7.65328885e-03 1.28338009e+02] [ 7.67809337e-03 5.15099643e-05 9.99970522e-01 2.35422142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.36, Z:2.36 [[ 8.45940986e-02 -9.96415304e-01 -6.16602391e-04 2.83537344e+02] [ 9.96385911e-01 8.45963393e-02 -7.65346768e-03 1.28362447e+02] [ 7.67819463e-03 3.30642647e-05 9.99970522e-01 2.35620024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.39, Z:2.36 [[ 7.97752409e-02 -9.96812687e-01 -6.14461683e-04 2.83536676e+02] [ 9.96783304e-01 7.97776072e-02 -7.65363955e-03 1.28387348e+02] [ 7.67826529e-03 -1.91420831e-06 9.99970522e-01 2.35707406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.41, Z:2.36 [[ 7.69029523e-02 -9.97038395e-01 -6.12324306e-04 2.83538163e+02] [ 9.97009017e-01 7.69053869e-02 -7.65381054e-03 1.28410998e+02] [ 7.67823402e-03 -2.18922275e-05 9.99970522e-01 2.35629569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.54, Y:128.44, Z:2.36 [[ 7.35820835e-02 -9.97288977e-01 -6.11519008e-04 2.83539864e+02] [ 9.97259607e-01 7.35846097e-02 -7.65387472e-03 1.28436044e+02] [ 7.67812327e-03 -4.66551570e-05 9.99970522e-01 2.35754207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:128.46, Z:2.36 [[ 6.67544725e-02 -9.97769247e-01 -6.07883195e-04 2.83543180e+02] [ 9.97739893e-01 6.67571719e-02 -7.65416347e-03 1.28459382e+02] [ 7.67766949e-03 -9.55596683e-05 9.99970522e-01 2.35621005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:128.48, Z:2.36 [[ 6.26710346e-02 -9.98034055e-01 -6.05608742e-04 2.83545695e+02] [ 9.98004710e-01 6.26738365e-02 -7.65434342e-03 1.28483893e+02] [ 7.67725123e-03 -1.24694756e-04 9.99970522e-01 2.35614841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:128.51, Z:2.36 [[ 6.23938664e-02 -9.98051422e-01 -6.03489583e-04 2.83547292e+02] [ 9.98022077e-01 6.23966602e-02 -7.65451050e-03 1.28509006e+02] [ 7.67725083e-03 -1.24701422e-04 9.99970522e-01 2.35634146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:128.53, Z:2.36 [[ 5.89689443e-02 -9.98259637e-01 -6.01363727e-04 2.83549904e+02] [ 9.98230299e-01 5.89718225e-02 -7.65467751e-03 1.28532840e+02] [ 7.67681911e-03 -1.48911242e-04 9.99970522e-01 2.35579862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:128.56, Z:2.36 [[ 5.60759133e-02 -9.98426328e-01 -5.99308520e-04 2.83552399e+02] [ 9.98396998e-01 5.60788609e-02 -7.65483842e-03 1.28557284e+02] [ 7.67640075e-03 -1.69095771e-04 9.99970522e-01 2.35592733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:128.58, Z:2.36 [[ 5.40084814e-02 -9.98540298e-01 -5.97178807e-04 2.83554985e+02] [ 9.98510972e-01 5.40114733e-02 -7.65500456e-03 1.28582319e+02] [ 7.67608504e-03 -1.82854420e-04 9.99970522e-01 2.35634006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:128.61, Z:2.36 [[ 5.11399230e-02 -9.98691321e-01 -5.95089780e-04 2.83559702e+02] [ 9.98662002e-01 5.11429832e-02 -7.65516695e-03 1.28606219e+02] [ 7.67558346e-03 -2.02808902e-04 9.99970522e-01 2.35603420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:128.63, Z:2.36 [[ 4.98470901e-02 -9.98756685e-01 -5.92944972e-04 2.83563336e+02] [ 9.98727368e-01 4.98501718e-02 -7.65533308e-03 1.28629565e+02] [ 7.67537350e-03 -2.10594294e-04 9.99970522e-01 2.35560618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:128.65, Z:2.36 [[ 4.85555044e-02 -9.98820311e-01 -5.90724611e-04 2.83566609e+02] [ 9.98790997e-01 4.85586070e-02 -7.65550441e-03 1.28653179e+02] [ 7.67515806e-03 -2.18293545e-04 9.99970522e-01 2.35624050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:128.68, Z:2.36 [[ 4.73036852e-02 -9.98880381e-01 -5.88661954e-04 2.83569616e+02] [ 9.98851068e-01 4.73068087e-02 -7.65566301e-03 1.28677871e+02] [ 7.67493930e-03 -2.25844549e-04 9.99970522e-01 2.35672980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:128.70, Z:2.36 [[ 4.56108226e-02 -9.98959113e-01 -5.86551730e-04 2.83573749e+02] [ 9.98929804e-01 4.56139796e-02 -7.65582469e-03 1.28701043e+02] [ 7.67461080e-03 -2.36735544e-04 9.99970522e-01 2.35753777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:128.73, Z:2.36 [[ 4.49031441e-02 -9.98991174e-01 -5.84505758e-04 2.83576682e+02] [ 9.98961866e-01 4.49063062e-02 -7.65598089e-03 1.28725843e+02] [ 7.67450533e-03 -2.40121350e-04 9.99970522e-01 2.35830209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:128.75, Z:2.36 [[ 4.46717718e-02 -9.99001548e-01 -5.82313805e-04 2.83579315e+02] [ 9.98972239e-01 4.46749239e-02 -7.65614761e-03 1.28749773e+02] [ 7.67451814e-03 -2.39701647e-04 9.99970522e-01 2.35720323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:128.77, Z:2.36 [[ 4.44261257e-02 -9.99012504e-01 -5.80050447e-04 2.83581207e+02] [ 9.98983194e-01 4.44292677e-02 -7.65631908e-03 1.28772948e+02] [ 7.67452971e-03 -2.39320054e-04 9.99970522e-01 2.35733255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:128.80, Z:2.36 [[ 4.40257288e-02 -9.99030231e-01 -5.77731213e-04 2.83583276e+02] [ 9.99000920e-01 4.40288648e-02 -7.65649408e-03 1.28797510e+02] [ 7.67450590e-03 -2.40071282e-04 9.99970522e-01 2.35691422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:128.82, Z:2.36 [[ 4.31021956e-02 -9.99070503e-01 -5.75634055e-04 2.83585174e+02] [ 9.99041193e-01 4.31053426e-02 -7.65665175e-03 1.28822334e+02] [ 7.67434782e-03 -2.45063632e-04 9.99970522e-01 2.35741996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:128.85, Z:2.36 [[ 4.17655677e-02 -9.99127273e-01 -5.73486294e-04 2.83587199e+02] [ 9.99097966e-01 4.17687375e-02 -7.65681261e-03 1.28847012e+02] [ 7.67408411e-03 -2.53177864e-04 9.99970522e-01 2.35719704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:128.87, Z:2.36 [[ 3.98075652e-02 -9.99207201e-01 -5.71348653e-04 2.83589656e+02] [ 9.99177899e-01 3.98107761e-02 -7.65697212e-03 1.28871608e+02] [ 7.67364752e-03 -2.66073529e-04 9.99970522e-01 2.35761052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:128.89, Z:2.36 [[ 3.53258561e-02 -9.99375685e-01 -5.69202718e-04 2.83592202e+02] [ 9.99346395e-01 3.53291819e-02 -7.65713164e-03 1.28894661e+02] [ 7.67246065e-03 -2.98335953e-04 9.99970522e-01 2.35767941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:128.92, Z:2.36 [[ 3.31216605e-02 -9.99451167e-01 -5.66989683e-04 2.83593590e+02] [ 9.99421882e-01 3.31250340e-02 -7.65729551e-03 1.28918063e+02] [ 7.67187448e-03 -3.13039554e-04 9.99970522e-01 2.35688077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:128.94, Z:2.36 [[ 3.09944787e-02 -9.99519396e-01 -5.64788707e-04 2.83595724e+02] [ 9.99490117e-01 3.09978977e-02 -7.65745784e-03 1.28942741e+02] [ 7.67128490e-03 -3.27161817e-04 9.99970522e-01 2.35801509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:128.97, Z:2.36 [[ 2.73903868e-02 -9.99624655e-01 -5.62664525e-04 2.83598985e+02] [ 9.99595386e-01 2.73938951e-02 -7.65761392e-03 1.28967083e+02] [ 7.67015325e-03 -3.52691856e-04 9.99970522e-01 2.35957432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:128.99, Z:2.36 [[ 2.61419481e-02 -9.99658084e-01 -5.60550890e-04 2.83600735e+02] [ 9.99628817e-01 2.61454768e-02 -7.65776864e-03 1.28990791e+02] [ 7.66980620e-03 -3.60153833e-04 9.99970522e-01 2.36007595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:129.01, Z:2.36 [[ 2.54589647e-02 -9.99675712e-01 -5.58504639e-04 2.83602186e+02] [ 9.99646446e-01 2.54624977e-02 -7.65791788e-03 1.29014186e+02] [ 7.66965543e-03 -3.63344516e-04 9.99970522e-01 2.35898864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:129.04, Z:2.36 [[ 2.57600265e-02 -9.99668001e-01 -5.56323084e-04 2.83603684e+02] [ 9.99638732e-01 2.57635341e-02 -7.65807636e-03 1.29037770e+02] [ 7.66986673e-03 -3.58849852e-04 9.99970522e-01 2.35788600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.06, Z:2.36 [[ 2.61772054e-02 -9.99657165e-01 -5.54083009e-04 2.83605288e+02] [ 9.99627892e-01 2.61806837e-02 -7.65823843e-03 1.29061640e+02] [ 7.67011919e-03 -3.53405550e-04 9.99970522e-01 2.35713075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.09, Z:2.36 [[ 2.60532707e-02 -9.99660404e-01 -5.51851590e-04 2.83605375e+02] [ 9.99631130e-01 2.60567355e-02 -7.65839922e-03 1.29085613e+02] [ 7.67017791e-03 -3.52121680e-04 9.99970522e-01 2.35698690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.11, Z:2.36 [[ 2.53569556e-02 -9.99678310e-01 -5.49628618e-04 2.83605390e+02] [ 9.99649036e-01 2.53604238e-02 -7.65855876e-03 1.29108992e+02] [ 7.67003389e-03 -3.55237984e-04 9.99970522e-01 2.35682142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.13, Z:2.36 [[ 2.42655249e-02 -9.99705399e-01 -5.47332326e-04 2.83605231e+02] [ 9.99676127e-01 2.42690075e-02 -7.65872286e-03 1.29132786e+02] [ 7.66974981e-03 -3.61312129e-04 9.99970522e-01 2.35775639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.16, Z:2.36 [[ 2.35149060e-02 -9.99723338e-01 -5.45125331e-04 2.83605240e+02] [ 9.99694067e-01 2.35183937e-02 -7.65887995e-03 1.29156134e+02] [ 7.66958150e-03 -3.64860717e-04 9.99970522e-01 2.35857210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:129.18, Z:2.36 [[ 2.35964467e-02 -9.99721418e-01 -5.42843525e-04 2.83604031e+02] [ 9.99692144e-01 2.35999146e-02 -7.65904167e-03 1.29181143e+02] [ 7.66971906e-03 -3.61950238e-04 9.99970522e-01 2.36431480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:129.21, Z:2.37 [[ 2.36431316e-02 -9.99720316e-01 -5.40749917e-04 2.83603724e+02] [ 9.99691040e-01 2.36465821e-02 -7.65918949e-03 1.29206167e+02] [ 7.66983422e-03 -3.59495622e-04 9.99970522e-01 2.36746771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:129.23, Z:2.37 [[ 2.33901422e-02 -9.99726268e-01 -5.38637288e-04 2.83602672e+02] [ 9.99696992e-01 2.33935840e-02 -7.65933805e-03 1.29229458e+02] [ 7.66984211e-03 -3.59321070e-04 9.99970522e-01 2.36820365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:129.25, Z:2.37 [[ 2.28807945e-02 -9.99738056e-01 -5.36665809e-04 2.83601408e+02] [ 9.99708780e-01 2.28842361e-02 -7.65947619e-03 1.29253211e+02] [ 7.66975102e-03 -3.61254621e-04 9.99970522e-01 2.36752730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:129.28, Z:2.37 [[ 2.22223568e-02 -9.99752910e-01 -5.34522942e-04 2.83599707e+02] [ 9.99723634e-01 2.22258013e-02 -7.65962573e-03 1.29276144e+02] [ 7.66961331e-03 -3.64160282e-04 9.99970522e-01 2.36567244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:129.30, Z:2.37 [[ 2.14496811e-02 -9.99769787e-01 -5.32394836e-04 2.83594391e+02] [ 9.99740512e-01 2.14531320e-02 -7.65977364e-03 1.29301167e+02] [ 7.66943180e-03 -3.67956984e-04 9.99970522e-01 2.36572933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:129.33, Z:2.36 [[ 2.05958022e-02 -9.99787743e-01 -5.30199598e-04 2.83592034e+02] [ 9.99758469e-01 2.05992613e-02 -7.65992559e-03 1.29325417e+02] [ 7.66922144e-03 -3.72309226e-04 9.99970522e-01 2.36490937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:129.35, Z:2.37 [[ 1.70999878e-02 -9.99853645e-01 -5.27932613e-04 2.83585532e+02] [ 9.99824381e-01 1.71035319e-02 -7.66008183e-03 1.29350858e+02] [ 7.66799025e-03 -3.96852592e-04 9.99970522e-01 2.36830877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:129.38, Z:2.37 [[ 1.41368995e-02 -9.99899931e-01 -5.25820343e-04 2.83583760e+02] [ 9.99870675e-01 1.41405142e-02 -7.66022682e-03 1.29376081e+02] [ 7.66689564e-03 -4.17460485e-04 9.99970522e-01 2.36886362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:129.40, Z:2.37 [[ 1.05539700e-02 -9.99944168e-01 -5.23709282e-04 2.83583536e+02] [ 9.99914924e-01 1.05576734e-02 -7.66037115e-03 1.29401151e+02] [ 7.66547261e-03 -4.42817400e-04 9.99970522e-01 2.36914904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:129.43, Z:2.37 [[ 6.60511783e-03 -9.99978050e-01 -5.21573829e-04 2.83584599e+02] [ 9.99948818e-01 6.60892036e-03 -7.66051654e-03 1.29425956e+02] [ 7.66379543e-03 -4.70948520e-04 9.99970522e-01 2.36738768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:129.45, Z:2.36 [[-9.18899116e-04 -9.99999443e-01 -5.19451939e-04 2.83587881e+02] [ 9.99970238e-01 -9.14892933e-04 -7.66066042e-03 1.29449542e+02] [ 7.66018091e-03 -5.26475853e-04 9.99970522e-01 2.36410524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:129.47, Z:2.37 [[-3.80321141e-03 -9.99992634e-01 -5.17254301e-04 2.83590740e+02] [ 9.99963439e-01 -3.79913776e-03 -7.66080881e-03 1.29474491e+02] [ 7.65878726e-03 -5.46371065e-04 9.99970522e-01 2.36547862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:129.50, Z:2.37 [[-4.82357251e-03 -9.99988234e-01 -5.15153311e-04 2.83593296e+02] [ 9.99959040e-01 -4.81948508e-03 -7.66095009e-03 1.29497701e+02] [ 7.65837717e-03 -5.52085358e-04 9.99970522e-01 2.36560867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:129.52, Z:2.37 [[-4.20345115e-03 -9.99991034e-01 -5.12980354e-04 2.83595124e+02] [ 9.99961836e-01 -4.19939839e-03 -7.66109558e-03 1.29522213e+02] [ 7.65887269e-03 -5.45163818e-04 9.99970522e-01 2.36615764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:129.55, Z:2.36 [[ 1.80502381e-03 -9.99998240e-01 -5.10876438e-04 2.83596995e+02] [ 9.99969016e-01 1.80888501e-03 -7.66123588e-03 1.29545604e+02] [ 7.66214652e-03 -4.97031896e-04 9.99970522e-01 2.36259848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:129.57, Z:2.36 [[ 5.32315662e-03 -9.99985703e-01 -5.08740162e-04 2.83598788e+02] [ 9.99956463e-01 5.32689868e-03 -7.66137774e-03 1.29570446e+02] [ 7.66397820e-03 -4.67935299e-04 9.99970522e-01 2.36242566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:129.59, Z:2.36 [[ 8.33328774e-03 -9.99965149e-01 -5.06737819e-04 2.83600610e+02] [ 9.99935896e-01 8.33692647e-03 -7.66151017e-03 1.29594060e+02] [ 7.66546780e-03 -4.42859767e-04 9.99970522e-01 2.36230652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:129.62, Z:2.36 [[ 1.23073885e-02 -9.99924134e-01 -5.04560930e-04 2.83603185e+02] [ 9.99894865e-01 1.23108943e-02 -7.66165353e-03 1.29618435e+02] [ 7.66728387e-03 -4.10212936e-04 9.99970522e-01 2.36186917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.64, Z:2.36 [[ 1.32386859e-02 -9.99912239e-01 -5.02479109e-04 2.83605392e+02] [ 9.99882964e-01 1.32421485e-02 -7.66179006e-03 1.29642944e+02] [ 7.66777156e-03 -4.00988270e-04 9.99970522e-01 2.36103283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.67, Z:2.36 [[ 1.39541994e-02 -9.99902510e-01 -5.00401028e-04 2.83607420e+02] [ 9.99873232e-01 1.39576252e-02 -7.66192578e-03 1.29667275e+02] [ 7.66816323e-03 -3.93421553e-04 9.99970522e-01 2.36156949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.69, Z:2.36 [[ 1.46440783e-02 -9.99892646e-01 -4.98295643e-04 2.83609216e+02] [ 9.99863363e-01 1.46474679e-02 -7.66206270e-03 1.29690791e+02] [ 7.66853892e-03 -3.86023711e-04 9.99970522e-01 2.36196224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.71, Z:2.36 [[ 1.54601548e-02 -9.99880362e-01 -4.96251102e-04 2.83610798e+02] [ 9.99851074e-01 1.54635048e-02 -7.66219512e-03 1.29713821e+02] [ 7.66895221e-03 -3.77718475e-04 9.99970522e-01 2.36446371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.74, Z:2.37 [[ 1.60033978e-02 -9.99871815e-01 -4.94000469e-04 2.83611368e+02] [ 9.99842524e-01 1.60067147e-02 -7.66234022e-03 1.29738023e+02] [ 7.66926535e-03 -3.71299198e-04 9.99970522e-01 2.36699059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.76, Z:2.37 [[ 1.65902980e-02 -9.99862251e-01 -4.91800284e-04 2.83609911e+02] [ 9.99832956e-01 1.65935808e-02 -7.66248144e-03 1.29762717e+02] [ 7.66958666e-03 -3.64595281e-04 9.99970522e-01 2.37118080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.79, Z:2.37 [[ 1.62365716e-02 -9.99868058e-01 -4.89702910e-04 2.83609794e+02] [ 9.99838763e-01 1.62398487e-02 -7.66261548e-03 1.29787316e+02] [ 7.66955716e-03 -3.65209347e-04 9.99970522e-01 2.37234544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.81, Z:2.37 [[ 1.58577603e-02 -9.99874139e-01 -4.87578758e-04 2.83610184e+02] [ 9.99844843e-01 1.58610324e-02 -7.66275064e-03 1.29812212e+02] [ 7.66951970e-03 -3.65989043e-04 9.99970522e-01 2.37312036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.84, Z:2.37 [[ 1.54875971e-02 -9.99879942e-01 -4.85450812e-04 2.83610622e+02] [ 9.99850646e-01 1.54908637e-02 -7.66288544e-03 1.29836128e+02] [ 7.66948551e-03 -3.66698625e-04 9.99970522e-01 2.37340040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.205898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.61, Y:129.86, Z:2.37 [[ 1.40046086e-02 -9.99901814e-01 -4.83446726e-04 2.83609135e+02] [ 9.99872520e-01 1.40079034e-02 -7.66301188e-03 1.29859705e+02] [ 7.66903155e-03 -3.76067614e-04 9.99970522e-01 2.37344219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.88, Z:2.37 [[ 1.25280974e-02 -9.99921405e-01 -4.81267520e-04 2.83608767e+02] [ 9.99892114e-01 1.25314188e-02 -7.66314874e-03 1.29883481e+02] [ 7.66857741e-03 -3.85210924e-04 9.99970522e-01 2.37410569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.91, Z:2.38 [[ 1.07814227e-02 -9.99941764e-01 -4.79085969e-04 2.83608259e+02] [ 9.99912478e-01 1.07847785e-02 -7.66328512e-03 1.29907828e+02] [ 7.66800568e-03 -3.96422922e-04 9.99970522e-01 2.37506105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.93, Z:2.38 [[ 5.45402623e-03 -9.99985013e-01 -4.76872909e-04 2.83606474e+02] [ 9.99955743e-01 5.45752112e-03 -7.66342283e-03 1.29932805e+02] [ 7.66591053e-03 -4.35055295e-04 9.99970522e-01 2.37687578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.96, Z:2.38 [[ 1.60550794e-03 -9.99998599e-01 -4.74695159e-04 2.83606805e+02] [ 9.99969340e-01 1.60909882e-03 -7.66355773e-03 1.29956108e+02] [ 7.66431082e-03 -4.62376702e-04 9.99970522e-01 2.37568000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:129.98, Z:2.38 [[-3.01807287e-03 -9.99995334e-01 -4.72452545e-04 2.83607598e+02] [ 9.99966090e-01 -3.01436386e-03 -7.66369598e-03 1.29980885e+02] [ 7.66223608e-03 -4.95566117e-04 9.99970522e-01 2.37539389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:130.01, Z:2.37 [[-7.91841133e-03 -9.99968538e-01 -4.70377933e-04 2.83608716e+02] [ 9.99939311e-01 -7.91457488e-03 -7.66382331e-03 1.30005155e+02] [ 7.65985936e-03 -5.31034691e-04 9.99970522e-01 2.37483426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:130.03, Z:2.38 [[-8.19168679e-03 -9.99966338e-01 -4.68283843e-04 2.83609905e+02] [ 9.99937109e-01 -8.18785833e-03 -7.66395127e-03 1.30030284e+02] [ 7.65985904e-03 -5.31035081e-04 9.99970522e-01 2.37502731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:130.06, Z:2.37 [[-1.23661030e-02 -9.99923428e-01 -4.66189309e-04 2.83611528e+02] [ 9.99894214e-01 -1.23621685e-02 -7.66407867e-03 1.30055107e+02] [ 7.65772871e-03 -5.60914779e-04 9.99970522e-01 2.37309683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:130.08, Z:2.37 [[-1.90090220e-02 -9.99819205e-01 -4.64104217e-04 2.83613551e+02] [ 9.99790015e-01 -1.90049094e-02 -7.66420494e-03 1.30079367e+02] [ 7.65399902e-03 -6.09695802e-04 9.99970522e-01 2.37275267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:130.10, Z:2.37 [[-2.14369126e-02 -9.99770096e-01 -4.61987517e-04 2.83614827e+02] [ 9.99740914e-01 -2.14327452e-02 -7.66433252e-03 1.30103455e+02] [ 7.65266881e-03 -6.26167449e-04 9.99970522e-01 2.37384355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.13, Z:2.38 [[-2.28091971e-02 -9.99739731e-01 -4.59808968e-04 2.83615930e+02] [ 9.99710552e-01 -2.28050063e-02 -7.66446322e-03 1.30127781e+02] [ 7.65198245e-03 -6.34496129e-04 9.99970522e-01 2.37521676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.15, Z:2.38 [[-2.29525379e-02 -9.99736451e-01 -4.57735534e-04 2.83616724e+02] [ 9.99707271e-01 -2.29483587e-02 -7.66458705e-03 1.30152765e+02] [ 7.65206278e-03 -6.33523266e-04 9.99970522e-01 2.37623520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.18, Z:2.37 [[-2.03430867e-02 -9.99792954e-01 -4.55633925e-04 2.83617481e+02] [ 9.99763761e-01 -2.03389997e-02 -7.66471198e-03 1.30177127e+02] [ 7.65385790e-03 -6.11450187e-04 9.99970522e-01 2.37370399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.20, Z:2.37 [[-1.88678508e-02 -9.99821883e-01 -4.53545044e-04 2.83618308e+02] [ 9.99792682e-01 -1.88638227e-02 -7.66483558e-03 1.30201247e+02] [ 7.65491476e-03 -5.98069990e-04 9.99970522e-01 2.37162132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.23, Z:2.37 [[-1.72910175e-02 -9.99850397e-01 -4.51373896e-04 2.83619577e+02] [ 9.99821187e-01 -1.72870521e-02 -7.66496344e-03 1.30225226e+02] [ 7.65601381e-03 -5.83828202e-04 9.99970522e-01 2.37193153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.25, Z:2.37 [[-1.67165744e-02 -9.99860167e-01 -4.49152377e-04 2.83620419e+02] [ 9.99830953e-01 -1.67126426e-02 -7.66509361e-03 1.30248439e+02] [ 7.65651526e-03 -5.77210557e-04 9.99970522e-01 2.37267627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.27, Z:2.37 [[-1.80346870e-02 -9.99837262e-01 -4.46854136e-04 2.83622287e+02] [ 9.99808050e-01 -1.80307343e-02 -7.66522759e-03 1.30272478e+02] [ 7.65592306e-03 -5.85008343e-04 9.99970522e-01 2.37284768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.30, Z:2.37 [[-1.97464045e-02 -9.99804922e-01 -4.44660171e-04 2.83624740e+02] [ 9.99775715e-01 -1.97424185e-02 -7.66535486e-03 1.30297362e+02] [ 7.65508085e-03 -5.95923638e-04 9.99970522e-01 2.37319947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:130.32, Z:2.37 [[-2.14835611e-02 -9.99769104e-01 -4.42585113e-04 2.83627359e+02] [ 9.99739901e-01 -2.14795402e-02 -7.66547467e-03 1.30321591e+02] [ 7.65419822e-03 -6.07151691e-04 9.99970522e-01 2.37260327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:130.35, Z:2.37 [[-2.27818285e-02 -9.99740363e-01 -4.40495617e-04 2.83630036e+02] [ 9.99711164e-01 -2.27777855e-02 -7.66559474e-03 1.30346635e+02] [ 7.65357096e-03 -6.15004651e-04 9.99970522e-01 2.37245160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:130.37, Z:2.37 [[-2.36907851e-02 -9.99719238e-01 -4.38503898e-04 2.83633765e+02] [ 9.99690040e-01 -2.36867308e-02 -7.66570867e-03 1.30370818e+02] [ 7.65316971e-03 -6.19974636e-04 9.99970522e-01 2.37471443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:130.39, Z:2.37 [[-2.30502000e-02 -9.99734214e-01 -4.36419764e-04 2.83635329e+02] [ 9.99705011e-01 -2.30461803e-02 -7.66582732e-03 1.30394051e+02] [ 7.65373204e-03 -6.12989878e-04 9.99970522e-01 2.37443029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.895898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.64, Y:130.42, Z:2.38 [[-2.19743266e-02 -9.99758441e-01 -4.34410798e-04 2.83636360e+02] [ 9.99729232e-01 -2.19703536e-02 -7.66594117e-03 1.30418680e+02] [ 7.65454523e-03 -6.02747068e-04 9.99970522e-01 2.37716540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:130.44, Z:2.38 [[-1.79685928e-02 -9.99838458e-01 -4.32257027e-04 2.83636700e+02] [ 9.99809231e-01 -1.79647533e-02 -7.66606261e-03 1.30443510e+02] [ 7.65705883e-03 -5.69922923e-04 9.99970522e-01 2.37720826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:130.47, Z:2.38 [[-1.56433567e-02 -9.99877543e-01 -4.30104283e-04 2.83637087e+02] [ 9.99848305e-01 -1.56396016e-02 -7.66618339e-03 1.30467253e+02] [ 7.65851795e-03 -5.49963879e-04 9.99970522e-01 2.37751809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:130.49, Z:2.38 [[-1.35792353e-02 -9.99907706e-01 -4.27875312e-04 2.83636931e+02] [ 9.99878459e-01 -1.35755576e-02 -7.66630779e-03 1.30490995e+02] [ 7.65979160e-03 -5.31925905e-04 9.99970522e-01 2.37895963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:130.52, Z:2.38 [[-1.20527960e-02 -9.99927272e-01 -4.25847413e-04 2.83636229e+02] [ 9.99898016e-01 -1.20491784e-02 -7.66642044e-03 1.30515945e+02] [ 7.66073176e-03 -5.18205785e-04 9.99970522e-01 2.38111175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:130.54, Z:2.38 [[-1.00009103e-02 -9.99949900e-01 -4.23735257e-04 2.83631829e+02] [ 9.99920635e-01 -9.99736888e-03 -7.66653718e-03 1.30540027e+02] [ 7.66191684e-03 -5.00373978e-04 9.99970522e-01 2.38230929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:130.56, Z:2.38 [[-1.03007346e-02 -9.99946857e-01 -4.21553591e-04 2.83629802e+02] [ 9.99917592e-01 -1.02972010e-02 -7.66665714e-03 1.30564603e+02] [ 7.66190889e-03 -5.00491051e-04 9.99970522e-01 2.38112155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:130.59, Z:2.38 [[-1.15401143e-02 -9.99933323e-01 -4.19458321e-04 2.83627974e+02] [ 9.99904060e-01 -1.15365605e-02 -7.66677177e-03 1.30589384e+02] [ 7.66142147e-03 -5.07893501e-04 9.99970522e-01 2.37963160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:130.61, Z:2.38 [[-1.35579662e-02 -9.99907999e-01 -4.17369878e-04 2.83626562e+02] [ 9.99878742e-01 -1.35543693e-02 -7.66688546e-03 1.30613972e+02] [ 7.66052292e-03 -5.21266643e-04 9.99970522e-01 2.37808366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.64, Z:2.38 [[-1.77966315e-02 -9.99841541e-01 -4.15284838e-04 2.83623326e+02] [ 9.99812297e-01 -1.77929265e-02 -7.66699840e-03 1.30637864e+02] [ 7.65839436e-03 -5.51653633e-04 9.99970522e-01 2.37841150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.66, Z:2.38 [[-1.97252202e-02 -9.99805354e-01 -4.13128862e-04 2.83622675e+02] [ 9.99776114e-01 -1.97214752e-02 -7.66711457e-03 1.30662345e+02] [ 7.65747468e-03 -5.64271891e-04 9.99970522e-01 2.37965196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.69, Z:2.38 [[-2.14909493e-02 -9.99768958e-01 -4.11062632e-04 2.83622330e+02] [ 9.99739724e-01 -2.14871685e-02 -7.66722535e-03 1.30687498e+02] [ 7.65662133e-03 -5.75731593e-04 9.99970522e-01 2.38083611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.71, Z:2.38 [[-2.23492367e-02 -9.99750141e-01 -4.09007918e-04 2.83621881e+02] [ 9.99720908e-01 -2.23454464e-02 -7.66733495e-03 1.30711988e+02] [ 7.65627974e-03 -5.80252851e-04 9.99970522e-01 2.38224435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.74, Z:2.38 [[-2.28908022e-02 -9.99737888e-01 -4.06944374e-04 2.83621348e+02] [ 9.99708655e-01 -2.28870118e-02 -7.66744447e-03 1.30735354e+02] [ 7.65612101e-03 -5.82339768e-04 9.99970522e-01 2.38202774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.76, Z:2.38 [[-2.29729261e-02 -9.99736006e-01 -4.04806643e-04 2.83620695e+02] [ 9.99706770e-01 -2.29691497e-02 -7.66755734e-03 1.30759029e+02] [ 7.65623508e-03 -5.80834170e-04 9.99970522e-01 2.38127996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.78, Z:2.38 [[-2.13147562e-02 -9.99772734e-01 -4.02604431e-04 2.83619513e+02] [ 9.99743490e-01 -2.13110450e-02 -7.66767297e-03 1.30781960e+02] [ 7.65735044e-03 -5.65935739e-04 9.99970522e-01 2.37791334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.81, Z:2.38 [[-1.96104206e-02 -9.99807617e-01 -4.00371076e-04 2.83619810e+02] [ 9.99778365e-01 -1.96067763e-02 -7.66778958e-03 1.30806145e+02] [ 7.65846444e-03 -5.50650919e-04 9.99970522e-01 2.37664765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.83, Z:2.38 [[-1.64856752e-02 -9.99864023e-01 -3.98206015e-04 2.83618516e+02] [ 9.99834758e-01 -1.64821389e-02 -7.66790202e-03 1.30828656e+02] [ 7.66029607e-03 -5.24550757e-04 9.99970522e-01 2.37758025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.85, Z:2.38 [[-1.56245449e-02 -9.99877851e-01 -3.95953372e-04 2.83618437e+02] [ 9.99848581e-01 -1.56210510e-02 -7.66801833e-03 1.30853083e+02] [ 7.66089649e-03 -5.15702714e-04 9.99970522e-01 2.38075223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.88, Z:2.38 [[-1.58485190e-02 -9.99874327e-01 -3.93835260e-04 2.83618363e+02] [ 9.99845055e-01 -1.58450347e-02 -7.66812712e-03 1.30875987e+02] [ 7.66092311e-03 -5.15302696e-04 9.99970522e-01 2.38348478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.90, Z:2.39 [[-1.69237953e-02 -9.99856706e-01 -3.91655294e-04 2.83618546e+02] [ 9.99827436e-01 -1.69202962e-02 -7.66823846e-03 1.30900391e+02] [ 7.66051272e-03 -5.21363407e-04 9.99970522e-01 2.38583352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.92, Z:2.38 [[-1.91603937e-02 -9.99816347e-01 -3.89576682e-04 2.83617902e+02] [ 9.99787083e-01 -1.91568449e-02 -7.66834406e-03 1.30924108e+02] [ 7.65947269e-03 -5.36422225e-04 9.99970522e-01 2.38436371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.95, Z:2.38 [[-1.98329748e-02 -9.99803232e-01 -3.87571202e-04 2.83617173e+02] [ 9.99773969e-01 -1.98294216e-02 -7.66844542e-03 1.30946701e+02] [ 7.65925121e-03 -5.39571683e-04 9.99970522e-01 2.38413373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:130.97, Z:2.39 [[-2.00407453e-02 -9.99799090e-01 -3.85367463e-04 2.83616587e+02] [ 9.99769825e-01 -2.00372029e-02 -7.66855617e-03 1.30971466e+02] [ 7.65929379e-03 -5.38962343e-04 9.99970522e-01 2.38600273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:131.00, Z:2.39 [[-2.00084895e-02 -9.99799737e-01 -3.83305358e-04 2.83615216e+02] [ 9.99770470e-01 -2.00049637e-02 -7.66865924e-03 1.30996682e+02] [ 7.65945548e-03 -5.36655666e-04 9.99970522e-01 2.38852503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:131.02, Z:2.39 [[-2.00952304e-02 -9.99797998e-01 -3.81129621e-04 2.83610985e+02] [ 9.99768730e-01 -2.00917187e-02 -7.66876737e-03 1.31020944e+02] [ 7.65956071e-03 -5.35147124e-04 9.99970522e-01 2.38770175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:131.05, Z:2.39 [[-2.03849412e-02 -9.99792134e-01 -3.79066071e-04 2.83609241e+02] [ 9.99762865e-01 -2.03814368e-02 -7.66886937e-03 1.31046112e+02] [ 7.65954936e-03 -5.35305633e-04 9.99970522e-01 2.39015466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:131.07, Z:2.39 [[-2.10136805e-02 -9.99779117e-01 -3.76898106e-04 2.83607364e+02] [ 9.99749848e-01 -2.10101742e-02 -7.66897592e-03 1.31070300e+02] [ 7.65936328e-03 -5.37957234e-04 9.99970522e-01 2.38715324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:131.09, Z:2.39 [[-2.18728809e-02 -9.99760690e-01 -3.74651907e-04 2.83605854e+02] [ 9.99731422e-01 -2.18693667e-02 -7.66908565e-03 1.31092941e+02] [ 7.65905696e-03 -5.42296281e-04 9.99970522e-01 2.38699308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:131.12, Z:2.39 [[-2.53132661e-02 -9.99679499e-01 -3.72497556e-04 2.83603980e+02] [ 9.99650241e-01 -2.53096676e-02 -7.66919029e-03 1.31116723e+02] [ 7.65730451e-03 -5.66499526e-04 9.99970522e-01 2.38967264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:131.14, Z:2.39 [[-2.77065265e-02 -9.99616032e-01 -3.70417552e-04 2.83603765e+02] [ 9.99586781e-01 -2.77028738e-02 -7.66929075e-03 1.31140055e+02] [ 7.65608435e-03 -5.82753895e-04 9.99970522e-01 2.38810550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:131.16, Z:2.39 [[-2.99679527e-02 -9.99550792e-01 -3.68263807e-04 2.83603642e+02] [ 9.99521548e-01 -2.99642503e-02 -7.66939416e-03 1.31163523e+02] [ 7.65491426e-03 -5.97923652e-04 9.99970522e-01 2.38536421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:131.19, Z:2.38 [[-3.23201436e-02 -9.99477501e-01 -3.66204380e-04 2.83603766e+02] [ 9.99448263e-01 -3.23163881e-02 -7.66949250e-03 1.31187257e+02] [ 7.65365079e-03 -6.13881431e-04 9.99970522e-01 2.38137782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:131.21, Z:2.38 [[-3.57791261e-02 -9.99359656e-01 -3.64171583e-04 2.83604505e+02] [ 9.99330429e-01 -3.57752849e-02 -7.66958902e-03 1.31210447e+02] [ 7.65164950e-03 -6.38338937e-04 9.99970522e-01 2.38054861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:131.23, Z:2.39 [[-3.69698207e-02 -9.99316317e-01 -3.62041060e-04 2.83604968e+02] [ 9.99287093e-01 -3.69659609e-02 -7.66968959e-03 1.31234803e+02] [ 7.65106276e-03 -6.45330007e-04 9.99970522e-01 2.38609360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:131.26, Z:2.39 [[-3.72370156e-02 -9.99306397e-01 -3.59978652e-04 2.83605100e+02] [ 9.99277172e-01 -3.72331637e-02 -7.66978639e-03 1.31259671e+02] [ 7.65106346e-03 -6.45318405e-04 9.99970522e-01 2.38886157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:131.28, Z:2.39 [[-3.65370920e-02 -9.99332233e-01 -3.57968024e-04 2.83604744e+02] [ 9.99303003e-01 -3.65332759e-02 -7.66988023e-03 1.31283797e+02] [ 7.65168079e-03 -6.37953642e-04 9.99970522e-01 2.38877907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:131.31, Z:2.39 [[-3.31350480e-02 -9.99450820e-01 -3.55813515e-04 2.83601819e+02] [ 9.99421575e-01 -3.31313479e-02 -7.66998018e-03 1.31306803e+02] [ 7.65397940e-03 -6.09752866e-04 9.99970522e-01 2.38873987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:131.33, Z:2.39 [[-3.16546141e-02 -9.99498805e-01 -3.53732342e-04 2.83600151e+02] [ 9.99469552e-01 -3.16509731e-02 -7.67007616e-03 1.31331046e+02] [ 7.65503598e-03 -5.96338006e-04 9.99970522e-01 2.38875569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:131.36, Z:2.39 [[-3.07097768e-02 -9.99528282e-01 -3.51726311e-04 2.83598059e+02] [ 9.99499024e-01 -3.07061788e-02 -7.67016815e-03 1.31355006e+02] [ 7.65574982e-03 -5.87099257e-04 9.99970522e-01 2.38816577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:131.38, Z:2.39 [[-3.01441872e-02 -9.99545500e-01 -3.49723691e-04 2.83595757e+02] [ 9.99516238e-01 -3.01406211e-02 -7.67025946e-03 1.31379676e+02] [ 7.65623243e-03 -5.80768245e-04 9.99970522e-01 2.39293725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:131.40, Z:2.39 [[-3.04091730e-02 -9.99537474e-01 -3.47573618e-04 2.83590902e+02] [ 9.99508211e-01 -3.04056155e-02 -7.67035688e-03 1.31403862e+02] [ 7.65624095e-03 -5.80651894e-04 9.99970522e-01 2.39429844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:131.43, Z:2.40 [[-3.19055802e-02 -9.99490828e-01 -3.45429520e-04 2.83588692e+02] [ 9.99461569e-01 -3.19019952e-02 -7.67045344e-03 1.31429443e+02] [ 7.65552797e-03 -5.89973797e-04 9.99970522e-01 2.39612152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:131.45, Z:2.40 [[-3.29704537e-02 -9.99456264e-01 -3.53308646e-04 2.83586832e+02] [ 9.99427016e-01 -3.29667775e-02 -7.67010050e-03 1.31453876e+02] [ 7.65428255e-03 -6.05992899e-04 9.99970522e-01 2.39643756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:131.48, Z:2.39 [[-3.48256510e-02 -9.99393345e-01 -3.41478656e-04 2.83584514e+02] [ 9.99364092e-01 -3.48220108e-02 -7.67062715e-03 1.31477825e+02] [ 7.65408275e-03 -6.08396092e-04 9.99970522e-01 2.39460734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:131.50, Z:2.39 [[-3.77588465e-02 -9.99286823e-01 -3.39531874e-04 2.83578620e+02] [ 9.99257579e-01 -3.77551352e-02 -7.67071332e-03 1.31501420e+02] [ 7.65242367e-03 -6.28917086e-04 9.99970522e-01 2.39319227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:131.53, Z:2.40 [[-3.92237970e-02 -9.99230394e-01 -3.37404525e-04 2.83576583e+02] [ 9.99201154e-01 -3.92200591e-02 -7.67080689e-03 1.31525801e+02] [ 7.65167037e-03 -6.38013163e-04 9.99970522e-01 2.39571704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:131.55, Z:2.40 [[-4.05184540e-02 -9.99178734e-01 -3.35319824e-04 2.83574995e+02] [ 9.99149497e-01 -4.05146941e-02 -7.67089802e-03 1.31549034e+02] [ 7.65101279e-03 -6.45847562e-04 9.99970522e-01 2.39643811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:131.57, Z:2.40 [[-4.07948995e-02 -9.99167486e-01 -3.33488722e-04 2.83575659e+02] [ 9.99138248e-01 -4.07911454e-02 -7.67097763e-03 1.31573324e+02] [ 7.65098804e-03 -6.46138099e-04 9.99970522e-01 2.39662475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:131.60, Z:2.40 [[-4.23206190e-02 -9.99104026e-01 -3.31366273e-04 2.83572143e+02] [ 9.99074792e-01 -4.23168365e-02 -7.67106931e-03 1.31598260e+02] [ 7.65017386e-03 -6.55704092e-04 9.99970522e-01 2.39741241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:131.62, Z:2.40 [[-4.24373959e-02 -9.99099074e-01 -3.29349923e-04 2.83570264e+02] [ 9.99069838e-01 -4.24336254e-02 -7.67115588e-03 1.31622655e+02] [ 7.65026922e-03 -6.54587453e-04 9.99970522e-01 2.39578550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:131.65, Z:2.39 [[-4.22687905e-02 -9.99106222e-01 -3.27289680e-04 2.83568950e+02] [ 9.99076983e-01 -4.22650406e-02 -7.67124378e-03 1.31646494e+02] [ 7.65055448e-03 -6.51241782e-04 9.99970522e-01 2.39325243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:131.67, Z:2.39 [[-4.21481655e-02 -9.99111318e-01 -3.25150063e-04 2.83567973e+02] [ 9.99082077e-01 -4.21444354e-02 -7.67133447e-03 1.31671113e+02] [ 7.65081383e-03 -6.48184275e-04 9.99970522e-01 2.39275666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:131.69, Z:2.39 [[-4.20850549e-02 -9.99113979e-01 -3.23072409e-04 2.83566664e+02] [ 9.99084736e-01 -4.20813425e-02 -7.67142196e-03 1.31694546e+02] [ 7.65102961e-03 -6.45628927e-04 9.99970522e-01 2.39160973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:131.72, Z:2.39 [[-4.05985173e-02 -9.99175489e-01 -3.21116645e-04 2.83562546e+02] [ 9.99146238e-01 -4.05948633e-02 -7.67150383e-03 1.31718968e+02] [ 7.65214290e-03 -6.32294168e-04 9.99970522e-01 2.39445539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:131.74, Z:2.39 [[-3.96527332e-02 -9.99213470e-01 -3.19067215e-04 2.83560060e+02] [ 9.99184214e-01 -3.96491225e-02 -7.67158907e-03 1.31743578e+02] [ 7.65290440e-03 -6.23006399e-04 9.99970522e-01 2.39492307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:131.77, Z:2.39 [[-3.84907965e-02 -9.99258904e-01 -3.16972427e-04 2.83557674e+02] [ 9.99229642e-01 -3.84872358e-02 -7.67167562e-03 1.31767417e+02] [ 7.65379078e-03 -6.12017150e-04 9.99970522e-01 2.39459638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:131.79, Z:2.39 [[-3.74732005e-02 -9.99297583e-01 -3.14795583e-04 2.83555540e+02] [ 9.99268316e-01 -3.74696862e-02 -7.67176494e-03 1.31792037e+02] [ 7.65458087e-03 -6.02050838e-04 9.99970522e-01 2.39481974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:131.82, Z:2.39 [[-3.58924425e-02 -9.99355610e-01 -3.12744909e-04 2.83551622e+02] [ 9.99326335e-01 -3.58889902e-02 -7.67184854e-03 1.31815611e+02] [ 7.65568077e-03 -5.87895606e-04 9.99970522e-01 2.39401507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.66589822699996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:283.55, Y:131.84, Z:2.40 [[-3.48133136e-02 -9.99393785e-01 -3.10816703e-04 2.83550119e+02] [ 9.99364504e-01 -3.48099076e-02 -7.67192666e-03 1.31840032e+02] [ 7.65645631e-03 -5.77704369e-04 9.99970522e-01 2.39546362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:131.86, Z:2.39 [[-3.35159366e-02 -9.99438136e-01 -3.08724867e-04 2.83549143e+02] [ 9.99408849e-01 -3.35125846e-02 -7.67201083e-03 1.31864751e+02] [ 7.65735403e-03 -5.65676993e-04 9.99970522e-01 2.39391098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:131.89, Z:2.39 [[-3.18233041e-02 -9.99493463e-01 -3.06640834e-04 2.83548145e+02] [ 9.99464169e-01 -3.18200176e-02 -7.67209413e-03 1.31888782e+02] [ 7.65845061e-03 -5.50627911e-04 9.99970522e-01 2.39270163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.755898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.55, Y:131.91, Z:2.39 [[-2.68512580e-02 -9.99639394e-01 -3.04479718e-04 2.83545708e+02] [ 9.99610082e-01 -2.68481337e-02 -7.67217989e-03 1.31912623e+02] [ 7.66123854e-03 -5.10368678e-04 9.99970522e-01 2.39423365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:131.94, Z:2.40 [[-2.36759695e-02 -9.99719639e-01 -3.02451729e-04 2.83544695e+02] [ 9.99690316e-01 -2.36729539e-02 -7.67225984e-03 1.31937990e+02] [ 7.66294891e-03 -4.84006254e-04 9.99970522e-01 2.39888042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:131.96, Z:2.40 [[-2.02773806e-02 -9.99794348e-01 -3.00524801e-04 2.83543136e+02] [ 9.99765013e-01 -2.02744794e-02 -7.67233532e-03 1.31961863e+02] [ 7.66466450e-03 -4.56029045e-04 9.99970522e-01 2.40112555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:131.99, Z:2.40 [[-1.71274886e-02 -9.99853269e-01 -2.98396182e-04 2.83541753e+02] [ 9.99823924e-01 -1.71246962e-02 -7.67241810e-03 1.31985819e+02] [ 7.66618238e-03 -4.29752895e-04 9.99970522e-01 2.40169399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:132.01, Z:2.40 [[-1.20057638e-02 -9.99927884e-01 -2.96466371e-04 2.83539622e+02] [ 9.99898524e-01 -1.20031365e-02 -7.67249267e-03 1.32010064e+02] [ 7.66838084e-03 -3.88550422e-04 9.99970522e-01 2.40461869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:132.03, Z:2.41 [[-1.02909882e-02 -9.99947003e-01 -2.94453188e-04 2.83539037e+02] [ 9.99917637e-01 -1.02884267e-02 -7.67256993e-03 1.32033660e+02] [ 7.66913385e-03 -3.73387263e-04 9.99970522e-01 2.40677086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:132.06, Z:2.41 [[-8.56389231e-03 -9.99963287e-01 -2.92367745e-04 2.83538198e+02] [ 9.99933914e-01 -8.56139744e-03 -7.67264940e-03 1.32058700e+02] [ 7.66986463e-03 -3.58056167e-04 9.99970522e-01 2.41032904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:132.08, Z:2.41 [[-6.55881037e-03 -9.99978449e-01 -2.90320145e-04 2.83536775e+02] [ 9.99949070e-01 -6.55639008e-03 -7.67272688e-03 1.32083690e+02] [ 7.67065807e-03 -3.40629319e-04 9.99970522e-01 2.41265431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:132.11, Z:2.41 [[-2.51050587e-03 -9.99996807e-01 -2.88201522e-04 2.83533713e+02] [ 9.99967418e-01 -2.50822077e-03 -7.67280645e-03 1.32106983e+02] [ 7.67205908e-03 -3.07454758e-04 9.99970522e-01 2.41101487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:132.13, Z:2.41 [[-1.26811060e-03 -9.99999155e-01 -2.86013409e-04 2.83532872e+02] [ 9.99969762e-01 -1.26587877e-03 -7.67288802e-03 1.32130184e+02] [ 7.67251948e-03 -2.95734831e-04 9.99970522e-01 2.40923931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:132.15, Z:2.41 [[-5.73308642e-04 -9.99999795e-01 -2.83906481e-04 2.83531820e+02] [ 9.99970399e-01 -5.71113385e-04 -7.67296598e-03 1.32152530e+02] [ 7.67280226e-03 -2.88297055e-04 9.99970522e-01 2.40914734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:132.18, Z:2.41 [[ 1.82375959e-03 -9.99998297e-01 -2.81646164e-04 2.83529774e+02] [ 9.99968895e-01 1.82586705e-03 -7.67304894e-03 1.32176734e+02] [ 7.67355013e-03 -2.67643607e-04 9.99970522e-01 2.41241880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.53, Y:132.20, Z:2.41 [[ 3.30949607e-03 -9.99994485e-01 -2.79548747e-04 2.83528776e+02] [ 9.99965078e-01 3.31154377e-03 -7.67312536e-03 1.32199971e+02] [ 7.67400877e-03 -2.54144806e-04 9.99970522e-01 2.41309952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.145898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:283.53, Y:132.22, Z:2.41 [[ 5.20204650e-03 -9.99986431e-01 -2.77365817e-04 2.83527882e+02] [ 9.99957019e-01 5.20402181e-03 -7.67320426e-03 1.32223590e+02] [ 7.67454356e-03 -2.37437530e-04 9.99970522e-01 2.41407101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:132.25, Z:2.41 [[ 7.07375313e-03 -9.99974943e-01 -2.75199541e-04 2.83527229e+02] [ 9.99945526e-01 7.07565677e-03 -7.67328196e-03 1.32248179e+02] [ 7.67503690e-03 -2.20905647e-04 9.99970522e-01 2.41364576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.205898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.53, Y:132.27, Z:2.41 [[ 1.11701252e-02 -9.99937575e-01 -2.73117773e-04 2.83525430e+02] [ 9.99908150e-01 1.11718924e-02 -7.67335605e-03 1.32272073e+02] [ 7.67592829e-03 -1.87380339e-04 9.99970522e-01 2.41062567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23589822699995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:283.52, Y:132.30, Z:2.41 [[ 1.32177140e-02 -9.99912606e-01 -2.70962878e-04 2.83524666e+02] [ 9.99883176e-01 1.32194044e-02 -7.67343215e-03 1.32295809e+02] [ 7.67634350e-03 -1.69505992e-04 9.99970522e-01 2.40919597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.265898227 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:283.52, Y:132.32, Z:2.41 [[ 1.54022038e-02 -9.99881343e-01 -2.68851640e-04 2.83524828e+02] [ 9.99851909e-01 1.54038137e-02 -7.67350612e-03 1.32320183e+02] [ 7.67673694e-03 -1.50622921e-04 9.99970522e-01 2.40790222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.29589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.53, Y:132.35, Z:2.41 [[ 1.64715617e-02 -9.99864299e-01 -2.66795648e-04 2.83525206e+02] [ 9.99834863e-01 1.64731243e-02 -7.67357760e-03 1.32345252e+02] [ 7.67693125e-03 -1.40355784e-04 9.99970522e-01 2.40695463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.325898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:283.53, Y:132.37, Z:2.41 [[ 1.62071811e-02 -9.99868620e-01 -2.64617441e-04 2.83526892e+02] [ 9.99839183e-01 1.62087348e-02 -7.67365271e-03 1.32368805e+02] [ 7.67693366e-03 -1.40206607e-04 9.99970522e-01 2.40532366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.35589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:283.53, Y:132.39, Z:2.40 [[ 1.56021176e-02 -9.99878245e-01 -2.62567566e-04 2.83528230e+02] [ 9.99848808e-01 1.56036733e-02 -7.67372285e-03 1.32392322e+02] [ 7.67688556e-03 -1.42801542e-04 9.99970522e-01 2.40411490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.385898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.53, Y:132.42, Z:2.40 [[ 1.55888797e-02 -9.99878452e-01 -2.60607782e-04 2.83529869e+02] [ 9.99849015e-01 1.55904208e-02 -7.67378941e-03 1.32416859e+02] [ 7.67691966e-03 -1.40942654e-04 9.99970522e-01 2.40456971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41589822699996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:283.53, Y:132.44, Z:2.40 [[ 1.62857941e-02 -9.99867344e-01 -2.58568541e-04 2.83531281e+02] [ 9.99837905e-01 1.62872990e-02 -7.67385812e-03 1.32441828e+02] [ 7.67705152e-03 -1.33551755e-04 9.99970522e-01 2.40498639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.445898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.53, Y:132.47, Z:2.40 [[ 1.76170272e-02 -9.99844775e-01 -2.56449190e-04 2.83532134e+02] [ 9.99815333e-01 1.76184767e-02 -7.67392894e-03 1.32465837e+02] [ 7.67725601e-03 -1.21210017e-04 9.99970522e-01 2.40394400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47589822699996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.53, Y:132.49, Z:2.41 [[ 2.08658419e-02 -9.99782252e-01 -2.54247327e-04 2.83531819e+02] [ 9.99752805e-01 2.08671788e-02 -7.67400189e-03 1.32490634e+02] [ 7.67763632e-03 -9.40599683e-05 9.99970522e-01 2.40604353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.505898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:283.53, Y:132.52, Z:2.41 [[ 2.20341378e-02 -9.99757187e-01 -2.52144574e-04 2.83531703e+02] [ 9.99727737e-01 2.20354241e-02 -7.67407098e-03 1.32515090e+02] [ 7.67776373e-03 -8.29843876e-05 9.99970522e-01 2.40671286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53589822699996 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:283.53, Y:132.54, Z:2.41 [[ 2.33125529e-02 -9.99728194e-01 -2.50039368e-04 2.83532496e+02] [ 9.99698742e-01 2.33137855e-02 -7.67413958e-03 1.32539347e+02] [ 7.67788307e-03 -7.10602570e-05 9.99970522e-01 2.40708989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.565898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:283.53, Y:132.56, Z:2.40 [[ 2.46956519e-02 -9.99694986e-01 -2.45870409e-04 2.83534152e+02] [ 9.99665531e-01 2.46968117e-02 -7.67427425e-03 1.32563685e+02] [ 7.67800570e-03 -5.62669677e-05 9.99970522e-01 2.40255563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59589822699996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:283.53, Y:132.59, Z:2.40 [[ 2.50138993e-02 -9.99687073e-01 -2.45684532e-04 2.83534022e+02] [ 9.99657618e-01 2.50150483e-02 -7.67428020e-03 1.32588430e+02] [ 7.67802452e-03 -5.36367424e-05 9.99970522e-01 2.40100227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.625898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.53, Y:132.61, Z:2.40 [[ 2.51716658e-02 -9.99683114e-01 -2.43593874e-04 2.83533722e+02] [ 9.99653657e-01 2.51727941e-02 -7.67434656e-03 1.32612752e+02] [ 7.67804661e-03 -5.03334205e-05 9.99970522e-01 2.40241991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:132.64, Z:2.40 [[ 2.54394159e-02 -9.99676337e-01 -2.41382379e-04 2.83533718e+02] [ 9.99646879e-01 2.54405194e-02 -7.67441612e-03 1.32636064e+02] [ 7.67807308e-03 -4.60644783e-05 9.99970522e-01 2.40310330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68589822699994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:283.53, Y:132.66, Z:2.41 [[ 2.50496870e-02 -9.99686179e-01 -2.39088786e-04 2.83533955e+02] [ 9.99656721e-01 2.50507843e-02 -7.67448757e-03 1.32660915e+02] [ 7.67806852e-03 -4.67632006e-05 9.99970522e-01 2.40813778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.53, Y:132.68, Z:2.41 [[ 2.38668733e-02 -9.99715118e-01 -2.37000804e-04 2.83534618e+02] [ 9.99685661e-01 2.38679895e-02 -7.67455205e-03 1.32684150e+02] [ 7.67802244e-03 -5.37587438e-05 9.99970522e-01 2.40851141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74589822699994 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:283.54, Y:132.71, Z:2.41 [[ 2.24393892e-02 -9.99748178e-01 -2.34958306e-04 2.83535724e+02] [ 9.99718722e-01 2.24405317e-02 -7.67461458e-03 1.32707300e+02] [ 7.67795453e-03 -6.26785539e-05 9.99970522e-01 2.40839404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.77589822699997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:283.54, Y:132.73, Z:2.41 [[ 2.09583580e-02 -9.99780322e-01 -2.32693292e-04 2.83537578e+02] [ 9.99750868e-01 2.09595268e-02 -7.67468326e-03 1.32731308e+02] [ 7.67787444e-03 -7.17865614e-05 9.99970522e-01 2.40849089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.80589822699994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:283.54, Y:132.76, Z:2.41 [[ 1.95187778e-02 -9.99809464e-01 -2.30494615e-04 2.83542611e+02] [ 9.99780010e-01 1.95199721e-02 -7.67474929e-03 1.32755761e+02] [ 7.67778622e-03 -8.06421822e-05 9.99970522e-01 2.41385571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.835898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:283.55, Y:132.78, Z:2.42 [[ 1.97686577e-02 -9.99804555e-01 -2.28374889e-04 2.83545609e+02] [ 9.99775100e-01 1.97698284e-02 -7.67481237e-03 1.32780125e+02] [ 7.67782729e-03 -7.66027888e-05 9.99970522e-01 2.41711195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:132.81, Z:2.42 [[ 2.04203322e-02 -9.99791458e-01 -2.26247375e-04 2.83548698e+02] [ 9.99762002e-01 2.04214673e-02 -7.67487508e-03 1.32805023e+02] [ 7.67789485e-03 -6.94700296e-05 9.99970522e-01 2.41992468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:132.83, Z:2.42 [[ 2.17666672e-02 -9.99763053e-01 -2.24124432e-04 2.83551900e+02] [ 9.99733595e-01 2.17677464e-02 -7.67493708e-03 1.32829284e+02] [ 7.67799721e-03 -5.70069232e-05 9.99970522e-01 2.42086547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:132.85, Z:2.42 [[ 2.66237135e-02 -9.99645502e-01 -2.22002501e-04 2.83556755e+02] [ 9.99616038e-01 2.66246332e-02 -7.67499846e-03 1.32854148e+02] [ 7.67818842e-03 -1.75803010e-05 9.99970522e-01 2.41660277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.955898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.56, Y:132.88, Z:2.42 [[ 2.93511961e-02 -9.99569137e-01 -2.19860666e-04 2.83559336e+02] [ 9.99539670e-01 2.93520191e-02 -7.67505981e-03 1.32878798e+02] [ 7.67820626e-03 5.51272825e-06 9.99970522e-01 2.41562929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.98589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.56, Y:132.90, Z:2.42 [[ 3.44858639e-02 -9.99405162e-01 -2.17720288e-04 2.83564671e+02] [ 9.99375691e-01 3.44865190e-02 -7.67512053e-03 1.32902337e+02] [ 7.67806349e-03 4.70987986e-05 9.99970522e-01 2.41547901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:132.93, Z:2.42 [[ 3.59894289e-02 -9.99352147e-01 -2.15496639e-04 2.83567746e+02] [ 9.99322676e-01 3.59900226e-02 -7.67518296e-03 1.32926456e+02] [ 7.67796630e-03 6.08747730e-05 9.99970522e-01 2.41746439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:132.95, Z:2.42 [[ 3.73889543e-02 -9.99300766e-01 -2.13395810e-04 2.83570624e+02] [ 9.99271293e-01 3.73894906e-02 -7.67524137e-03 1.32951309e+02] [ 7.67785334e-03 7.37289416e-05 9.99970522e-01 2.41804204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.075898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.57, Y:132.98, Z:2.42 [[ 3.86432326e-02 -9.99253049e-01 -2.11244352e-04 2.83573832e+02] [ 9.99223575e-01 3.86437154e-02 -7.67530058e-03 1.32976222e+02] [ 7.67773078e-03 8.55180898e-05 9.99970522e-01 2.41717448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:133.00, Z:2.42 [[ 3.93902207e-02 -9.99223882e-01 -2.09092877e-04 2.83577256e+02] [ 9.99194408e-01 3.93906649e-02 -7.67535919e-03 1.32999917e+02] [ 7.67763852e-03 9.34096596e-05 9.99970522e-01 2.41517610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.135898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.59, Y:133.02, Z:2.41 [[ 4.03344158e-02 -9.99186215e-01 -2.06858192e-04 2.83585648e+02] [ 9.99156740e-01 4.03348150e-02 -7.67541942e-03 1.33024301e+02] [ 7.67751687e-03 1.02899802e-04 9.99970522e-01 2.41392118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.16589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.59, Y:133.05, Z:2.41 [[ 4.05557659e-02 -9.99177256e-01 -2.04700475e-04 2.83590145e+02] [ 9.99147780e-01 4.05561420e-02 -7.67547697e-03 1.33048129e+02] [ 7.67746387e-03 1.06758822e-04 9.99970522e-01 2.41364002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:133.07, Z:2.41 [[ 4.13386165e-02 -9.99145174e-01 -2.02458863e-04 2.83594481e+02] [ 9.99115698e-01 4.13389523e-02 -7.67553609e-03 1.33072796e+02] [ 7.67734428e-03 1.15016215e-04 9.99970522e-01 2.41360056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:133.10, Z:2.41 [[ 4.10638373e-02 -9.99156505e-01 -2.00349160e-04 2.83594748e+02] [ 9.99127029e-01 4.10641650e-02 -7.67559116e-03 1.33097924e+02] [ 7.67734401e-03 1.15014965e-04 9.99970522e-01 2.41379362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:133.12, Z:2.41 [[ 4.40807700e-02 -9.99027951e-01 -1.98238197e-04 2.83603811e+02] [ 9.98998474e-01 4.40809924e-02 -7.67564568e-03 1.33121389e+02] [ 7.67692311e-03 1.40308715e-04 9.99970522e-01 2.41301737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:133.14, Z:2.41 [[ 4.63448992e-02 -9.98925479e-01 -1.96050753e-04 2.83608086e+02] [ 9.98896001e-01 4.63450380e-02 -7.67570155e-03 1.33144818e+02] [ 7.67653983e-03 1.59895301e-04 9.99970522e-01 2.41284101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:133.17, Z:2.41 [[ 4.94429090e-02 -9.98776933e-01 -1.93794816e-04 2.83612316e+02] [ 9.98747455e-01 4.94429391e-02 -7.67575851e-03 1.33169461e+02] [ 7.67595233e-03 1.85959750e-04 9.99970522e-01 2.41367589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:133.19, Z:2.41 [[ 5.70462637e-02 -9.98371518e-01 -1.91639367e-04 2.83617668e+02] [ 9.98342041e-01 5.70460528e-02 -7.67581232e-03 1.33192992e+02] [ 7.67424467e-03 2.46554777e-04 9.99970522e-01 2.41471289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:133.22, Z:2.42 [[ 6.07435772e-02 -9.98153386e-01 -1.89411577e-04 2.83619572e+02] [ 9.98123910e-01 6.07432400e-02 -7.67586730e-03 1.33217741e+02] [ 7.67319841e-03 2.77203414e-04 9.99970522e-01 2.41767303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.40589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.62, Y:133.24, Z:2.42 [[ 6.41088700e-02 -9.97942893e-01 -1.87262293e-04 2.83620929e+02] [ 9.97913419e-01 6.41084169e-02 -7.67591973e-03 1.33241435e+02] [ 7.67213463e-03 3.05222985e-04 9.99970522e-01 2.41719556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:133.27, Z:2.42 [[ 6.63626724e-02 -9.97795551e-01 -1.85247771e-04 2.83622280e+02] [ 9.97766078e-01 6.63621373e-02 -7.67596835e-03 1.33265666e+02] [ 7.67134051e-03 3.24563831e-04 9.99970522e-01 2.41808501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:133.29, Z:2.42 [[ 6.86222574e-02 -9.97642698e-01 -1.83182714e-04 2.83624607e+02] [ 9.97613226e-01 6.86216396e-02 -7.67601763e-03 1.33290182e+02] [ 7.67049323e-03 3.44000159e-04 9.99970522e-01 2.42004223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:133.31, Z:2.42 [[ 6.80958210e-02 -9.97678769e-01 -1.81035926e-04 2.83625741e+02] [ 9.97649298e-01 6.80952024e-02 -7.67606826e-03 1.33313742e+02] [ 7.67057801e-03 3.42097806e-04 9.99970522e-01 2.42009253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.52589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.63, Y:133.34, Z:2.42 [[ 6.69393740e-02 -9.97757029e-01 -1.79017714e-04 2.83627207e+02] [ 9.97727557e-01 6.69387740e-02 -7.67611533e-03 1.33338117e+02] [ 7.67088125e-03 3.35223448e-04 9.99970522e-01 2.42099224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:133.36, Z:2.42 [[ 6.54148178e-02 -9.97858141e-01 -1.76971500e-04 2.83629941e+02] [ 9.97828669e-01 6.54142471e-02 -7.67616250e-03 1.33362554e+02] [ 7.67129771e-03 3.25547535e-04 9.99970522e-01 2.42140216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:133.39, Z:2.42 [[ 6.28046796e-02 -9.98025822e-01 -1.74850912e-04 2.83634273e+02] [ 9.97996349e-01 6.28041697e-02 -7.67621081e-03 1.33387174e+02] [ 7.67203797e-03 3.07601388e-04 9.99970522e-01 2.42275980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:133.41, Z:2.42 [[ 6.24740515e-02 -9.98046574e-01 -1.72667576e-04 2.83636034e+02] [ 9.98017100e-01 6.24735346e-02 -7.67625992e-03 1.33411053e+02] [ 7.67205206e-03 3.07241863e-04 9.99970522e-01 2.42308242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.645898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.64, Y:133.44, Z:2.42 [[ 6.35463622e-02 -9.97978873e-01 -1.70410080e-04 2.83637843e+02] [ 9.97949401e-01 6.35457963e-02 -7.67631003e-03 1.33435248e+02] [ 7.67162408e-03 3.17740941e-04 9.99970522e-01 2.42339583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:133.46, Z:2.42 [[ 6.47263327e-02 -9.97903038e-01 -1.68278393e-04 2.83639279e+02] [ 9.97873567e-01 6.47257156e-02 -7.67635676e-03 1.33459489e+02] [ 7.67115168e-03 3.28941861e-04 9.99970522e-01 2.42321534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.705898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.64, Y:133.48, Z:2.42 [[ 6.61958218e-02 -9.97806637e-01 -1.66131941e-04 2.83640371e+02] [ 9.97777167e-01 6.61951448e-02 -7.67640322e-03 1.33484603e+02] [ 7.67056321e-03 3.42383162e-04 9.99970522e-01 2.42309553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:133.51, Z:2.42 [[ 7.02729812e-02 -9.97527785e-01 -1.63994987e-04 2.83642265e+02] [ 9.97498318e-01 7.02721674e-02 -7.67644887e-03 1.33507976e+02] [ 7.66899532e-03 3.75862224e-04 9.99970522e-01 2.42439859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:133.53, Z:2.42 [[ 7.20731788e-02 -9.97399334e-01 -1.61780314e-04 2.83643883e+02] [ 9.97369869e-01 7.20722948e-02 -7.67649554e-03 1.33532373e+02] [ 7.66819142e-03 3.91914625e-04 9.99970522e-01 2.42433421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:133.56, Z:2.42 [[ 7.31357230e-02 -9.97321984e-01 -1.59664798e-04 2.83645650e+02] [ 9.97292521e-01 7.31347914e-02 -7.67653954e-03 1.33556758e+02] [ 7.66765870e-03 4.02196761e-04 9.99970522e-01 2.42332211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:133.58, Z:2.42 [[ 7.33219370e-02 -9.97308312e-01 -1.57555237e-04 2.83648739e+02] [ 9.97278849e-01 7.33209837e-02 -7.67658284e-03 1.33580628e+02] [ 7.66747198e-03 4.05735418e-04 9.99970522e-01 2.42000581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:133.60, Z:2.42 [[ 7.30761776e-02 -9.97326350e-01 -1.55368398e-04 2.83650175e+02] [ 9.97296888e-01 7.30752148e-02 -7.67662710e-03 1.33604827e+02] [ 7.66745606e-03 4.06030145e-04 9.99970522e-01 2.42015590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:133.63, Z:2.42 [[ 7.28588075e-02 -9.97342254e-01 -1.53264521e-04 2.83651569e+02] [ 9.97312792e-01 7.28578349e-02 -7.67666910e-03 1.33628378e+02] [ 7.66743299e-03 4.06460289e-04 9.99970522e-01 2.41946299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:133.65, Z:2.42 [[ 7.23536376e-02 -9.97379029e-01 -1.51085247e-04 2.83652509e+02] [ 9.97349568e-01 7.23526632e-02 -7.67671199e-03 1.33653097e+02] [ 7.66752298e-03 4.04753232e-04 9.99970522e-01 2.41959470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.945898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.65, Y:133.68, Z:2.42 [[ 7.24673151e-02 -9.97370777e-01 -1.48986838e-04 2.83653916e+02] [ 9.97341316e-01 7.24663212e-02 -7.67675272e-03 1.33677992e+02] [ 7.66736535e-03 4.07722929e-04 9.99970522e-01 2.41578647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:133.70, Z:2.42 [[ 7.17055182e-02 -9.97425835e-01 -1.46890060e-04 2.83654280e+02] [ 9.97396374e-01 7.17045308e-02 -7.67679284e-03 1.33703093e+02] [ 7.66756419e-03 4.03960796e-04 9.99970522e-01 2.41537825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:133.73, Z:2.41 [[ 7.03393184e-02 -9.97523112e-01 -1.44665163e-04 2.83654699e+02] [ 9.97493650e-01 7.03383542e-02 -7.67683477e-03 1.33726640e+02] [ 7.66799562e-03 3.95680743e-04 9.99970522e-01 2.41373300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:133.75, Z:2.41 [[ 6.79618306e-02 -9.97687912e-01 -1.42354642e-04 2.83655704e+02] [ 9.97658448e-01 6.79609189e-02 -7.67687761e-03 1.33750049e+02] [ 7.66880255e-03 3.79713344e-04 9.99970522e-01 2.41435391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.065898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.66, Y:133.78, Z:2.42 [[ 6.19587336e-02 -9.98078702e-01 -1.40179513e-04 2.83659418e+02] [ 9.98049234e-01 6.19579825e-02 -7.67691733e-03 1.33775652e+02] [ 7.67085292e-03 3.35746020e-04 9.99970522e-01 2.42126560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.66, Y:133.80, Z:2.42 [[ 5.85596263e-02 -9.98283903e-01 -1.38259673e-04 2.83661127e+02] [ 9.98254433e-01 5.85589608e-02 -7.67695190e-03 1.33799040e+02] [ 7.67187385e-03 3.11541104e-04 9.99970522e-01 2.42195056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:133.82, Z:2.42 [[ 5.57950136e-02 -9.98442236e-01 -1.36273522e-04 2.83663071e+02] [ 9.98412764e-01 5.57944145e-02 -7.67698716e-03 1.33823160e+02] [ 7.67263153e-03 2.92280379e-04 9.99970522e-01 2.42295809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:133.85, Z:2.42 [[ 5.33069187e-02 -9.98578166e-01 -1.34127755e-04 2.83667329e+02] [ 9.98548694e-01 5.33063766e-02 -7.67702465e-03 1.33847079e+02] [ 7.67325906e-03 2.75305434e-04 9.99970522e-01 2.42419753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:133.87, Z:2.43 [[ 5.28715403e-02 -9.98601313e-01 -1.31903113e-04 2.83669743e+02] [ 9.98571841e-01 5.28709939e-02 -7.67706287e-03 1.33871425e+02] [ 7.67329892e-03 2.74183405e-04 9.99970522e-01 2.42595046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:133.89, Z:2.43 [[ 5.31602712e-02 -9.98585985e-01 -1.29756037e-04 2.83672643e+02] [ 9.98556512e-01 5.31596998e-02 -7.67709916e-03 1.33894966e+02] [ 7.67314142e-03 2.78547938e-04 9.99970522e-01 2.42695881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:133.92, Z:2.43 [[ 5.32141289e-02 -9.98583116e-01 -1.27535754e-04 2.83675751e+02] [ 9.98553644e-01 5.32135388e-02 -7.67713605e-03 1.33919966e+02] [ 7.67304507e-03 2.81180815e-04 9.99970522e-01 2.42712442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:133.94, Z:2.43 [[ 5.26681956e-02 -9.98612060e-01 -1.25382714e-04 2.83682848e+02] [ 9.98582588e-01 5.26676052e-02 -7.67717121e-03 1.33944381e+02] [ 7.67311936e-03 2.79137760e-04 9.99970522e-01 2.42645680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:133.97, Z:2.43 [[ 5.16392844e-02 -9.98665795e-01 -1.23236466e-04 2.83686730e+02] [ 9.98636322e-01 5.16387078e-02 -7.67720566e-03 1.33969224e+02] [ 7.67332646e-03 2.73376996e-04 9.99970522e-01 2.42678350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:133.99, Z:2.43 [[ 5.05419723e-02 -9.98721931e-01 -1.20992823e-04 2.83690932e+02] [ 9.98692458e-01 5.05414108e-02 -7.67724102e-03 1.33993214e+02] [ 7.67354412e-03 2.67188283e-04 9.99970522e-01 2.42634333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:134.02, Z:2.43 [[ 4.89466902e-02 -9.98801385e-01 -1.18879283e-04 2.83695197e+02] [ 9.98771912e-01 4.89461596e-02 -7.67727375e-03 1.34018168e+02] [ 7.67389034e-03 2.57043851e-04 9.99970522e-01 2.42756312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.395898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.70, Y:134.04, Z:2.43 [[ 4.73364601e-02 -9.98878995e-01 -1.16701122e-04 2.83699468e+02] [ 9.98849521e-01 4.73359603e-02 -7.67730686e-03 1.34042173e+02] [ 7.67422472e-03 2.46849670e-04 9.99970522e-01 2.42932003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:134.07, Z:2.43 [[ 4.33400873e-02 -9.99060370e-01 -1.14444888e-04 2.83708006e+02] [ 9.99030895e-01 4.33396881e-02 -7.67734049e-03 1.34066364e+02] [ 7.67508664e-03 2.18402628e-04 9.99970522e-01 2.43052814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.455898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.71, Y:134.09, Z:2.43 [[ 4.06921631e-02 -9.99171725e-01 -1.12317105e-04 2.83712168e+02] [ 9.99142249e-01 4.06918257e-02 -7.67737162e-03 1.34091291e+02] [ 7.67558303e-03 2.00188093e-04 9.99970522e-01 2.42984308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:134.12, Z:2.43 [[ 3.79882212e-02 -9.99278181e-01 -1.10190767e-04 2.83716074e+02] [ 9.99248704e-01 3.79879472e-02 -7.67740214e-03 1.34116104e+02] [ 7.67604636e-03 1.81542870e-04 9.99970522e-01 2.42879667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:134.14, Z:2.43 [[ 3.54528678e-02 -9.99371344e-01 -1.08038279e-04 2.83719378e+02] [ 9.99341867e-01 3.54526521e-02 -7.67743243e-03 1.34139397e+02] [ 7.67643621e-03 1.64219822e-04 9.99970522e-01 2.42860196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.54589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.72, Y:134.16, Z:2.43 [[ 3.32800499e-02 -9.99446060e-01 -1.05802091e-04 2.83722420e+02] [ 9.99416583e-01 3.32798811e-02 -7.67746325e-03 1.34163407e+02] [ 7.67673147e-03 1.49765995e-04 9.99970522e-01 2.42912435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:134.19, Z:2.43 [[ 3.00574873e-02 -9.99548166e-01 -1.03592974e-04 2.83727535e+02] [ 9.99518689e-01 3.00573966e-02 -7.67749305e-03 1.34188115e+02] [ 7.67713784e-03 1.27223036e-04 9.99970522e-01 2.42907044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:134.21, Z:2.43 [[ 2.89195175e-02 -9.99581738e-01 -1.01441324e-04 2.83729350e+02] [ 9.99552261e-01 2.89194438e-02 -7.67752148e-03 1.34212739e+02] [ 7.67724390e-03 1.20634312e-04 9.99970522e-01 2.42872351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:134.24, Z:2.43 [[ 2.77143857e-02 -9.99615878e-01 -9.92396821e-05 2.83731407e+02] [ 9.99586400e-01 2.77143306e-02 -7.67754994e-03 1.34236633e+02] [ 7.67735118e-03 1.13579944e-04 9.99970522e-01 2.42852399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:134.26, Z:2.43 [[ 2.69998361e-02 -9.99635433e-01 -9.69514350e-05 2.83732056e+02] [ 9.99605956e-01 2.69997846e-02 -7.67757884e-03 1.34260435e+02] [ 7.67739752e-03 1.10380139e-04 9.99970522e-01 2.42999382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:134.28, Z:2.43 [[ 2.61133976e-02 -9.99658983e-01 -9.47096741e-05 2.83732490e+02] [ 9.99629505e-01 2.61133549e-02 -7.67760649e-03 1.34284145e+02] [ 7.67746148e-03 1.05813806e-04 9.99970522e-01 2.43088316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:134.31, Z:2.43 [[ 2.48484264e-02 -9.99691226e-01 -9.24896948e-05 2.83732432e+02] [ 9.99661748e-01 2.48484041e-02 -7.67763323e-03 1.34306615e+02] [ 7.67756080e-03 9.83186945e-05 9.99970522e-01 2.43114256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:134.33, Z:2.43 [[ 2.08996450e-02 -9.99781575e-01 -9.02126324e-05 2.83732990e+02] [ 9.99752097e-01 2.08997216e-02 -7.67765999e-03 1.34330140e+02] [ 7.67786841e-03 7.02701000e-05 9.99970522e-01 2.42894046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:134.36, Z:2.43 [[ 1.79962929e-02 -9.99838050e-01 -8.79231230e-05 2.83733501e+02] [ 9.99808572e-01 1.79964375e-02 -7.67768621e-03 1.34355255e+02] [ 7.67802511e-03 5.02635975e-05 9.99970522e-01 2.42883850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:134.38, Z:2.43 [[ 1.49126026e-02 -9.99888797e-01 -8.57500963e-05 2.83733248e+02] [ 9.99859320e-01 1.49128214e-02 -7.67771048e-03 1.34379733e+02] [ 7.67813547e-03 2.87566124e-05 9.99970522e-01 2.42947964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:134.40, Z:2.43 [[ 1.21519542e-02 -9.99926159e-01 -8.35667855e-05 2.83732646e+02] [ 9.99896682e-01 1.21522377e-02 -7.67773424e-03 1.34403313e+02] [ 7.67818283e-03 9.74132351e-06 9.99970522e-01 2.43033456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:134.43, Z:2.43 [[ 7.41183801e-03 -9.99972529e-01 -8.13038684e-05 2.83731892e+02] [ 9.99943054e-01 7.41224379e-03 -7.67775821e-03 1.34427362e+02] [ 7.67814993e-03 -2.43929384e-05 9.99970522e-01 2.43026081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:134.45, Z:2.43 [[ 5.06613861e-03 -9.99987164e-01 -7.90651409e-05 2.83731134e+02] [ 9.99957690e-01 5.06659634e-03 -7.67778126e-03 1.34451808e+02] [ 7.67808330e-03 -4.01650915e-05 9.99970522e-01 2.43104876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:134.48, Z:2.43 [[ 2.94340456e-03 -9.99995665e-01 -7.68113213e-05 2.83729897e+02] [ 9.99966192e-01 2.94390756e-03 -7.67780381e-03 1.34475653e+02] [ 7.67799665e-03 -5.42098416e-05 9.99970522e-01 2.43097463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:134.50, Z:2.43 [[ 9.93068076e-04 -9.99999504e-01 -7.44725506e-05 2.83728252e+02] [ 9.99970031e-01 9.93610594e-04 -7.67782649e-03 1.34498988e+02] [ 7.67789668e-03 -6.68457144e-05 9.99970522e-01 2.43105990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:134.52, Z:2.43 [[-2.22372621e-03 -9.99997525e-01 -7.22055230e-05 2.83724502e+02] [ 9.99968054e-01 -2.22310629e-03 -7.67784781e-03 1.34522319e+02] [ 7.67766829e-03 -8.92766478e-05 9.99970522e-01 2.43189582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:134.54, Z:2.43 [[-4.49185155e-03 -9.99989909e-01 -6.97816885e-05 2.83722592e+02] [ 9.99960439e-01 -4.49118340e-03 -7.67786984e-03 1.34544840e+02] [ 7.67747896e-03 -1.04266779e-04 9.99970522e-01 2.43216714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:134.57, Z:2.43 [[-7.49821401e-03 -9.99971886e-01 -6.73821013e-05 2.83720969e+02] [ 9.99942417e-01 -7.49747568e-03 -7.67789090e-03 1.34569394e+02] [ 7.67716985e-03 -1.24948690e-04 9.99970522e-01 2.43288167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:134.59, Z:2.43 [[-1.11951719e-02 -9.99937330e-01 -6.51573544e-05 2.83719158e+02] [ 9.99907864e-01 -1.11943417e-02 -7.67790978e-03 1.34592986e+02] [ 7.67669921e-03 -1.51106871e-04 9.99970522e-01 2.43332111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:134.62, Z:2.43 [[-1.50100182e-02 -9.99887341e-01 -6.28427450e-05 2.83718007e+02] [ 9.99857878e-01 -1.50090933e-02 -7.67792873e-03 1.34617853e+02] [ 7.67612053e-03 -1.78079663e-04 9.99970522e-01 2.43322404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:134.64, Z:2.43 [[-1.52899251e-02 -9.99883100e-01 -6.06828357e-05 2.83717840e+02] [ 9.99853637e-01 -1.52890086e-02 -7.67794580e-03 1.34643016e+02] [ 7.67612047e-03 -1.78069170e-04 9.99970522e-01 2.43341710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:134.67, Z:2.43 [[-2.22924271e-02 -9.99751491e-01 -5.85334111e-05 2.83717329e+02] [ 9.99722034e-01 -2.22913207e-02 -7.67796218e-03 1.34666855e+02] [ 7.67474936e-03 -2.29677553e-04 9.99970522e-01 2.43398000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:134.69, Z:2.44 [[-2.50527029e-02 -9.99686130e-01 -5.64531966e-05 2.83716887e+02] [ 9.99656676e-01 -2.50515311e-02 -7.67797748e-03 1.34690381e+02] [ 7.67415335e-03 -2.48787903e-04 9.99970522e-01 2.43512457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:134.71, Z:2.44 [[-2.73305803e-02 -9.99626448e-01 -5.41770956e-05 2.83715296e+02] [ 9.99596996e-01 -2.73293589e-02 -7.67799354e-03 1.34713450e+02] [ 7.67364479e-03 -2.63999281e-04 9.99970522e-01 2.43526331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:134.74, Z:2.44 [[-2.84819422e-02 -9.99594306e-01 -5.18388517e-05 2.83713330e+02] [ 9.99564854e-01 -2.84807048e-02 -7.67800933e-03 1.34737872e+02] [ 7.67341800e-03 -2.70500912e-04 9.99970522e-01 2.43529990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:134.76, Z:2.43 [[-2.80208074e-02 -9.99607339e-01 -4.96444328e-05 2.83709572e+02] [ 9.99577886e-01 -2.80196005e-02 -7.67802352e-03 1.34761934e+02] [ 7.67361764e-03 -2.64767895e-04 9.99970522e-01 2.43370908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:134.79, Z:2.43 [[-2.72095146e-02 -9.99629752e-01 -4.73670749e-05 2.83707690e+02] [ 9.99600297e-01 -2.72083490e-02 -7.67803756e-03 1.34786090e+02] [ 7.67390600e-03 -2.56263817e-04 9.99970522e-01 2.43311239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:134.81, Z:2.43 [[-2.64238572e-02 -9.99650828e-01 -4.50622330e-05 2.83705718e+02] [ 9.99621372e-01 -2.64227324e-02 -7.67805109e-03 1.34810155e+02] [ 7.67417946e-03 -2.47928897e-04 9.99970522e-01 2.43266226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:134.83, Z:2.43 [[-2.51401279e-02 -9.99683936e-01 -4.27539408e-05 2.83702264e+02] [ 9.99654478e-01 -2.51390588e-02 -7.67806394e-03 1.34833145e+02] [ 7.67456239e-03 -2.35766678e-04 9.99970522e-01 2.43306691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:134.86, Z:2.43 [[-2.48293957e-02 -9.99691702e-01 -4.03885471e-05 2.83700354e+02] [ 9.99662243e-01 -2.48283538e-02 -7.67807639e-03 1.34856688e+02] [ 7.67470647e-03 -2.31016902e-04 9.99970522e-01 2.43245128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:134.88, Z:2.43 [[-2.47876834e-02 -9.99692737e-01 -3.80872854e-05 2.83699172e+02] [ 9.99663278e-01 -2.47866604e-02 -7.67808780e-03 1.34880987e+02] [ 7.67478456e-03 -2.28396470e-04 9.99970522e-01 2.43165211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:134.91, Z:2.43 [[-2.52404145e-02 -9.99681409e-01 -3.59592999e-05 2.83697333e+02] [ 9.99651949e-01 -2.52393945e-02 -7.67809777e-03 1.34905852e+02] [ 7.67474401e-03 -2.29745155e-04 9.99970522e-01 2.43096425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:134.93, Z:2.42 [[-2.52065856e-02 -9.99682263e-01 -3.37372134e-05 2.83692423e+02] [ 9.99652802e-01 -2.52055837e-02 -7.67810753e-03 1.34929950e+02] [ 7.67481755e-03 -2.27264375e-04 9.99970522e-01 2.42479836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:134.95, Z:2.43 [[-2.52365634e-02 -9.99681507e-01 -3.16526795e-05 2.83688994e+02] [ 9.99652046e-01 -2.52355766e-02 -7.67811613e-03 1.34953367e+02] [ 7.67487192e-03 -2.25410930e-04 9.99970522e-01 2.42564515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:134.98, Z:2.43 [[-2.55319420e-02 -9.99674006e-01 -2.93464062e-05 2.83685444e+02] [ 9.99644545e-01 -2.55309641e-02 -7.67812494e-03 1.34976103e+02] [ 7.67487268e-03 -2.25373415e-04 9.99970522e-01 2.42762613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:135.00, Z:2.43 [[-2.61235186e-02 -9.99658722e-01 -2.69717708e-05 2.83682134e+02] [ 9.99629261e-01 -2.61225415e-02 -7.67813328e-03 1.35000596e+02] [ 7.67480834e-03 -2.27541629e-04 9.99970522e-01 2.43088910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:135.02, Z:2.43 [[-2.85008963e-02 -9.99593767e-01 -2.47501346e-05 2.83676034e+02] [ 9.99564307e-01 -2.84998662e-02 -7.67814044e-03 1.35024326e+02] [ 7.67431595e-03 -2.43573236e-04 9.99970522e-01 2.43126121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:135.05, Z:2.43 [[-3.06747472e-02 -9.99529419e-01 -2.24402002e-05 2.83672500e+02] [ 9.99499961e-01 -3.06736707e-02 -7.67814720e-03 1.35048056e+02] [ 7.67384568e-03 -2.57954203e-04 9.99970522e-01 2.43051640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:135.07, Z:2.43 [[-3.25893212e-02 -9.99468827e-01 -2.02163526e-05 2.83668962e+02] [ 9.99439370e-01 -3.25882054e-02 -7.67815305e-03 1.35072508e+02] [ 7.67341581e-03 -2.70430815e-04 9.99970522e-01 2.43099617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:135.10, Z:2.43 [[-3.43233275e-02 -9.99410781e-01 -1.80039847e-05 2.83664925e+02] [ 9.99381326e-01 -3.43221776e-02 -7.67815824e-03 1.35095763e+02] [ 7.67301618e-03 -2.81532786e-04 9.99970522e-01 2.43174955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:135.12, Z:2.43 [[-3.77918000e-02 -9.99285635e-01 -1.57125249e-05 2.83655764e+02] [ 9.99256183e-01 -3.77905654e-02 -7.67816293e-03 1.35119111e+02] [ 7.67208413e-03 -3.05872435e-04 9.99970522e-01 2.43403205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:135.14, Z:2.44 [[-4.06840261e-02 -9.99172062e-01 -1.34479124e-05 2.83651237e+02] [ 9.99142613e-01 -4.06827236e-02 -7.67816689e-03 1.35144123e+02] [ 7.67126275e-03 -3.25815124e-04 9.99970522e-01 2.43585774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:135.17, Z:2.44 [[-4.42741561e-02 -9.99019419e-01 -1.13052088e-05 2.83647184e+02] [ 9.98989974e-01 -4.42727643e-02 -7.67817005e-03 1.35167904e+02] [ 7.67014047e-03 -3.51238290e-04 9.99970522e-01 2.43781939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:135.19, Z:2.44 [[-4.80752674e-02 -9.98843716e-01 -9.09333742e-06 2.83644015e+02] [ 9.98814276e-01 -4.80737805e-02 -7.67817267e-03 1.35192245e+02] [ 7.66885737e-03 -3.78212759e-04 9.99970522e-01 2.43882549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.86589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.64, Y:135.22, Z:2.44 [[-5.67979522e-02 -9.98385693e-01 -6.97551231e-06 2.83639573e+02] [ 9.98356266e-01 -5.67962244e-02 -7.67817459e-03 1.35215460e+02] [ 7.66538348e-03 -4.43068640e-04 9.99970522e-01 2.43869914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:135.24, Z:2.44 [[-6.05697840e-02 -9.98163965e-01 -4.78102654e-06 2.83638112e+02] [ 9.98134544e-01 -6.05679619e-02 -7.67817596e-03 1.35240124e+02] [ 7.66378898e-03 -4.69837567e-04 9.99970522e-01 2.43880118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:135.26, Z:2.44 [[-6.39195707e-02 -9.97955053e-01 -2.69294661e-06 2.83635578e+02] [ 9.97925637e-01 -6.39176658e-02 -7.67817669e-03 1.35264454e+02] [ 7.66230310e-03 -4.93473118e-04 9.99970522e-01 2.43811724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:135.29, Z:2.44 [[-6.66850527e-02 -9.97774075e-01 -6.03240614e-07 2.83633536e+02] [ 9.97744663e-01 -6.66830823e-02 -7.67817686e-03 1.35288641e+02] [ 7.66104558e-03 -5.12621508e-04 9.99970522e-01 2.43691349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:135.29, Z:2.43 [[-6.98667181e-02 -9.97556335e-01 1.56060837e-06 2.83630036e+02] [ 9.97526929e-01 -6.98646705e-02 -7.67817642e-03 1.35286502e+02] [ 7.65952256e-03 -5.34892238e-04 9.99970522e-01 2.43396078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:135.27, Z:2.43 [[-6.97049415e-02 -9.97567652e-01 1.56060870e-06 2.83628950e+02] [ 9.97538246e-01 -6.97028988e-02 -7.67817642e-03 1.35270781e+02] [ 7.65960920e-03 -5.33650071e-04 9.99970522e-01 2.43267154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:135.29, Z:2.43 [[-6.89016051e-02 -9.97623460e-01 5.95413840e-07 2.83628384e+02] [ 9.97594053e-01 -6.88995787e-02 -7.67817649e-03 1.35294663e+02] [ 7.65997002e-03 -5.28444704e-04 9.99970522e-01 2.43179004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:135.30, Z:2.43 [[-6.76615780e-02 -9.97708330e-01 3.16442155e-06 2.83628135e+02] [ 9.97678918e-01 -6.76596077e-02 -7.67817543e-03 1.35297566e+02] [ 7.66079369e-03 -5.16360389e-04 9.99970522e-01 2.43138466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:135.29, Z:2.43 [[-6.45742991e-02 -9.97912902e-01 5.43247463e-06 2.83627255e+02] [ 9.97883483e-01 -6.45724372e-02 -7.67817383e-03 1.35290442e+02] [ 7.66249951e-03 -4.90391716e-04 9.99970522e-01 2.42980449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:135.29, Z:2.43 [[-6.33998525e-02 -9.97988206e-01 4.78427547e-06 2.83625506e+02] [ 9.97958785e-01 -6.33980203e-02 -7.67817423e-03 1.35289667e+02] [ 7.66303064e-03 -4.82020604e-04 9.99970522e-01 2.42929306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:135.31, Z:2.43 [[-6.23967237e-02 -9.98051426e-01 4.13792455e-06 2.83623406e+02] [ 9.98022004e-01 -6.23949161e-02 -7.67817458e-03 1.35313549e+02] [ 7.66347127e-03 -4.74963198e-04 9.99970522e-01 2.42950553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:135.30, Z:2.43 [[-6.10663773e-02 -9.98133707e-01 6.74019011e-06 2.83621286e+02] [ 9.98104282e-01 -6.10646289e-02 -7.67817229e-03 1.35300460e+02] [ 7.66425416e-03 -4.62150754e-04 9.99970522e-01 2.42832596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:135.32, Z:2.42 [[-5.99024060e-02 -9.98204239e-01 5.75574487e-06 2.83618119e+02] [ 9.98174811e-01 -5.99006844e-02 -7.67817303e-03 1.35317250e+02] [ 7.66472964e-03 -4.54195799e-04 9.99970522e-01 2.42474499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:135.33, Z:2.42 [[-6.07811201e-02 -9.98151119e-01 5.75574504e-06 2.83617433e+02] [ 9.98121693e-01 -6.07793726e-02 -7.67817303e-03 1.35325296e+02] [ 7.66432683e-03 -4.60943023e-04 9.99970522e-01 2.42329735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:135.31, Z:2.42 [[-6.24518983e-02 -9.98047975e-01 4.76419265e-06 2.83616921e+02] [ 9.98018553e-01 -6.24500938e-02 -7.67817365e-03 1.35309423e+02] [ 7.66348319e-03 -4.74761767e-04 9.99970522e-01 2.42352984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:135.28, Z:2.42 [[-6.82074463e-02 -9.97671160e-01 2.14636646e-06 2.83617231e+02] [ 9.97641750e-01 -6.82054522e-02 -7.67817438e-03 1.35275921e+02] [ 7.66043954e-03 -5.21567362e-04 9.99970522e-01 2.42436489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:135.30, Z:2.43 [[-7.14520972e-02 -9.97444032e-01 -4.26508112e-07 2.83617400e+02] [ 9.97414630e-01 -7.14499877e-02 -7.67817424e-03 1.35299505e+02] [ 7.65851860e-03 -5.49047057e-04 9.99970522e-01 2.42575489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:135.30, Z:2.43 [[-7.35769076e-02 -9.97289546e-01 1.73576805e-06 2.83618045e+02] [ 9.97260147e-01 -7.35747520e-02 -7.67817375e-03 1.35302057e+02] [ 7.65749012e-03 -5.63205268e-04 9.99970522e-01 2.42654191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:135.28, Z:2.43 [[-7.45490851e-02 -9.97217345e-01 7.80346037e-07 2.83618449e+02] [ 9.97187949e-01 -7.45468935e-02 -7.67817385e-03 1.35278914e+02] [ 7.65686631e-03 -5.71622683e-04 9.99970522e-01 2.42781241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:135.30, Z:2.43 [[-7.55511123e-02 -9.97141930e-01 -1.73366531e-06 2.83618520e+02] [ 9.97112538e-01 -7.55488719e-02 -7.67817328e-03 1.35301565e+02] [ 7.65609755e-03 -5.81823191e-04 9.99970522e-01 2.43218624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:135.33, Z:2.43 [[-7.55987018e-02 -9.97138324e-01 4.62400457e-07 2.83617774e+02] [ 9.97108930e-01 -7.55964768e-02 -7.67817315e-03 1.35327133e+02] [ 7.65623565e-03 -5.79998858e-04 9.99970522e-01 2.43429842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:135.33, Z:2.43 [[-7.47097921e-02 -9.97205318e-01 2.99825521e-06 2.83616309e+02] [ 9.97175921e-01 -7.47076128e-02 -7.67817216e-03 1.35330881e+02] [ 7.65693810e-03 -5.70644857e-04 9.99970522e-01 2.43498500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:135.30, Z:2.43 [[-7.34086486e-02 -9.97301945e-01 2.03413407e-06 2.83613874e+02] [ 9.97272546e-01 -7.34065002e-02 -7.67817241e-03 1.35299079e+02] [ 7.65760560e-03 -5.61615674e-04 9.99970522e-01 2.43430133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:135.32, Z:2.43 [[-6.99728249e-02 -9.97548898e-01 -4.96426270e-07 2.83607954e+02] [ 9.97519493e-01 -6.99707585e-02 -7.67817225e-03 1.35322553e+02] [ 7.65931753e-03 -5.37758597e-04 9.99970522e-01 2.43425863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:135.32, Z:2.44 [[-6.77348387e-02 -9.97703359e-01 1.52057009e-06 2.83604747e+02] [ 9.97673948e-01 -6.77328537e-02 -7.67817185e-03 1.35317828e+02] [ 7.66064083e-03 -5.18562698e-04 9.99970522e-01 2.43538230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61589822699995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:283.60, Y:135.34, Z:2.43 [[-6.66623417e-02 -9.97775592e-01 -1.03188407e-06 2.83600677e+02] [ 9.97746181e-01 -6.66603688e-02 -7.67817150e-03 1.35341793e+02] [ 7.66102333e-03 -5.12874451e-04 9.99970522e-01 2.43459227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:135.34, Z:2.43 [[-6.60381970e-02 -9.97817096e-01 1.14026766e-06 2.83594376e+02] [ 9.97787682e-01 -6.60362590e-02 -7.67817118e-03 1.35341187e+02] [ 7.66148577e-03 -5.05914836e-04 9.99970522e-01 2.43091609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:135.37, Z:2.43 [[-6.81296860e-02 -9.97676474e-01 -1.41441328e-06 2.83591462e+02] [ 9.97647065e-01 -6.81276669e-02 -7.67817071e-03 1.35365176e+02] [ 7.66023392e-03 -5.24522445e-04 9.99970522e-01 2.42933551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:135.35, Z:2.43 [[-7.04574737e-02 -9.97514784e-01 7.76873895e-07 2.83589306e+02] [ 9.97485379e-01 -7.04554027e-02 -7.67817049e-03 1.35354077e+02] [ 7.65914331e-03 -5.40209575e-04 9.99970522e-01 2.42748517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:135.38, Z:2.43 [[-7.35751015e-02 -9.97289679e-01 -1.75767378e-06 2.83587016e+02] [ 9.97260283e-01 -7.35729193e-02 -7.67816991e-03 1.35376576e+02] [ 7.65723029e-03 -5.66674989e-04 9.99970522e-01 2.42774978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:135.35, Z:2.43 [[-7.58362265e-02 -9.97120287e-01 3.64804830e-07 2.83584612e+02] [ 9.97090894e-01 -7.58339939e-02 -7.67816981e-03 1.35347775e+02] [ 7.65608655e-03 -5.81919682e-04 9.99970522e-01 2.42918306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:135.37, Z:2.43 [[-7.90496571e-02 -9.96870680e-01 -2.12058336e-06 2.83578517e+02] [ 9.96841296e-01 -7.90473107e-02 -7.67816912e-03 1.35371154e+02] [ 7.65397404e-03 -6.09070521e-04 9.99970522e-01 2.43240031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:135.40, Z:2.43 [[-7.90725957e-02 -9.96868860e-01 6.89008270e-09 2.83575027e+02] [ 9.96839475e-01 -7.90702649e-02 -7.67816912e-03 1.35397725e+02] [ 7.65412825e-03 -6.07125894e-04 9.99970522e-01 2.43275051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:135.42, Z:2.43 [[-7.91018054e-02 -9.96866543e-01 -2.46981758e-06 2.83570947e+02] [ 9.96837159e-01 -7.90994548e-02 -7.67816832e-03 1.35421527e+02] [ 7.65391375e-03 -6.09818983e-04 9.99970522e-01 2.42976896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:135.44, Z:2.43 [[-7.87242187e-02 -9.96896433e-01 -3.09299376e-07 2.83566336e+02] [ 9.96867047e-01 -7.87218957e-02 -7.67816841e-03 1.35444855e+02] [ 7.65431435e-03 -6.04766139e-04 9.99970522e-01 2.42892380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:135.45, Z:2.43 [[-7.70017429e-02 -9.97030958e-01 1.79250538e-06 2.83557862e+02] [ 9.97001567e-01 -7.69994868e-02 -7.67816792e-03 1.35452526e+02] [ 7.65550914e-03 -5.89445181e-04 9.99970522e-01 2.42785470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:135.48, Z:2.43 [[-7.68042084e-02 -9.97046194e-01 -6.75902172e-07 2.83554031e+02] [ 9.97016804e-01 -7.68019392e-02 -7.67816770e-03 1.35476737e+02] [ 7.65543598e-03 -5.90389478e-04 9.99970522e-01 2.42958536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:135.47, Z:2.43 [[-7.67073701e-02 -9.97053649e-01 1.38796506e-06 2.83551046e+02] [ 9.97024258e-01 -7.67051196e-02 -7.67816733e-03 1.35465039e+02] [ 7.65565122e-03 -5.87588189e-04 9.99970522e-01 2.43126925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:135.49, Z:2.43 [[-7.77239510e-02 -9.96974918e-01 -1.07082030e-06 2.83548233e+02] [ 9.96945530e-01 -7.77216516e-02 -7.67816699e-03 1.35489843e+02] [ 7.65485668e-03 -5.97845024e-04 9.99970522e-01 2.43324797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:135.49, Z:2.43 [[-7.74050034e-02 -9.96999732e-01 1.10429516e-06 2.83548157e+02] [ 9.96970342e-01 -7.74027302e-02 -7.67816667e-03 1.35492391e+02] [ 7.65521559e-03 -5.93227568e-04 9.99970522e-01 2.43326775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:135.52, Z:2.43 [[-7.90992013e-02 -9.96866750e-01 -1.35210960e-06 2.83544185e+02] [ 9.96837365e-01 -7.90968593e-02 -7.67816624e-03 1.35515713e+02] [ 7.65400168e-03 -6.08684651e-04 9.99970522e-01 2.43269950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:135.53, Z:2.43 [[-7.94698368e-02 -9.96837271e-01 9.03905591e-07 2.83543014e+02] [ 9.96807886e-01 -7.94675012e-02 -7.67816598e-03 1.35534694e+02] [ 7.65395385e-03 -6.09281577e-04 9.99970522e-01 2.43145089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:135.56, Z:2.43 [[-8.01706394e-02 -9.96781154e-01 -1.54433478e-06 2.83541381e+02] [ 9.96751772e-01 -8.01682644e-02 -7.67816548e-03 1.35559152e+02] [ 7.65332684e-03 -6.17102755e-04 9.99970522e-01 2.43129727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:135.56, Z:2.43 [[-8.03703258e-02 -9.96765073e-01 5.38333158e-07 2.83539432e+02] [ 9.96735691e-01 -8.03679608e-02 -7.67816534e-03 1.35560762e+02] [ 7.65337030e-03 -6.16560074e-04 9.99970522e-01 2.43056236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:135.59, Z:2.43 [[-8.13002627e-02 -9.96689654e-01 -1.89809919e-06 2.83535169e+02] [ 9.96660276e-01 -8.12978516e-02 -7.67816474e-03 1.35585505e+02] [ 7.65259305e-03 -6.26128570e-04 9.99970522e-01 2.42957592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:135.58, Z:2.43 [[-8.07508936e-02 -9.96734314e-01 1.93007783e-07 2.83533157e+02] [ 9.96704933e-01 -8.07485148e-02 -7.67816468e-03 1.35580686e+02] [ 7.65310579e-03 -6.19826288e-04 9.99970522e-01 2.42911400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:135.61, Z:2.43 [[-7.88166083e-02 -9.96889132e-01 -2.24545363e-06 2.83529084e+02] [ 9.96859748e-01 -7.88142678e-02 -7.67816397e-03 1.35605752e+02] [ 7.65410124e-03 -6.07405245e-04 9.99970522e-01 2.42805884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:135.63, Z:2.43 [[-7.71518297e-02 -9.97019356e-01 -1.77252939e-07 2.83526778e+02] [ 9.96989966e-01 -7.71495541e-02 -7.67816402e-03 1.35629963e+02] [ 7.65526446e-03 -5.92561122e-04 9.99970522e-01 2.42858649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:135.66, Z:2.43 [[-7.45881981e-02 -9.97214421e-01 1.91444463e-06 2.83524209e+02] [ 9.97185024e-01 -7.45860141e-02 -7.67816350e-03 1.35656405e+02] [ 7.65691815e-03 -5.70791325e-04 9.99970522e-01 2.42778843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:135.68, Z:2.43 [[-7.26080807e-02 -9.97360550e-01 -5.46406370e-07 2.83520972e+02] [ 9.97331151e-01 -7.26059362e-02 -7.67816332e-03 1.35680653e+02] [ 7.65785752e-03 -5.58041650e-04 9.99970522e-01 2.42937363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:135.67, Z:2.43 [[-6.84569423e-02 -9.97654072e-01 1.48920039e-06 2.83515529e+02] [ 9.97624663e-01 -6.84549357e-02 -7.67816293e-03 1.35674402e+02] [ 7.66025245e-03 -5.24137893e-04 9.99970522e-01 2.43062922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.51, Y:135.70, Z:2.43 [[-6.76925426e-02 -9.97706229e-01 -9.80914431e-07 2.83513163e+02] [ 9.97676820e-01 -6.76905397e-02 -7.67816261e-03 1.35699489e+02] [ 7.66048427e-03 -5.20732985e-04 9.99970522e-01 2.43245680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.51, Y:135.71, Z:2.43 [[-6.75261550e-02 -9.97717504e-01 1.09003975e-06 2.83511053e+02] [ 9.97688094e-01 -6.75241728e-02 -7.67816232e-03 1.35706459e+02] [ 7.66071055e-03 -5.17389259e-04 9.99970522e-01 2.43330556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.51, Y:135.73, Z:2.44 [[-6.84065500e-02 -9.97657528e-01 -1.37320026e-06 2.83508626e+02] [ 9.97628121e-01 -6.84045230e-02 -7.67816188e-03 1.35731047e+02] [ 7.66008207e-03 -5.26606507e-04 9.99970523e-01 2.43501053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:135.74, Z:2.44 [[-7.00153029e-02 -9.97545917e-01 6.67573175e-07 2.83504243e+02] [ 9.97516512e-01 -7.00132442e-02 -7.67816170e-03 1.35739175e+02] [ 7.65936559e-03 -5.36922902e-04 9.99970523e-01 2.43600996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:135.76, Z:2.44 [[-7.15790830e-02 -9.97434928e-01 -1.77694379e-06 2.83501903e+02] [ 9.97405527e-01 -7.15769594e-02 -7.67816113e-03 1.35763079e+02] [ 7.65833891e-03 -5.51368067e-04 9.99970523e-01 2.43685448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:135.76, Z:2.44 [[-7.29242308e-02 -9.97337484e-01 2.99105936e-07 2.83500196e+02] [ 9.97308085e-01 -7.29220834e-02 -7.67816105e-03 1.35764951e+02] [ 7.65773964e-03 -5.59625688e-04 9.99970523e-01 2.43769419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:135.79, Z:2.44 [[-7.78500181e-02 -9.96965082e-01 -2.14609126e-06 2.83496758e+02] [ 9.96935695e-01 -7.78477068e-02 -7.67816037e-03 1.35788921e+02] [ 7.65469071e-03 -5.99884439e-04 9.99970523e-01 2.43871378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.60589822699995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:283.49, Y:135.81, Z:2.44 [[-8.11384084e-02 -9.96702844e-01 -3.24159015e-08 2.83494836e+02] [ 9.96673463e-01 -8.11360164e-02 -7.67816038e-03 1.35813953e+02] [ 7.65284165e-03 -6.23026020e-04 9.99970523e-01 2.43915796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:135.80, Z:2.44 [[-8.32283500e-02 -9.96530502e-01 1.98822612e-06 2.83494426e+02] [ 9.96501126e-01 -8.32259118e-02 -7.67815985e-03 1.35797879e+02] [ 7.65168597e-03 -6.37059306e-04 9.99970523e-01 2.43894142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:135.82, Z:2.44 [[-8.61548826e-02 -9.96281755e-01 -3.90538452e-07 2.83493455e+02] [ 9.96252388e-01 -8.61523400e-02 -7.67815973e-03 1.35822926e+02] [ 7.64957681e-03 -6.61900025e-04 9.99970523e-01 2.43877895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:135.80, Z:2.44 [[-8.77881752e-02 -9.96139165e-01 1.66414153e-06 2.83493000e+02] [ 9.96109800e-01 -8.77856001e-02 -7.67815929e-03 1.35800319e+02] [ 7.64866127e-03 -6.72393925e-04 9.99970523e-01 2.43715100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:135.82, Z:2.43 [[-9.03304420e-02 -9.95911849e-01 -7.22978240e-07 2.83490540e+02] [ 9.95882493e-01 -9.03277737e-02 -7.67815906e-03 1.35824032e+02] [ 7.64670429e-03 -6.94291503e-04 9.99970523e-01 2.43420532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:135.80, Z:2.43 [[-9.00943668e-02 -9.95933233e-01 1.34414203e-06 2.83488749e+02] [ 9.95903875e-01 -9.00917213e-02 -7.67815870e-03 1.35796619e+02] [ 7.64705452e-03 -6.90420210e-04 9.99970523e-01 2.43262097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:135.82, Z:2.43 [[-8.98771339e-02 -9.95952861e-01 -1.02190357e-06 2.83486831e+02] [ 9.95923503e-01 -8.98744767e-02 -7.67815839e-03 1.35820706e+02] [ 7.64699197e-03 -6.91108607e-04 9.99970523e-01 2.43133193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:135.82, Z:2.43 [[-8.83095041e-02 -9.96093084e-01 1.01100331e-06 2.83483494e+02] [ 9.96063721e-01 -8.83069087e-02 -7.67815812e-03 1.35819000e+02] [ 7.64824948e-03 -6.77047312e-04 9.99970523e-01 2.42997446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:135.84, Z:2.43 [[-8.79626565e-02 -9.96123773e-01 -1.36904997e-06 2.83481933e+02] [ 9.96094411e-01 -8.79600531e-02 -7.67815769e-03 1.35843950e+02] [ 7.64827499e-03 -6.76754851e-04 9.99970523e-01 2.43151765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:135.83, Z:2.43 [[-8.72698149e-02 -9.96184712e-01 6.66169606e-07 2.83480515e+02] [ 9.96155346e-01 -8.72672475e-02 -7.67815752e-03 1.35829244e+02] [ 7.64892127e-03 -6.69407777e-04 9.99970523e-01 2.43201306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:135.85, Z:2.43 [[-8.76116325e-02 -9.96154708e-01 -1.70814209e-06 2.83479227e+02] [ 9.96125345e-01 -8.76090369e-02 -7.67815699e-03 1.35852248e+02] [ 7.64848258e-03 -6.74397392e-04 9.99970523e-01 2.43240115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:135.85, Z:2.43 [[-8.91620410e-02 -9.96017134e-01 4.60125062e-07 2.83479346e+02] [ 9.95987773e-01 -8.91594163e-02 -7.67815686e-03 1.35847526e+02] [ 7.64761681e-03 -6.84141858e-04 9.99970523e-01 2.43084681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:135.87, Z:2.43 [[-9.11617997e-02 -9.95836094e-01 -1.90528255e-06 2.83479968e+02] [ 9.95806741e-01 -9.11590979e-02 -7.67815627e-03 1.35871469e+02] [ 7.64601147e-03 -7.01851837e-04 9.99970523e-01 2.42930328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:135.90, Z:2.43 [[-9.32480771e-02 -9.95642906e-01 -1.95517302e-08 2.83481131e+02] [ 9.95613557e-01 -9.32453282e-02 -7.67815628e-03 1.35895468e+02] [ 7.64470001e-03 -7.15992774e-04 9.99970523e-01 2.42769197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:135.91, Z:2.43 [[-9.39893032e-02 -9.95573207e-01 1.90941656e-06 2.83483076e+02] [ 9.95543859e-01 -9.39865472e-02 -7.67815580e-03 1.35907558e+02] [ 7.64434565e-03 -7.19763606e-04 9.99970523e-01 2.42772418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:135.93, Z:2.43 [[-9.42837325e-02 -9.95545367e-01 -4.39976902e-07 2.83484282e+02] [ 9.95516021e-01 -9.42809499e-02 -7.67815566e-03 1.35931127e+02] [ 7.64391082e-03 -7.24363178e-04 9.99970523e-01 2.42874379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:135.95, Z:2.43 [[-9.12105273e-02 -9.95831632e-01 1.60464447e-06 2.83486266e+02] [ 9.95802277e-01 -9.12078509e-02 -7.67815524e-03 1.35950947e+02] [ 7.64629622e-03 -6.98730679e-04 9.99970523e-01 2.43147298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:135.98, Z:2.43 [[-8.86871324e-02 -9.96059533e-01 -7.58559415e-07 2.83486262e+02] [ 9.96030172e-01 -8.86845123e-02 -7.67815500e-03 1.35975200e+02] [ 7.64783221e-03 -6.81709097e-04 9.99970523e-01 2.43276229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:135.99, Z:2.43 [[-8.51916730e-02 -9.96364581e-01 1.22026604e-06 2.83485726e+02] [ 9.96335210e-01 -8.51891711e-02 -7.67815469e-03 1.35989521e+02] [ 7.65034533e-03 -6.52899049e-04 9.99970523e-01 2.43438746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:136.01, Z:2.44 [[-8.19988662e-02 -9.96632423e-01 -1.16750148e-06 2.83484457e+02] [ 9.96603045e-01 -8.19964402e-02 -7.67815433e-03 1.36013753e+02] [ 7.65220182e-03 -6.30763485e-04 9.99970523e-01 2.43568178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:136.04, Z:2.43 [[-7.42969661e-02 -9.97236161e-01 8.92441182e-07 2.83481198e+02] [ 9.97206765e-01 -7.42947829e-02 -7.67815409e-03 1.36038244e+02] [ 7.65699921e-03 -5.69573606e-04 9.99970523e-01 2.43456061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:136.06, Z:2.43 [[-7.15794625e-02 -9.97434900e-01 -1.51384568e-06 2.83479181e+02] [ 9.97405499e-01 -7.15773410e-02 -7.67815361e-03 1.36061942e+02] [ 7.65835003e-03 -5.51108027e-04 9.99970523e-01 2.43415477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:136.05, Z:2.43 [[-6.91837626e-02 -9.97603933e-01 6.02488888e-07 2.83477242e+02] [ 9.97574526e-01 -6.91817279e-02 -7.67815345e-03 1.36054710e+02] [ 7.65979776e-03 -5.30602518e-04 9.99970523e-01 2.43336931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:136.08, Z:2.43 [[-6.83279829e-02 -9.97662912e-01 -1.83529264e-06 2.83473434e+02] [ 9.97633505e-01 -6.83259547e-02 -7.67815286e-03 1.36079666e+02] [ 7.66008295e-03 -5.26463647e-04 9.99970523e-01 2.43297534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:136.05, Z:2.43 [[-6.90368485e-02 -9.97614111e-01 1.81209489e-07 2.83471970e+02] [ 9.97584703e-01 -6.90348148e-02 -7.67815282e-03 1.36053542e+02] [ 7.65984610e-03 -5.29894701e-04 9.99970523e-01 2.43265919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:136.08, Z:2.43 [[-7.08426489e-02 -9.97487503e-01 -2.26634448e-06 2.83471326e+02] [ 9.97458101e-01 -7.08405432e-02 -7.67815209e-03 1.36078338e+02] [ 7.65870021e-03 -5.46201216e-04 9.99970523e-01 2.43246102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:136.10, Z:2.43 [[-7.41747161e-02 -9.97245262e-01 -2.42694741e-07 2.83470602e+02] [ 9.97215865e-01 -7.41725277e-02 -7.67815216e-03 1.36103087e+02] [ 7.65698285e-03 -5.69766775e-04 9.99970523e-01 2.43281593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:136.09, Z:2.43 [[-7.49726237e-02 -9.97185592e-01 1.83101682e-06 2.83469884e+02] [ 9.97156197e-01 -7.49704277e-02 -7.67815166e-03 1.36089097e+02] [ 7.65667949e-03 -5.73825365e-04 9.99970523e-01 2.43270188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:136.11, Z:2.43 [[-7.55802407e-02 -9.97139723e-01 -6.04423957e-07 2.83469062e+02] [ 9.97110330e-01 -7.55780081e-02 -7.67815147e-03 1.36114063e+02] [ 7.65614415e-03 -5.80919213e-04 9.99970523e-01 2.43434119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:136.12, Z:2.44 [[-7.48267643e-02 -9.97196548e-01 1.47187527e-06 2.83468262e+02] [ 9.97167152e-01 -7.48245698e-02 -7.67815107e-03 1.36118252e+02] [ 7.65673588e-03 -5.73063495e-04 9.99970523e-01 2.43530936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:136.14, Z:2.44 [[-7.17528897e-02 -9.97422440e-01 -9.45261710e-07 2.83467418e+02] [ 9.97393039e-01 -7.17507674e-02 -7.67815077e-03 1.36142804e+02] [ 7.65829205e-03 -5.51872303e-04 9.99970523e-01 2.43944386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:136.14, Z:2.44 [[-6.95212757e-02 -9.97580469e-01 1.10709799e-06 2.83466716e+02] [ 9.97551062e-01 -6.95192349e-02 -7.67815048e-03 1.36136517e+02] [ 7.65964992e-03 -5.32690429e-04 9.99970523e-01 2.44020924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:136.16, Z:2.44 [[-6.77721112e-02 -9.97700827e-01 -1.33574209e-06 2.83465683e+02] [ 9.97671418e-01 -6.77701033e-02 -7.67815005e-03 1.36161185e+02] [ 7.66040614e-03 -5.21697071e-04 9.99970523e-01 2.44102199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:136.15, Z:2.44 [[-6.55375400e-02 -9.97850104e-01 6.99475199e-07 2.83464899e+02] [ 9.97820690e-01 -6.55356135e-02 -7.67814987e-03 1.36151351e+02] [ 7.66168849e-03 -5.02509104e-04 9.99970523e-01 2.44069496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:136.18, Z:2.44 [[-6.13743702e-02 -9.98114816e-01 -1.74944263e-06 2.83464637e+02] [ 9.98085395e-01 -6.13725476e-02 -7.67814931e-03 1.36176041e+02] [ 7.66356722e-03 -4.72987671e-04 9.99970523e-01 2.43986242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:136.20, Z:2.44 [[-5.86399724e-02 -9.98279196e-01 2.66510157e-07 2.83464613e+02] [ 9.98249769e-01 -5.86382459e-02 -7.67814924e-03 1.36197473e+02] [ 7.66495228e-03 -4.49980416e-04 9.99970523e-01 2.44019443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:136.22, Z:2.44 [[-5.63865487e-02 -9.98409013e-01 -2.20638242e-06 2.83463936e+02] [ 9.98379583e-01 -5.63848696e-02 -7.67814853e-03 1.36221112e+02] [ 7.66580829e-03 -4.35147103e-04 9.99970523e-01 2.44032114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:136.22, Z:2.44 [[-5.33940350e-02 -9.98573521e-01 4.86748249e-09 2.83462939e+02] [ 9.98544086e-01 -5.33924611e-02 -7.67814853e-03 1.36219725e+02] [ 7.66719607e-03 -4.09962471e-04 9.99970523e-01 2.44070385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:136.24, Z:2.44 [[-4.86788931e-02 -9.98814480e-01 -2.49422241e-06 2.83461065e+02] [ 9.98785038e-01 -4.86774390e-02 -7.67814772e-03 1.36244656e+02] [ 7.66892371e-03 -3.76254924e-04 9.99970523e-01 2.43871835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:136.27, Z:2.44 [[-4.67995893e-02 -9.98904299e-01 -5.61717713e-07 2.83460609e+02] [ 9.98874854e-01 -4.67982054e-02 -7.67814786e-03 1.36269460e+02] [ 7.66970862e-03 -3.59895252e-04 9.99970523e-01 2.43734956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:136.29, Z:2.44 [[-4.47450375e-02 -9.98998439e-01 1.50843336e-06 2.83460530e+02] [ 9.98968991e-01 -4.47437301e-02 -7.67814745e-03 1.36289471e+02] [ 7.67052481e-03 -3.42052118e-04 9.99970523e-01 2.43700445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:136.31, Z:2.44 [[-4.38322750e-02 -9.99038904e-01 -1.04144727e-06 2.83460407e+02] [ 9.99009455e-01 -4.38309749e-02 -7.67814711e-03 1.36313855e+02] [ 7.67072202e-03 -3.37591071e-04 9.99970523e-01 2.43784343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:136.32, Z:2.44 [[-4.19046962e-02 -9.99121612e-01 1.06467211e-06 2.83462242e+02] [ 9.99092161e-01 -4.19034691e-02 -7.67814681e-03 1.36319506e+02] [ 7.67144704e-03 -3.20686704e-04 9.99970523e-01 2.43814614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:136.34, Z:2.44 [[-4.16289594e-02 -9.99133139e-01 -1.47641177e-06 2.83463278e+02] [ 9.99103688e-01 -4.16277210e-02 -7.67814633e-03 1.36344240e+02] [ 7.67142898e-03 -3.21108330e-04 9.99970523e-01 2.43962685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:136.36, Z:2.44 [[-4.05508489e-02 -9.99177476e-01 6.16504302e-07 2.83464442e+02] [ 9.99148023e-01 -4.05496583e-02 -7.67814616e-03 1.36363264e+02] [ 7.67185570e-03 -3.10739366e-04 9.99970523e-01 2.44026667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:136.39, Z:2.44 [[-4.08250460e-02 -9.99166310e-01 -1.94297856e-06 2.83464116e+02] [ 9.99136858e-01 -4.08238277e-02 -7.67814551e-03 1.36388362e+02] [ 7.67166500e-03 -3.15401945e-04 9.99970523e-01 2.44045895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:136.41, Z:2.44 [[-3.80634397e-02 -9.99275325e-01 1.64153636e-07 2.83467473e+02] [ 9.99245869e-01 -3.80623190e-02 -7.67814546e-03 1.36408021e+02] [ 7.67258755e-03 -2.92092597e-04 9.99970523e-01 2.44120484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:136.43, Z:2.44 [[-3.66322484e-02 -9.99328814e-01 -2.42340462e-06 2.83468942e+02] [ 9.99299357e-01 -3.66311500e-02 -7.67814465e-03 1.36432525e+02] [ 7.67290241e-03 -2.83689409e-04 9.99970523e-01 2.44192772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:136.46, Z:2.44 [[-3.47587517e-02 -9.99395732e-01 -3.17286104e-07 2.83470274e+02] [ 9.99366273e-01 -3.47577246e-02 -7.67814473e-03 1.36457577e+02] [ 7.67349405e-03 -2.67199811e-04 9.99970523e-01 2.44186590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:136.46, Z:2.44 [[-3.20317380e-02 -9.99486852e-01 1.79538236e-06 2.83471790e+02] [ 9.99457390e-01 -3.20308075e-02 -7.67814424e-03 1.36461552e+02] [ 7.67426173e-03 -2.44149896e-04 9.99970523e-01 2.44175560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:136.49, Z:2.44 [[-2.79213812e-02 -9.99610122e-01 -8.06624203e-07 2.83476507e+02] [ 9.99580657e-01 -2.79205519e-02 -7.67814397e-03 1.36485560e+02] [ 7.67512791e-03 -2.15190670e-04 9.99970523e-01 2.43949349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:136.50, Z:2.44 [[-2.55392467e-02 -9.99673820e-01 1.35659576e-06 2.83478918e+02] [ 9.99644352e-01 -2.55385042e-02 -7.67814359e-03 1.36499516e+02] [ 7.67567378e-03 -1.94737890e-04 9.99970523e-01 2.43980375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:136.52, Z:2.44 [[-2.36619877e-02 -9.99720016e-01 -1.30454161e-06 2.83480645e+02] [ 9.99690547e-01 -2.36612802e-02 -7.67814313e-03 1.36523904e+02] [ 7.67596251e-03 -1.82984266e-04 9.99970523e-01 2.44134423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:136.54, Z:2.44 [[-2.12421129e-02 -9.99774361e-01 8.16580761e-07 2.83482058e+02] [ 9.99744890e-01 -2.12414930e-02 -7.67814291e-03 1.36543615e+02] [ 7.67642776e-03 -1.62283606e-04 9.99970523e-01 2.44290346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:136.57, Z:2.44 [[-1.68519966e-02 -9.99857995e-01 -1.86348449e-06 2.83484604e+02] [ 9.99828522e-01 -1.68514856e-02 -7.67814226e-03 1.36567034e+02] [ 7.67702052e-03 -1.31255192e-04 9.99970523e-01 2.44303453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:136.60, Z:2.44 [[-1.37793656e-02 -9.99905060e-01 3.37636249e-07 2.83485798e+02] [ 9.99875585e-01 -1.37789620e-02 -7.67814216e-03 1.36599130e+02] [ 7.67741785e-03 -1.05462334e-04 9.99970523e-01 2.44194771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:136.62, Z:2.44 [[-1.16130917e-02 -9.99932566e-01 -2.40178228e-06 2.83486184e+02] [ 9.99903091e-01 -1.16127309e-02 -7.67814130e-03 1.36622259e+02] [ 7.67759564e-03 -9.15685086e-05 9.99970523e-01 2.44074319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:136.65, Z:2.44 [[-9.14036166e-03 -9.99958226e-01 -1.03112990e-07 2.83487259e+02] [ 9.99928750e-01 -9.14009144e-03 -7.67814133e-03 1.36647328e+02] [ 7.67781965e-03 -7.02840943e-05 9.99970523e-01 2.44025678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:136.67, Z:2.44 [[-3.42890726e-03 -9.99994121e-01 2.04487785e-06 2.83490840e+02] [ 9.99964644e-01 -3.42882189e-03 -7.67814076e-03 1.36670322e+02] [ 7.67810264e-03 -2.42828271e-05 9.99970523e-01 2.43990542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:136.69, Z:2.44 [[-1.44754973e-03 -9.99998952e-01 -7.43785179e-07 2.83492612e+02] [ 9.99969475e-01 -1.44750135e-03 -7.67814049e-03 1.36693725e+02] [ 7.67813137e-03 -1.18582527e-05 9.99970523e-01 2.44047629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.40589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.49, Y:136.70, Z:2.44 [[ 5.82539207e-04 -9.99999830e-01 1.51674459e-06 2.83494921e+02] [ 9.99970353e-01 5.82510389e-04 -7.67814005e-03 1.36704405e+02] [ 7.67813786e-03 5.98951722e-06 9.99970523e-01 2.44131703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:136.73, Z:2.44 [[ 1.56514776e-03 -9.99998775e-01 -1.27676311e-06 2.83497433e+02] [ 9.99969298e-01 1.56511143e-03 -7.67813958e-03 1.36728324e+02] [ 7.67813218e-03 1.07406991e-05 9.99970523e-01 2.44074226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:136.72, Z:2.44 [[ 3.88991396e-03 -9.99992434e-01 1.00127712e-06 2.83504090e+02] [ 9.99962957e-01 3.88979161e-03 -7.67813928e-03 1.36717524e+02] [ 7.67807730e-03 3.08685412e-05 9.99970523e-01 2.43973796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.51, Y:136.74, Z:2.44 [[ 5.22607394e-03 -9.99986344e-01 -1.84572825e-06 2.83507410e+02] [ 9.99956867e-01 5.22593406e-03 -7.67813860e-03 1.36740783e+02] [ 7.67804339e-03 3.82808714e-05 9.99970523e-01 2.43963954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.51, Y:136.76, Z:2.44 [[ 7.40650130e-03 -9.99972572e-01 3.41541453e-07 2.83511243e+02] [ 9.99943095e-01 7.40628036e-03 -7.67813850e-03 1.36759347e+02] [ 7.67792537e-03 5.72096648e-05 9.99970523e-01 2.44049762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:136.78, Z:2.44 [[ 1.02204474e-02 -9.99947770e-01 -2.52670523e-06 2.83517040e+02] [ 9.99918294e-01 1.02201655e-02 -7.67813756e-03 1.36783157e+02] [ 7.67776235e-03 7.59475023e-05 9.99970523e-01 2.43982923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:136.81, Z:2.44 [[ 1.12149588e-02 -9.99937110e-01 -2.78772045e-07 2.83519021e+02] [ 9.99907635e-01 1.12146303e-02 -7.67813764e-03 1.36806569e+02] [ 7.67765789e-03 8.58312509e-05 9.99970523e-01 2.44008648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:136.80, Z:2.44 [[ 1.31675323e-02 -9.99913304e-01 1.94421290e-06 2.83521537e+02] [ 9.99883830e-01 1.31671292e-02 -7.67813708e-03 1.36802835e+02] [ 7.67744582e-03 1.03046105e-04 9.99970523e-01 2.44074913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:136.83, Z:2.44 [[ 1.47366991e-02 -9.99891409e-01 -9.44644711e-07 2.83524219e+02] [ 9.99861935e-01 1.47362720e-02 -7.67813672e-03 1.36827610e+02] [ 7.67731687e-03 1.12205877e-04 9.99970523e-01 2.44072072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:136.82, Z:2.44 [[ 1.86286266e-02 -9.99826472e-01 1.19277996e-06 2.83531328e+02] [ 9.99797000e-01 1.86280683e-02 -7.67813639e-03 1.36823663e+02] [ 7.67678180e-03 1.44225673e-04 9.99970523e-01 2.43900739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:136.85, Z:2.44 [[ 2.00161624e-02 -9.99799657e-01 -1.74015647e-06 2.83534159e+02] [ 9.99770185e-01 2.00155858e-02 -7.67813573e-03 1.36848042e+02] [ 7.67663229e-03 1.51947055e-04 9.99970523e-01 2.43968322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:136.86, Z:2.44 [[ 2.22030513e-02 -9.99753482e-01 3.71678346e-07 2.83536795e+02] [ 9.99724012e-01 2.22023940e-02 -7.67813562e-03 1.36860010e+02] [ 7.67623457e-03 1.70849615e-04 9.99970523e-01 2.44045026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:136.88, Z:2.44 [[ 2.60763122e-02 -9.99659955e-01 -2.61168949e-06 2.83541706e+02] [ 9.99630487e-01 2.60755636e-02 -7.67813461e-03 1.36884579e+02] [ 7.67559180e-03 1.97606711e-04 9.99970523e-01 2.44455960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:136.91, Z:2.45 [[ 2.82798595e-02 -9.99600045e-01 -4.11436332e-07 2.83543907e+02] [ 9.99570579e-01 2.82790290e-02 -7.67813473e-03 1.36909577e+02] [ 7.67507545e-03 2.16725311e-04 9.99970523e-01 2.44613171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:136.90, Z:2.45 [[ 3.12139495e-02 -9.99512726e-01 1.83712116e-06 2.83546527e+02] [ 9.99483263e-01 3.12130153e-02 -7.67813419e-03 1.36900024e+02] [ 7.67433549e-03 2.41501065e-04 9.99970523e-01 2.44680169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:136.92, Z:2.45 [[ 3.30361865e-02 -9.99454156e-01 -1.09822976e-06 2.83548889e+02] [ 9.99424695e-01 3.30352211e-02 -7.67813377e-03 1.36924243e+02] [ 7.67397899e-03 2.52558661e-04 9.99970523e-01 2.44817310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:136.94, Z:2.45 [[ 3.58593210e-02 -9.99356848e-01 1.13528451e-06 2.83555162e+02] [ 9.99327390e-01 3.58582553e-02 -7.67813344e-03 1.36936652e+02] [ 7.67315452e-03 2.76467173e-04 9.99970523e-01 2.45101679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:136.96, Z:2.45 [[ 3.61252172e-02 -9.99347271e-01 -1.74933700e-06 2.83558269e+02] [ 9.99317813e-01 3.61241657e-02 -7.67813278e-03 1.36961347e+02] [ 7.67318424e-03 2.75626071e-04 9.99970523e-01 2.45191285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:136.95, Z:2.45 [[ 3.69024561e-02 -9.99318872e-01 4.82111256e-07 2.83561423e+02] [ 9.99289415e-01 3.69013646e-02 -7.67813264e-03 1.36947653e+02] [ 7.67288506e-03 2.83823722e-04 9.99970523e-01 2.45298763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:136.97, Z:2.45 [[ 3.74460303e-02 -9.99298652e-01 -2.37686710e-06 2.83566809e+02] [ 9.99269194e-01 3.74449448e-02 -7.67813176e-03 1.36972027e+02] [ 7.67283571e-03 2.85140424e-04 9.99970523e-01 2.45085240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:137.00, Z:2.45 [[ 3.78245966e-02 -9.99284394e-01 -2.14970088e-07 2.83569536e+02] [ 9.99254938e-01 3.78234832e-02 -7.67813182e-03 1.36997078e+02] [ 7.67264543e-03 2.90207428e-04 9.99970523e-01 2.44924059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:137.00, Z:2.45 [[ 3.92375310e-02 -9.99229912e-01 2.00758308e-06 2.83572528e+02] [ 9.99200458e-01 3.92363589e-02 -7.67813124e-03 1.37001905e+02] [ 7.67213963e-03 3.03276890e-04 9.99970523e-01 2.44764410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:137.03, Z:2.45 [[ 4.05228989e-02 -9.99178610e-01 -8.47248292e-07 2.83575592e+02] [ 9.99149157e-01 4.05217109e-02 -7.67813092e-03 1.37026058e+02] [ 7.67185851e-03 3.10293596e-04 9.99970523e-01 2.44638578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:137.02, Z:2.45 [[ 4.35289718e-02 -9.99052165e-01 1.29059993e-06 2.83581309e+02] [ 9.99022716e-01 4.35276788e-02 -7.67813056e-03 1.37024561e+02] [ 7.67079678e-03 3.35510467e-04 9.99970523e-01 2.44554350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:137.05, Z:2.45 [[ 4.42422631e-02 -9.99020832e-01 -1.52245096e-06 2.83582611e+02] [ 9.98991383e-01 4.42409706e-02 -7.67813000e-03 1.37049525e+02] [ 7.67067918e-03 3.38176932e-04 9.99970523e-01 2.44530456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:137.06, Z:2.44 [[ 4.54487023e-02 -9.98966674e-01 6.17912364e-07 2.83583599e+02] [ 9.98937227e-01 4.54473578e-02 -7.67812983e-03 1.37062099e+02] [ 7.67016774e-03 3.49578292e-04 9.99970523e-01 2.44445629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:137.09, Z:2.44 [[ 4.68981281e-02 -9.98899677e-01 -4.27437813e-07 2.83584801e+02] [ 9.98870232e-01 4.68967489e-02 -7.67812977e-03 1.37085836e+02] [ 7.66970140e-03 3.59662959e-04 9.99970523e-01 2.44117362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:137.11, Z:2.44 [[ 4.74378090e-02 -9.98874193e-01 1.58232983e-06 2.83585661e+02] [ 9.98844750e-01 4.74363986e-02 -7.67812936e-03 1.37108539e+02] [ 7.66941021e-03 3.65814136e-04 9.99970523e-01 2.43993643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:137.10, Z:2.44 [[ 4.76407212e-02 -9.98864536e-01 8.88251095e-07 2.83585928e+02] [ 9.98835093e-01 4.76393100e-02 -7.67812944e-03 1.37101849e+02] [ 7.66936889e-03 3.66678840e-04 9.99970523e-01 2.43954384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:137.13, Z:2.44 [[ 4.68288119e-02 -9.98902929e-01 -1.89558000e-06 2.83585985e+02] [ 9.98873484e-01 4.68274461e-02 -7.67812875e-03 1.37126429e+02] [ 7.66979407e-03 3.57664202e-04 9.99970523e-01 2.44039220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:137.14, Z:2.44 [[ 4.35921662e-02 -9.99049410e-01 2.16065657e-07 2.83587901e+02] [ 9.99019961e-01 4.35908796e-02 -7.67812869e-03 1.37144986e+02] [ 7.67082052e-03 3.34922116e-04 9.99970523e-01 2.44321562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:137.17, Z:2.44 [[ 4.08499048e-02 -9.99165294e-01 -4.85278012e-07 2.83589085e+02] [ 9.99135841e-01 4.08487044e-02 -7.67812865e-03 1.37169265e+02] [ 7.67173949e-03 3.13165965e-04 9.99970523e-01 2.44442550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:137.18, Z:2.45 [[ 3.84764787e-02 -9.99259506e-01 1.64271560e-06 2.83591057e+02] [ 9.99230051e-01 3.84753319e-02 -7.67812819e-03 1.37181797e+02] [ 7.67237938e-03 2.97068787e-04 9.99970523e-01 2.44529610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:137.20, Z:2.45 [[ 3.61782376e-02 -9.99345353e-01 9.43065073e-07 2.83593421e+02] [ 9.99315896e-01 3.61771639e-02 -7.67812828e-03 1.37200015e+02] [ 7.67306770e-03 2.78723569e-04 9.99970523e-01 2.44660046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:137.19, Z:2.45 [[ 3.43153797e-02 -9.99411054e-01 3.77034025e-06 2.83599385e+02] [ 9.99381595e-01 3.43143392e-02 -7.67812689e-03 1.37191735e+02] [ 7.67347551e-03 2.67245848e-04 9.99970523e-01 2.44796601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:137.19, Z:2.45 [[ 3.36042116e-02 -9.99435219e-01 3.06032633e-06 2.83602729e+02] [ 9.99405759e-01 3.36031976e-02 -7.67812717e-03 1.37191492e+02] [ 7.67368788e-03 2.61075918e-04 9.99970523e-01 2.44721817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:137.18, Z:2.45 [[ 3.33213621e-02 -9.99444689e-01 5.53370272e-06 2.83606312e+02] [ 9.99415230e-01 3.33203374e-02 -7.67812539e-03 1.37183534e+02] [ 7.67367726e-03 2.61376063e-04 9.99970523e-01 2.44559204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:137.19, Z:2.44 [[ 3.25921767e-02 -9.99468734e-01 5.88567191e-06 2.83614544e+02] [ 9.99439274e-01 3.25911708e-02 -7.67812512e-03 1.37189317e+02] [ 7.67385417e-03 2.56129182e-04 9.99970523e-01 2.44202845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.54589822699995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:283.62, Y:137.19, Z:2.44 [[ 3.11885543e-02 -9.99513519e-01 8.71112615e-06 2.83619126e+02] [ 9.99484058e-01 3.11875681e-02 -7.67812192e-03 1.37191165e+02] [ 7.67411497e-03 2.48176154e-04 9.99970523e-01 2.44114471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:137.18, Z:2.44 [[ 3.05783863e-02 -9.99532372e-01 1.15483750e-05 2.83625267e+02] [ 9.99502911e-01 3.05773964e-02 -7.67811765e-03 1.37175153e+02] [ 7.67417402e-03 2.46327082e-04 9.99970523e-01 2.44091570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:137.17, Z:2.44 [[ 2.98563336e-02 -9.99554200e-01 1.43769758e-05 2.83630812e+02] [ 9.99524740e-01 2.98553432e-02 -7.67811235e-03 1.37168709e+02] [ 7.67426022e-03 2.43610427e-04 9.99970523e-01 2.44164930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:137.15, Z:2.44 [[ 2.96931835e-02 -9.99559060e-01 1.71885083e-05 2.83642094e+02] [ 9.99529600e-01 2.96921763e-02 -7.67810606e-03 1.37154338e+02] [ 7.67421011e-03 2.45167835e-04 9.99970523e-01 2.44237373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:137.17, Z:2.44 [[ 3.02055096e-02 -9.99543709e-01 1.99844783e-05 2.83647577e+02] [ 9.99514251e-01 3.02044659e-02 -7.67809878e-03 1.37173185e+02] [ 7.67399172e-03 2.51895657e-04 9.99970523e-01 2.44325388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:137.14, Z:2.44 [[ 3.16975275e-02 -9.99497507e-01 2.27902012e-05 2.83652948e+02] [ 9.99468051e-01 3.16964182e-02 -7.67809045e-03 1.37137175e+02] [ 7.67350990e-03 2.66154561e-04 9.99970523e-01 2.44257023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:137.14, Z:2.44 [[ 3.35280881e-02 -9.99437775e-01 2.55830867e-05 2.83657776e+02] [ 9.99408322e-01 3.35269035e-02 -7.67808115e-03 1.37136255e+02] [ 7.67290662e-03 2.82999331e-04 9.99970523e-01 2.44120029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:137.12, Z:2.44 [[ 3.89199540e-02 -9.99242331e-01 2.83454254e-05 2.83665479e+02] [ 9.99212886e-01 3.89185893e-02 -7.67807095e-03 1.37122608e+02] [ 7.67115035e-03 3.27153282e-04 9.99970523e-01 2.43823916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:137.09, Z:2.44 [[ 4.17749504e-02 -9.99127045e-01 3.10991652e-05 2.83669632e+02] [ 9.99097605e-01 4.17734804e-02 -7.67805980e-03 1.37091383e+02] [ 7.67005808e-03 3.51821668e-04 9.99970523e-01 2.43749301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:137.09, Z:2.44 [[ 4.40474998e-02 -9.99029437e-01 3.38156852e-05 2.83673347e+02] [ 9.99000001e-01 4.40459420e-02 -7.67804783e-03 1.37090417e+02] [ 7.66910636e-03 3.71980679e-04 9.99970523e-01 2.43852965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:137.09, Z:2.44 [[ 4.36971154e-02 -9.99044824e-01 3.65077953e-05 2.83673433e+02] [ 9.99015389e-01 4.36955473e-02 -7.67803503e-03 1.37087920e+02] [ 7.66910593e-03 3.71979832e-04 9.99970523e-01 2.43851033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:137.07, Z:2.44 [[ 4.56433232e-02 -9.98957800e-01 3.92007264e-05 2.83676729e+02] [ 9.98928368e-01 4.56416772e-02 -7.67802128e-03 1.37068297e+02] [ 7.66823006e-03 3.89609125e-04 9.99970523e-01 2.43988840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:137.06, Z:2.44 [[ 4.89757731e-02 -9.98799966e-01 4.18785559e-05 2.83681669e+02] [ 9.98770542e-01 4.89740084e-02 -7.67800668e-03 1.37056818e+02] [ 7.66674185e-03 4.17863381e-04 9.99970523e-01 2.43851476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:137.06, Z:2.44 [[ 5.02381163e-02 -9.98737268e-01 4.45330959e-05 2.83683887e+02] [ 9.98707847e-01 5.02362941e-02 -7.67799128e-03 1.37055943e+02] [ 7.66605885e-03 4.30203372e-04 9.99970523e-01 2.43767750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:137.06, Z:2.44 [[ 5.14701681e-02 -9.98674531e-01 4.71808568e-05 2.83686476e+02] [ 9.98645114e-01 5.14682892e-02 -7.67797501e-03 1.37057367e+02] [ 7.66536978e-03 4.42303596e-04 9.99970523e-01 2.43578436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:137.04, Z:2.44 [[ 5.43203064e-02 -9.98523561e-01 4.98337804e-05 2.83691110e+02] [ 9.98494151e-01 5.43183233e-02 -7.67795779e-03 1.37035004e+02] [ 7.66391487e-03 4.66827758e-04 9.99970523e-01 2.43648134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:137.02, Z:2.44 [[ 5.62209979e-02 -9.98418348e-01 5.24728384e-05 2.83692235e+02] [ 9.98388942e-01 5.62189386e-02 -7.67793975e-03 1.37020631e+02] [ 7.66284595e-03 4.84049737e-04 9.99970523e-01 2.43710350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:137.02, Z:2.44 [[ 5.82850655e-02 -9.98299979e-01 5.50842446e-05 2.83692853e+02] [ 9.98270580e-01 5.82829254e-02 -7.67792102e-03 1.37015567e+02] [ 7.66165792e-03 5.02497110e-04 9.99970523e-01 2.43790911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:137.02, Z:2.44 [[ 6.12132673e-02 -9.98124708e-01 5.76841064e-05 2.83693726e+02] [ 9.98095316e-01 6.12110210e-02 -7.67790149e-03 1.37018263e+02] [ 7.65997228e-03 5.27563672e-04 9.99970523e-01 2.43508358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11589822699995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:283.69, Y:137.01, Z:2.43 [[ 6.11145544e-02 -9.98130757e-01 6.02855013e-05 2.83693768e+02] [ 9.98101367e-01 6.11122912e-02 -7.67788106e-03 1.37010663e+02] [ 7.65984505e-03 5.29401321e-04 9.99970523e-01 2.43471654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:137.00, Z:2.43 [[ 6.15525261e-02 -9.98103844e-01 6.28868896e-05 2.83694820e+02] [ 9.98074456e-01 6.15502300e-02 -7.67785975e-03 1.36999928e+02] [ 7.65943063e-03 5.35357461e-04 9.99970523e-01 2.43352365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:137.00, Z:2.43 [[ 6.17970921e-02 -9.98088731e-01 6.54772336e-05 2.83695502e+02] [ 9.98059346e-01 6.17947690e-02 -7.67783766e-03 1.36995845e+02] [ 7.65911710e-03 5.39818206e-04 9.99970523e-01 2.43339563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.98, Z:2.44 [[ 6.25395013e-02 -9.98042487e-01 6.80592517e-05 2.83695700e+02] [ 9.98013105e-01 6.25371366e-02 -7.67781478e-03 1.36976117e+02] [ 7.65852912e-03 5.48090732e-04 9.99970523e-01 2.43724282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.98, Z:2.44 [[ 6.29793185e-02 -9.98014830e-01 7.06258772e-05 2.83695226e+02] [ 9.97985450e-01 6.29769212e-02 -7.67779117e-03 1.36977655e+02] [ 7.65810164e-03 5.54025653e-04 9.99970523e-01 2.43844457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.98, Z:2.44 [[ 6.33104596e-02 -9.97993878e-01 7.31817509e-05 2.83694484e+02] [ 9.97964501e-01 6.33080329e-02 -7.67776680e-03 1.36976779e+02] [ 7.65773127e-03 5.59115734e-04 9.99970523e-01 2.44040568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.97, Z:2.44 [[ 6.32932934e-02 -9.97994967e-01 7.57424312e-05 2.83693531e+02] [ 9.97965591e-01 6.32908477e-02 -7.67774154e-03 1.36974214e+02] [ 7.65755361e-03 5.61537888e-04 9.99970523e-01 2.44047634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.98, Z:2.44 [[ 6.21272378e-02 -9.98068234e-01 7.83038505e-05 2.83693208e+02] [ 9.98038858e-01 6.21248068e-02 -7.67771542e-03 1.36982781e+02] [ 7.65801926e-03 5.55145537e-04 9.99970523e-01 2.44072876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.99, Z:2.44 [[ 6.02374725e-02 -9.98184071e-01 8.08745453e-05 2.83693567e+02] [ 9.98154692e-01 6.02350775e-02 -7.67768834e-03 1.36985631e+02] [ 7.65887472e-03 5.43209847e-04 9.99970523e-01 2.44066334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.99, Z:2.44 [[ 5.54188716e-02 -9.98463190e-01 8.34591409e-05 2.83694444e+02] [ 9.98433801e-01 5.54165986e-02 -7.67766024e-03 1.36987726e+02] [ 7.66123612e-03 5.08815694e-04 9.99970523e-01 2.44032190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.98, Z:2.44 [[ 5.31457814e-02 -9.98586761e-01 8.60520620e-05 2.83695877e+02] [ 9.98557368e-01 5.31435555e-02 -7.67763118e-03 1.36983190e+02] [ 7.66220774e-03 4.93961629e-04 9.99970523e-01 2.43951136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.99, Z:2.44 [[ 5.13174449e-02 -9.98682388e-01 8.86465057e-05 2.83697235e+02] [ 9.98652992e-01 5.13152529e-02 -7.67760123e-03 1.36989819e+02] [ 7.66293621e-03 4.82521976e-04 9.99970523e-01 2.44025805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.97, Z:2.44 [[ 5.02720011e-02 -9.98735559e-01 9.12470255e-05 2.83698966e+02] [ 9.98706163e-01 5.02698200e-02 -7.67757032e-03 1.36969783e+02] [ 7.66327552e-03 4.77095790e-04 9.99970523e-01 2.44120454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.97, Z:2.44 [[ 5.08040070e-02 -9.98708638e-01 9.38406811e-05 2.83700792e+02] [ 9.98679245e-01 5.08017904e-02 -7.67753862e-03 1.36968125e+02] [ 7.66285686e-03 4.83766466e-04 9.99970523e-01 2.44444059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.97, Z:2.44 [[ 5.17150521e-02 -9.98661877e-01 9.64203185e-05 2.83701095e+02] [ 9.98632487e-01 5.17127889e-02 -7.67750622e-03 1.36967817e+02] [ 7.66224661e-03 4.93331097e-04 9.99970523e-01 2.44476588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.98, Z:2.44 [[ 5.31062403e-02 -9.98588863e-01 9.90022211e-05 2.83701139e+02] [ 9.98559478e-01 5.31039164e-02 -7.67747293e-03 1.36977359e+02] [ 7.66138156e-03 5.06581328e-04 9.99970523e-01 2.44372078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.96, Z:2.44 [[ 5.69508073e-02 -9.98376981e-01 1.01595844e-04 2.83701969e+02] [ 9.98347606e-01 5.69483504e-02 -7.67743861e-03 1.36955061e+02] [ 7.65919226e-03 5.38664294e-04 9.99970523e-01 2.44012289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.93, Z:2.44 [[ 5.87175572e-02 -9.98274630e-01 1.04182988e-04 2.83702309e+02] [ 9.98245262e-01 5.87150286e-02 -7.67740350e-03 1.36933350e+02] [ 7.65804003e-03 5.54798553e-04 9.99970523e-01 2.43923883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.93, Z:2.44 [[ 6.01782201e-02 -9.98187643e-01 1.06737985e-04 2.83702089e+02] [ 9.98158280e-01 6.01756289e-02 -7.67736798e-03 1.36933291e+02] [ 7.65703082e-03 5.68551743e-04 9.99970523e-01 2.43883356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.93, Z:2.44 [[ 6.09835815e-02 -9.98138763e-01 1.09280110e-04 2.83701509e+02] [ 9.98109404e-01 6.09809472e-02 -7.67733179e-03 1.36932126e+02] [ 7.65637845e-03 5.77264695e-04 9.99970523e-01 2.43842827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.93, Z:2.44 [[ 6.09293157e-02 -9.98142077e-01 1.11824435e-04 2.83701059e+02] [ 9.98112720e-01 6.09266635e-02 -7.67729473e-03 1.36926680e+02] [ 7.65621782e-03 5.79385705e-04 9.99970523e-01 2.43836437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.92, Z:2.44 [[ 6.06118130e-02 -9.98161407e-01 1.14368010e-04 2.83700927e+02] [ 9.98132051e-01 6.06091507e-02 -7.67725684e-03 1.36922859e+02] [ 7.65620974e-03 5.79486832e-04 9.99970523e-01 2.43851910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.92, Z:2.44 [[ 6.03751034e-02 -9.98175753e-01 1.16907554e-04 2.83700530e+02] [ 9.98146397e-01 6.03724286e-02 -7.67721817e-03 1.36916412e+02] [ 7.65615503e-03 5.80203694e-04 9.99970523e-01 2.43762903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.92, Z:2.44 [[ 6.03504284e-02 -9.98177245e-01 1.19443081e-04 2.83699525e+02] [ 9.98147891e-01 6.03477350e-02 -7.67717872e-03 1.36920447e+02] [ 7.65597698e-03 5.82542884e-04 9.99970523e-01 2.43612953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.93, Z:2.43 [[ 6.08168858e-02 -9.98148933e-01 1.21981130e-04 2.83697256e+02] [ 9.98119582e-01 6.08141593e-02 -7.67713839e-03 1.36934742e+02] [ 7.65550931e-03 5.88651404e-04 9.99970523e-01 2.43231116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.90, Z:2.43 [[ 6.13085869e-02 -9.98118852e-01 1.24537525e-04 2.83696922e+02] [ 9.98089504e-01 6.13058263e-02 -7.67709692e-03 1.36897532e+02] [ 7.65502029e-03 5.94971560e-04 9.99970523e-01 2.43164076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.92, Z:2.43 [[ 6.18924830e-02 -9.98082814e-01 1.27079559e-04 2.83695351e+02] [ 9.98053470e-01 6.18896859e-02 -7.67705484e-03 1.36917303e+02] [ 7.65447159e-03 6.01984182e-04 9.99970523e-01 2.43279315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.90, Z:2.43 [[ 6.25036020e-02 -9.98044730e-01 1.29611769e-04 2.83693891e+02] [ 9.98015389e-01 6.25007676e-02 -7.67701209e-03 1.36895410e+02] [ 7.65390063e-03 6.09195449e-04 9.99970523e-01 2.43338792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.90, Z:2.44 [[ 6.33429267e-02 -9.97991812e-01 1.32146494e-04 2.83690023e+02] [ 9.97962476e-01 6.33400482e-02 -7.67696846e-03 1.36903872e+02] [ 7.65318150e-03 6.18158893e-04 9.99970523e-01 2.43501789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.92, Z:2.44 [[ 6.33908545e-02 -9.97988768e-01 1.34673965e-04 2.83687810e+02] [ 9.97959434e-01 6.33879552e-02 -7.67692412e-03 1.36917435e+02] [ 7.65294734e-03 6.21045933e-04 9.99970523e-01 2.43506158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.89, Z:2.44 [[ 6.36901289e-02 -9.97969713e-01 1.37222924e-04 2.83686471e+02] [ 9.97940382e-01 6.36872013e-02 -7.67687856e-03 1.36887287e+02] [ 7.65255295e-03 6.25881682e-04 9.99970523e-01 2.43611993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.88, Z:2.44 [[ 6.42694651e-02 -9.97932571e-01 1.39763076e-04 2.83684677e+02] [ 9.97903243e-01 6.42665011e-02 -7.67683232e-03 1.36882504e+02] [ 7.65197893e-03 6.32855933e-04 9.99970523e-01 2.43749786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.88, Z:2.44 [[ 6.48870388e-02 -9.97892605e-01 1.42279359e-04 2.83679725e+02] [ 9.97863282e-01 6.48840374e-02 -7.67678568e-03 1.36884701e+02] [ 7.65137600e-03 6.40099238e-04 9.99970523e-01 2.43796972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.89, Z:2.44 [[ 6.42999293e-02 -9.97930608e-01 1.44798124e-04 2.83678117e+02] [ 9.97901284e-01 6.42969260e-02 -7.67673817e-03 1.36885065e+02] [ 7.65154192e-03 6.38107956e-04 9.99970523e-01 2.43747086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.88, Z:2.44 [[ 6.37574731e-02 -9.97965412e-01 1.47322277e-04 2.83677203e+02] [ 9.97936088e-01 6.37544664e-02 -7.67668973e-03 1.36880327e+02] [ 7.65167837e-03 6.36464556e-04 9.99970523e-01 2.43686597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.89, Z:2.44 [[ 6.30236586e-02 -9.98012022e-01 1.49847140e-04 2.83674568e+02] [ 9.97982698e-01 6.30206542e-02 -7.67664045e-03 1.36886303e+02] [ 7.65193599e-03 6.33354820e-04 9.99970523e-01 2.43643890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.88, Z:2.44 [[ 6.27412971e-02 -9.98029812e-01 1.52377021e-04 2.83673005e+02] [ 9.98000490e-01 6.27382817e-02 -7.67659023e-03 1.36877071e+02] [ 7.65190603e-03 6.33711570e-04 9.99970523e-01 2.43526436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.87, Z:2.44 [[ 6.24698221e-02 -9.98046841e-01 1.54908345e-04 2.83671986e+02] [ 9.98017520e-01 6.24667954e-02 -7.67653915e-03 1.36869420e+02] [ 7.65186902e-03 6.34153277e-04 9.99970523e-01 2.43618227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.89, Z:2.44 [[ 6.13412628e-02 -9.98116839e-01 1.57430255e-04 2.83670143e+02] [ 9.98087517e-01 6.13382499e-02 -7.67648743e-03 1.36887596e+02] [ 7.65237487e-03 6.28014605e-04 9.99970523e-01 2.43614671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.28589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.67, Y:136.89, Z:2.44 [[ 6.02169969e-02 -9.98185297e-01 1.59964803e-04 2.83670403e+02] [ 9.98155973e-01 6.02139977e-02 -7.67643461e-03 1.36888868e+02] [ 7.65287204e-03 6.21921663e-04 9.99970523e-01 2.43559936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.89, Z:2.44 [[ 5.89749888e-02 -9.98259447e-01 1.62518728e-04 2.83671080e+02] [ 9.98230122e-01 5.89720066e-02 -7.67638054e-03 1.36887361e+02] [ 7.65343534e-03 6.14945546e-04 9.99970523e-01 2.43521533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.90, Z:2.44 [[ 5.72944621e-02 -9.98357310e-01 1.65076698e-04 2.83671980e+02] [ 9.98327981e-01 5.72915097e-02 -7.67632553e-03 1.36898443e+02] [ 7.65425821e-03 6.04611629e-04 9.99970523e-01 2.43515857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.89, Z:2.43 [[ 5.33523718e-02 -9.98575734e-01 1.67646918e-04 2.83677061e+02] [ 9.98546396e-01 5.33495156e-02 -7.67626940e-03 1.36892405e+02] [ 7.65639247e-03 5.76950405e-04 9.99970523e-01 2.43499398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.89, Z:2.43 [[ 5.08189295e-02 -9.98707869e-01 1.70224258e-04 2.83680240e+02] [ 9.98678525e-01 5.08161280e-02 -7.67621225e-03 1.36891394e+02] [ 7.65764344e-03 5.60096200e-04 9.99970523e-01 2.43370401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.91, Z:2.43 [[ 4.87395651e-02 -9.98811506e-01 1.72800066e-04 2.83683440e+02] [ 9.98782159e-01 4.87368050e-02 -7.67615426e-03 1.36908809e+02] [ 7.65860948e-03 5.46722043e-04 9.99970523e-01 2.43236385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.90, Z:2.43 [[ 4.69049925e-02 -9.98899340e-01 1.75393234e-04 2.83689473e+02] [ 9.98869989e-01 4.69022664e-02 -7.67609501e-03 1.36901723e+02] [ 7.65941990e-03 5.35242216e-04 9.99970523e-01 2.43174840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.89, Z:2.43 [[ 4.74672373e-02 -9.98872780e-01 1.77999765e-04 2.83692321e+02] [ 9.98843432e-01 4.74644748e-02 -7.67603457e-03 1.36887945e+02] [ 7.65893332e-03 5.42154051e-04 9.99970523e-01 2.43141675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.89, Z:2.43 [[ 4.86590313e-02 -9.98815431e-01 1.80592127e-04 2.83693873e+02] [ 9.98786089e-01 4.86562139e-02 -7.67597358e-03 1.36893899e+02] [ 7.65809393e-03 5.53878342e-04 9.99970523e-01 2.43178240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.86, Z:2.43 [[ 5.42277208e-02 -9.98528578e-01 1.83182937e-04 2.83695940e+02] [ 9.98499254e-01 5.42247202e-02 -7.67591175e-03 1.36855836e+02] [ 7.65468420e-03 5.99155225e-04 9.99970523e-01 2.43267055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.86, Z:2.43 [[ 5.77151298e-02 -9.98333075e-01 1.85750415e-04 2.83695526e+02] [ 9.98303764e-01 5.77120071e-02 -7.67584962e-03 1.36860521e+02] [ 7.65233453e-03 6.28447995e-04 9.99970523e-01 2.43312843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.84, Z:2.43 [[ 6.12463028e-02 -9.98122665e-01 1.88294977e-04 2.83695498e+02] [ 9.98093368e-01 6.12430570e-02 -7.67578720e-03 1.36843387e+02] [ 7.64984541e-03 6.58049555e-04 9.99970523e-01 2.43214716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.83, Z:2.43 [[ 6.41418647e-02 -9.97940772e-01 1.90833293e-04 2.83694345e+02] [ 9.97911486e-01 6.41385146e-02 -7.67572409e-03 1.36830679e+02] [ 7.64767826e-03 6.82769992e-04 9.99970523e-01 2.43127462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.69, Y:136.81, Z:2.43 [[ 6.71156548e-02 -9.97745184e-01 1.93352428e-04 2.83690412e+02] [ 9.97715910e-01 6.71121982e-02 -7.67566063e-03 1.36810101e+02] [ 7.64537712e-03 7.08067783e-04 9.99970523e-01 2.42723675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.705898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.69, Y:136.81, Z:2.43 [[ 6.67883626e-02 -9.97767145e-01 1.95848787e-04 2.83688498e+02] [ 9.97737873e-01 6.67848965e-02 -7.67559693e-03 1.36814225e+02] [ 7.64537870e-03 7.08046303e-04 9.99970523e-01 2.42833973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.83, Z:2.43 [[ 6.51671925e-02 -9.97874340e-01 1.98336690e-04 2.83686516e+02] [ 9.97845064e-01 6.51637550e-02 -7.67553265e-03 1.36828518e+02] [ 7.64629271e-03 6.98102200e-04 9.99970523e-01 2.42926385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.83, Z:2.43 [[ 6.48396044e-02 -9.97895679e-01 2.00843258e-04 2.83686655e+02] [ 9.97866404e-01 6.48361574e-02 -7.67546706e-03 1.36826024e+02] [ 7.64629350e-03 6.98088987e-04 9.99970523e-01 2.42924453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.79589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.69, Y:136.81, Z:2.43 [[ 6.24874751e-02 -9.98045728e-01 2.03363030e-04 2.83685802e+02] [ 9.98016447e-01 6.24840779e-02 -7.67540030e-03 1.36805292e+02] [ 7.64769352e-03 6.82576034e-04 9.99970523e-01 2.43137860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.82, Z:2.43 [[ 5.71416058e-02 -9.98366062e-01 2.05867795e-04 2.83680640e+02] [ 9.98336766e-01 5.71383464e-02 -7.67533311e-03 1.36821778e+02] [ 7.65102915e-03 6.44106249e-04 9.99970523e-01 2.43331681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.84, Z:2.43 [[ 5.52848838e-02 -9.98470600e-01 2.08373581e-04 2.83677439e+02] [ 9.98441299e-01 5.52816596e-02 -7.67526508e-03 1.36838874e+02] [ 7.65200729e-03 6.32374927e-04 9.99970523e-01 2.43348892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.83, Z:2.43 [[ 5.43305294e-02 -9.98522984e-01 2.10909918e-04 2.83674953e+02] [ 9.98493683e-01 5.43273139e-02 -7.67519539e-03 1.36833891e+02] [ 7.65240083e-03 6.27589649e-04 9.99970523e-01 2.43264114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.84, Z:2.43 [[ 5.42977877e-02 -9.98524764e-01 2.13460116e-04 2.83669753e+02] [ 9.98495465e-01 5.42945537e-02 -7.67512446e-03 1.36840099e+02] [ 7.65221212e-03 6.29881236e-04 9.99970523e-01 2.43122611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.84, Z:2.43 [[ 5.46051104e-02 -9.98508005e-01 2.16015830e-04 2.83666691e+02] [ 9.98478709e-01 5.46018479e-02 -7.67505253e-03 1.36842920e+02] [ 7.65180652e-03 6.34784298e-04 9.99970523e-01 2.43035378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.83, Z:2.43 [[ 5.49766434e-02 -9.98487617e-01 2.18583017e-04 2.83663883e+02] [ 9.98458324e-01 5.49733504e-02 -7.67497942e-03 1.36832028e+02] [ 7.65135567e-03 6.40190639e-04 9.99970523e-01 2.43089350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.83, Z:2.43 [[ 5.49911339e-02 -9.98486818e-01 2.21147584e-04 2.83660945e+02] [ 9.98457528e-01 5.49878209e-02 -7.67490552e-03 1.36829157e+02] [ 7.65113157e-03 6.42858227e-04 9.99970523e-01 2.43191978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.83, Z:2.43 [[ 5.58203920e-02 -9.98440801e-01 2.23705801e-04 2.83655741e+02] [ 9.98411516e-01 5.58170352e-02 -7.67483095e-03 1.36825389e+02] [ 7.65037777e-03 6.51762521e-04 9.99970523e-01 2.43384283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:136.81, Z:2.43 [[ 5.59281324e-02 -9.98434771e-01 2.26262161e-04 2.83653781e+02] [ 9.98405489e-01 5.59247529e-02 -7.67475559e-03 1.36813542e+02] [ 7.65008919e-03 6.55136131e-04 9.99970523e-01 2.43406522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:136.81, Z:2.43 [[ 5.60445145e-02 -9.98428245e-01 2.28810390e-04 2.83651375e+02] [ 9.98398965e-01 5.60411122e-02 -7.67467962e-03 1.36814178e+02] [ 7.64979411e-03 6.58567750e-04 9.99970523e-01 2.43383395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.125898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.65, Y:136.80, Z:2.43 [[ 5.60181714e-02 -9.98429723e-01 2.31353822e-04 2.83648730e+02] [ 9.98400445e-01 5.60147504e-02 -7.67460294e-03 1.36802971e+02] [ 7.64959246e-03 6.60900982e-04 9.99970523e-01 2.43365532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:136.81, Z:2.43 [[ 5.58768987e-02 -9.98437638e-01 2.33892476e-04 2.83642482e+02] [ 9.98408362e-01 5.58734624e-02 -7.67452557e-03 1.36811287e+02] [ 7.64946681e-03 6.62348892e-04 9.99970523e-01 2.43237749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:136.81, Z:2.43 [[ 5.49146439e-02 -9.98491025e-01 2.36433647e-04 2.83639254e+02] [ 9.98461748e-01 5.49112165e-02 -7.67444729e-03 1.36814164e+02] [ 7.64988387e-03 6.57509492e-04 9.99970523e-01 2.43169097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.63, Y:136.82, Z:2.43 [[ 5.26767342e-02 -9.98611588e-01 2.38987645e-04 2.83634271e+02] [ 9.98582306e-01 5.26733529e-02 -7.67436775e-03 1.36818283e+02] [ 7.65112429e-03 6.42909464e-04 9.99970523e-01 2.43107161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:136.83, Z:2.43 [[ 5.09815457e-02 -9.98699566e-01 2.41551256e-04 2.83631948e+02] [ 9.98670280e-01 5.09781946e-02 -7.67428706e-03 1.36830018e+02] [ 7.65199331e-03 6.32477078e-04 9.99970523e-01 2.43146376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:136.83, Z:2.43 [[ 4.90175784e-02 -9.98797886e-01 2.44133168e-04 2.83630333e+02] [ 9.98768596e-01 4.90142652e-02 -7.67420493e-03 1.36828822e+02] [ 7.65301365e-03 6.20003484e-04 9.99970523e-01 2.43164676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:136.84, Z:2.43 [[ 4.70892269e-02 -9.98890657e-01 2.46727555e-04 2.83627960e+02] [ 9.98861362e-01 4.70859504e-02 -7.67412151e-03 1.36842303e+02] [ 7.65399088e-03 6.07815071e-04 9.99970523e-01 2.43103248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:136.84, Z:2.43 [[ 4.55035582e-02 -9.98964146e-01 2.49336864e-04 2.83625930e+02] [ 9.98934848e-01 4.55003083e-02 -7.67403674e-03 1.36835216e+02] [ 7.65474265e-03 5.98267260e-04 9.99970523e-01 2.43041405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.36589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.62, Y:136.83, Z:2.43 [[ 4.24285309e-02 -9.99099473e-01 2.51955425e-04 2.83621993e+02] [ 9.99070168e-01 4.24253512e-02 -7.67395076e-03 1.36828487e+02] [ 7.65635086e-03 5.77315606e-04 9.99970523e-01 2.42824513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:136.83, Z:2.43 [[ 4.04428456e-02 -9.99181821e-01 2.54567361e-04 2.83621375e+02] [ 9.99152512e-01 4.04397042e-02 -7.67386412e-03 1.36832024e+02] [ 7.65729089e-03 5.64704520e-04 9.99970523e-01 2.42930401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:136.83, Z:2.43 [[ 3.82740956e-02 -9.99267245e-01 2.57180825e-04 2.83621301e+02] [ 9.99237932e-01 3.82709979e-02 -7.67377653e-03 1.36833112e+02] [ 7.65831096e-03 5.50691692e-04 9.99970523e-01 2.43223141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:136.84, Z:2.43 [[ 3.38883159e-02 -9.99425592e-01 2.59802002e-04 2.83622515e+02] [ 9.99396267e-01 3.38853268e-02 -7.67368778e-03 1.36840268e+02] [ 7.66047648e-03 5.19693507e-04 9.99970523e-01 2.43104592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:136.85, Z:2.43 [[ 3.19467237e-02 -9.99489539e-01 2.62435246e-04 2.83623488e+02] [ 9.99460210e-01 3.19437714e-02 -7.67359773e-03 1.36852371e+02] [ 7.66129748e-03 5.07439892e-04 9.99970523e-01 2.42865558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:136.86, Z:2.43 [[ 3.04039914e-02 -9.99537657e-01 2.65089406e-04 2.83624827e+02] [ 9.99508325e-01 3.04010641e-02 -7.67350604e-03 1.36864862e+02] [ 7.66189924e-03 4.98264280e-04 9.99970523e-01 2.42924739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:136.84, Z:2.43 [[ 2.93070844e-02 -9.99570419e-01 2.67768903e-04 2.83626976e+02] [ 9.99541087e-01 2.93041688e-02 -7.67341253e-03 1.36842854e+02] [ 7.66226944e-03 4.92531369e-04 9.99970523e-01 2.43060414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.575898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:283.63, Y:136.83, Z:2.43 [[ 2.89068853e-02 -9.99582072e-01 2.70445097e-04 2.83627156e+02] [ 9.99552741e-01 2.89039610e-02 -7.67331821e-03 1.36833173e+02] [ 7.66229438e-03 4.92135867e-04 9.99970523e-01 2.43265725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:136.84, Z:2.43 [[ 2.90421340e-02 -9.99578151e-01 2.73097187e-04 2.83627207e+02] [ 9.99548822e-01 2.90391854e-02 -7.67322382e-03 1.36843680e+02] [ 7.66205636e-03 4.95820765e-04 9.99970523e-01 2.43393920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:136.84, Z:2.43 [[ 2.89641388e-02 -9.99580413e-01 2.75754431e-04 2.83627650e+02] [ 9.99551086e-01 2.89611722e-02 -7.67312833e-03 1.36839207e+02] [ 7.66192261e-03 4.97876195e-04 9.99970523e-01 2.43486777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:136.83, Z:2.43 [[ 2.88674930e-02 -9.99583208e-01 2.78421643e-04 2.83628166e+02] [ 9.99553883e-01 2.88645089e-02 -7.67303154e-03 1.36832472e+02] [ 7.66179698e-03 4.99798619e-04 9.99970523e-01 2.43411117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:136.81, Z:2.43 [[ 2.88176665e-02 -9.99584645e-01 2.81083221e-04 2.83630366e+02] [ 9.99555322e-01 2.88146635e-02 -7.67293404e-03 1.36808571e+02] [ 7.66164774e-03 5.02074284e-04 9.99970523e-01 2.43369961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:136.83, Z:2.43 [[ 2.81166092e-02 -9.99604610e-01 2.83722112e-04 2.83631181e+02] [ 9.99575286e-01 2.81136065e-02 -7.67283646e-03 1.36829377e+02] [ 7.66182625e-03 4.99335755e-04 9.99970523e-01 2.43363279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.755898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.63, Y:136.84, Z:2.43 [[ 2.68256863e-02 -9.99640086e-01 2.86362922e-04 2.83632663e+02] [ 9.99610760e-01 2.68227014e-02 -7.67273790e-03 1.36840179e+02] [ 7.66229535e-03 4.92077918e-04 9.99970523e-01 2.43402338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:136.83, Z:2.44 [[ 2.30148886e-02 -9.99735081e-01 2.89035244e-04 2.83638077e+02] [ 9.99705746e-01 2.30119950e-02 -7.67263723e-03 1.36826772e+02] [ 7.66395333e-03 4.65535085e-04 9.99970523e-01 2.43518804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:136.83, Z:2.44 [[ 2.12480680e-02 -9.99774192e-01 2.91709974e-04 2.83641289e+02] [ 9.99744854e-01 2.12452058e-02 -7.67253554e-03 1.36828504e+02] [ 7.66460558e-03 4.54662102e-04 9.99970523e-01 2.43675986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:136.83, Z:2.44 [[ 1.98111010e-02 -9.99803698e-01 2.94378600e-04 2.83644366e+02] [ 9.99774358e-01 1.98082606e-02 -7.67243315e-03 1.36830816e+02] [ 7.66509590e-03 4.46311524e-04 9.99970523e-01 2.43644525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:136.84, Z:2.44 [[ 1.92480703e-02 -9.99814695e-01 2.97055266e-04 2.83647656e+02] [ 9.99785355e-01 1.92452259e-02 -7.67232952e-03 1.36837595e+02] [ 7.66519090e-03 4.44669043e-04 9.99970523e-01 2.43603126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:136.82, Z:2.43 [[ 2.07091630e-02 -9.99785497e-01 2.99743311e-04 2.83654643e+02] [ 9.99756164e-01 2.07062552e-02 -7.67222450e-03 1.36818915e+02] [ 7.66437222e-03 4.58555570e-04 9.99970523e-01 2.43247271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.82, Z:2.43 [[ 2.24782206e-02 -9.99747287e-01 3.02425190e-04 2.83657372e+02] [ 9.99717961e-01 2.24752404e-02 -7.67211878e-03 1.36815967e+02] [ 7.66338286e-03 4.74795472e-04 9.99970523e-01 2.43192636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.81, Z:2.43 [[ 2.47905911e-02 -9.99692620e-01 3.05092047e-04 2.83660056e+02] [ 9.99663303e-01 2.47875227e-02 -7.67201273e-03 1.36808865e+02] [ 7.66209203e-03 4.95183054e-04 9.99970523e-01 2.43381377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.78, Z:2.43 [[ 2.73192427e-02 -9.99626713e-01 3.07754447e-04 2.83662797e+02] [ 9.99597406e-01 2.73160798e-02 -7.67190593e-03 1.36784369e+02] [ 7.66063546e-03 5.17221207e-04 9.99970523e-01 2.43464904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.77, Z:2.44 [[ 3.27192166e-02 -9.99464535e-01 3.10392981e-04 2.83666266e+02] [ 9.99435248e-01 3.27158753e-02 -7.67179918e-03 1.36772855e+02] [ 7.65753642e-03 5.61232945e-04 9.99970523e-01 2.43747526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.76, Z:2.44 [[ 3.56360144e-02 -9.99364787e-01 3.13002286e-04 2.83668316e+02] [ 9.99335512e-01 3.56325677e-02 -7.67169272e-03 1.36758740e+02] [ 7.65566648e-03 5.86182852e-04 9.99970523e-01 2.43827450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.085898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.67, Y:136.73, Z:2.44 [[ 3.89015351e-02 -9.99242999e-01 3.15596583e-04 2.83670491e+02] [ 9.99213738e-01 3.88979729e-02 -7.67158599e-03 1.36731483e+02] [ 7.65350253e-03 6.13784913e-04 9.99970523e-01 2.43833367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.73, Z:2.44 [[ 4.22903647e-02 -9.99105312e-01 3.18161100e-04 2.83670801e+02] [ 9.99076066e-01 4.22866838e-02 -7.67147963e-03 1.36726764e+02] [ 7.65116207e-03 6.42296811e-04 9.99970523e-01 2.43804653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.70, Z:2.44 [[ 4.93960063e-02 -9.98779221e-01 3.20703461e-04 2.83669081e+02] [ 9.98750004e-01 4.93920981e-02 -7.67137335e-03 1.36703508e+02] [ 7.64616808e-03 6.99237790e-04 9.99970523e-01 2.43800872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.69, Z:2.44 [[ 5.18293477e-02 -9.98655904e-01 3.23227616e-04 2.83667440e+02] [ 9.98626699e-01 5.18253491e-02 -7.67126699e-03 1.36693547e+02] [ 7.64420469e-03 7.20380492e-04 9.99970523e-01 2.43703258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.70, Z:2.44 [[ 5.34210549e-02 -9.98572023e-01 3.25729591e-04 2.83665339e+02] [ 9.98542828e-01 5.34169908e-02 -7.67116076e-03 1.36696468e+02] [ 7.64280702e-03 7.35056447e-04 9.99970523e-01 2.43520398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.69, Z:2.43 [[ 5.37742138e-02 -9.98553066e-01 3.28230104e-04 2.83664349e+02] [ 9.98523875e-01 5.37701203e-02 -7.67105376e-03 1.36685966e+02] [ 7.64230529e-03 7.40250481e-04 9.99970523e-01 2.43302014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.70, Z:2.44 [[ 5.11481348e-02 -9.98691023e-01 3.30728119e-04 2.83661968e+02] [ 9.98661824e-01 5.11440991e-02 -7.67094606e-03 1.36697335e+02] [ 7.64399018e-03 7.22640130e-04 9.99970523e-01 2.43591376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.70, Z:2.44 [[ 4.86967806e-02 -9.98813552e-01 3.33230702e-04 2.83661652e+02] [ 9.98784346e-01 4.86927974e-02 -7.67083735e-03 1.36696811e+02] [ 7.64551037e-03 7.06370692e-04 9.99970523e-01 2.43773757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.68, Z:2.44 [[ 4.63016108e-02 -9.98927449e-01 3.35745721e-04 2.83662454e+02] [ 9.98898236e-01 4.62976785e-02 -7.67072727e-03 1.36680893e+02] [ 7.64695577e-03 6.90542836e-04 9.99970523e-01 2.43754221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.73, Z:2.44 [[ 4.26934449e-02 -9.99088162e-01 3.38252136e-04 2.83660490e+02] [ 9.99058937e-01 4.26895990e-02 -7.67061674e-03 1.36726208e+02] [ 7.64918253e-03 6.65418873e-04 9.99970523e-01 2.43642937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.68, Z:2.44 [[ 4.18610155e-02 -9.99123385e-01 3.40785459e-04 2.83663000e+02] [ 9.99094160e-01 4.18571747e-02 -7.67050419e-03 1.36683037e+02] [ 7.64951580e-03 6.61571857e-04 9.99970523e-01 2.43544767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.70, Z:2.43 [[ 4.13264756e-02 -9.99145637e-01 3.43324213e-04 2.83662817e+02] [ 9.99116412e-01 4.13226311e-02 -7.67039056e-03 1.36701790e+02] [ 7.64965020e-03 6.60011064e-04 9.99970523e-01 2.43467588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.71, Z:2.43 [[ 4.07740745e-02 -9.99168332e-01 3.45848043e-04 2.83663517e+02] [ 9.99139107e-01 4.07702269e-02 -7.67027676e-03 1.36705761e+02] [ 7.64979733e-03 6.58298740e-04 9.99970523e-01 2.43347778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.70, Z:2.43 [[ 3.89456337e-02 -9.99241270e-01 3.48394032e-04 2.83666275e+02] [ 9.99212041e-01 3.89418202e-02 -7.67016111e-03 1.36697727e+02] [ 7.65077444e-03 6.46838797e-04 9.99970523e-01 2.43015784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.71, Z:2.43 [[ 3.74172894e-02 -9.99299666e-01 3.50939983e-04 2.83667548e+02] [ 9.99270434e-01 3.74135012e-02 -7.67004463e-03 1.36705546e+02] [ 7.65154314e-03 6.37676228e-04 9.99970523e-01 2.42752667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.69, Z:2.43 [[ 3.59269307e-02 -9.99354357e-01 3.53489935e-04 2.83669203e+02] [ 9.99325121e-01 3.59231667e-02 -7.66992710e-03 1.36687383e+02] [ 7.65227659e-03 6.28808312e-04 9.99970523e-01 2.42591958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.69, Z:2.42 [[ 3.49331367e-02 -9.99389588e-01 3.56035808e-04 2.83669133e+02] [ 9.99360352e-01 3.49293824e-02 -7.66980892e-03 1.36692982e+02] [ 7.65269107e-03 6.23738554e-04 9.99970523e-01 2.42346393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.70, Z:2.43 [[ 3.42872592e-02 -9.99411955e-01 3.58575403e-04 2.83669028e+02] [ 9.99382718e-01 3.42835044e-02 -7.66969019e-03 1.36698136e+02] [ 7.65288685e-03 6.21326717e-04 9.99970523e-01 2.42590734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.69, Z:2.43 [[ 3.43065160e-02 -9.99411293e-01 3.60806175e-04 2.83669474e+02] [ 9.99382059e-01 3.43027436e-02 -7.66958525e-03 1.36688769e+02] [ 7.65269347e-03 6.23699967e-04 9.99970523e-01 2.42832604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.69, Z:2.43 [[ 3.39747850e-02 -9.99422624e-01 3.63357493e-04 2.83669667e+02] [ 9.99393391e-01 3.39710028e-02 -7.66946437e-03 1.36686269e+02] [ 7.65269259e-03 6.23705480e-04 9.99970523e-01 2.42830673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.69, Z:2.43 [[ 3.38142249e-02 -9.99428069e-01 3.65903211e-04 2.83669149e+02] [ 9.99398837e-01 3.38104281e-02 -7.66934292e-03 1.36689402e+02] [ 7.65258524e-03 6.25016130e-04 9.99970523e-01 2.43046457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.67, Z:2.43 [[ 3.43492104e-02 -9.99409824e-01 3.68453671e-04 2.83667712e+02] [ 9.99380597e-01 3.43453785e-02 -7.66922039e-03 1.36670640e+02] [ 7.65203951e-03 6.31657114e-04 9.99970523e-01 2.43481919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.68, Z:2.43 [[ 3.48062107e-02 -9.99394011e-01 3.70995278e-04 2.83666881e+02] [ 9.99364789e-01 3.48023460e-02 -7.66909743e-03 1.36678119e+02] [ 7.65153854e-03 6.37691839e-04 9.99970523e-01 2.43462145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.68, Z:2.43 [[ 3.47219411e-02 -9.99396942e-01 3.73532096e-04 2.83666574e+02] [ 9.99367722e-01 3.47180596e-02 -7.66897387e-03 1.36675468e+02] [ 7.65138073e-03 6.39577579e-04 9.99970523e-01 2.43455630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.69, Z:2.43 [[ 3.39555801e-02 -9.99423272e-01 3.76076911e-04 2.83665901e+02] [ 9.99394052e-01 3.39517016e-02 -7.66884908e-03 1.36685600e+02] [ 7.65165779e-03 6.36249247e-04 9.99970523e-01 2.43374557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.69, Z:2.43 [[ 3.04477573e-02 -9.99536288e-01 3.78631261e-04 2.83666114e+02] [ 9.99507056e-01 3.04439619e-02 -7.66872296e-03 1.36692860e+02] [ 7.65363985e-03 6.11940032e-04 9.99970523e-01 2.43272627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.68, Z:2.43 [[ 2.75343454e-02 -9.99620785e-01 3.81204532e-04 2.83668042e+02] [ 9.99591546e-01 2.75306156e-02 -7.66859504e-03 1.36681145e+02] [ 7.65519220e-03 5.92198572e-04 9.99970523e-01 2.43305781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.69, Z:2.44 [[ 2.46807591e-02 -9.99695310e-01 3.83777760e-04 2.83669484e+02] [ 9.99666062e-01 2.46770931e-02 -7.66846626e-03 1.36689307e+02] [ 7.65665924e-03 5.72913171e-04 9.99970523e-01 2.43502272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.69, Z:2.44 [[ 2.25211157e-02 -9.99746293e-01 3.86352456e-04 2.83670795e+02] [ 9.99717040e-01 2.25174933e-02 -7.66833654e-03 1.36693491e+02] [ 7.65769134e-03 5.58942628e-04 9.99970523e-01 2.43658646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.69, Z:2.44 [[ 2.10810861e-02 -9.99777694e-01 3.88941429e-04 2.83672813e+02] [ 9.99748437e-01 2.10774861e-02 -7.66820523e-03 1.36690886e+02] [ 7.65830263e-03 5.50497681e-04 9.99970523e-01 2.43922503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.68, Z:2.44 [[ 2.11892201e-02 -9.99775407e-01 3.91535304e-04 2.83674782e+02] [ 9.99746153e-01 2.11855971e-02 -7.66807278e-03 1.36675443e+02] [ 7.65805567e-03 5.53916396e-04 9.99970523e-01 2.43962202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.69, Z:2.44 [[ 2.13726844e-02 -9.99771500e-01 3.94118149e-04 2.83676560e+02] [ 9.99742250e-01 2.13690364e-02 -7.66794003e-03 1.36690370e+02] [ 7.65776598e-03 5.57901027e-04 9.99970523e-01 2.43842500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.68, Z:2.44 [[ 2.11252300e-02 -9.99776759e-01 3.96704345e-04 2.83678687e+02] [ 9.99747510e-01 2.11215695e-02 -7.66780623e-03 1.36682445e+02] [ 7.65771544e-03 5.58588352e-04 9.99970523e-01 2.43647612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.68, Z:2.43 [[ 2.02257183e-02 -9.99795360e-01 3.99300743e-04 2.83680140e+02] [ 9.99766110e-01 2.02220642e-02 -7.66767102e-03 1.36682568e+02] [ 7.65802722e-03 5.54291504e-04 9.99970523e-01 2.43437234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.68, Z:2.43 [[ 1.91425602e-02 -9.99816684e-01 4.01894437e-04 2.83681830e+02] [ 9.99787433e-01 1.91389181e-02 -7.66753507e-03 1.36679491e+02] [ 7.65843766e-03 5.48585259e-04 9.99970523e-01 2.43290558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.68, Z:2.43 [[ 1.75787908e-02 -9.99845399e-01 4.04489620e-04 2.83683502e+02] [ 9.99816145e-01 1.75751746e-02 -7.66739816e-03 1.36678577e+02] [ 7.65910380e-03 5.39198841e-04 9.99970523e-01 2.43356656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.67, Z:2.44 [[ 1.43864436e-02 -9.99896427e-01 4.07085878e-04 2.83688663e+02] [ 9.99867164e-01 1.43829010e-02 -7.66726032e-03 1.36669871e+02] [ 7.66061112e-03 5.17336410e-04 9.99970523e-01 2.43727577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.70, Z:2.44 [[ 1.21305637e-02 -9.99926338e-01 4.09677899e-04 2.83689584e+02] [ 9.99897069e-01 1.21270673e-02 -7.66712182e-03 1.36697474e+02] [ 7.66158885e-03 5.02642240e-04 9.99970523e-01 2.43863302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:136.68, Z:2.44 [[ 9.53061057e-03 -9.99954498e-01 4.12289825e-04 2.83692505e+02] [ 9.99925222e-01 9.52717038e-03 -7.66698136e-03 1.36683507e+02] [ 7.66270454e-03 4.85330009e-04 9.99970523e-01 2.43813927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.69, Z:2.44 [[ 4.51822306e-03 -9.99989707e-01 4.14917234e-04 2.83696435e+02] [ 9.99960417e-01 4.51490958e-03 -7.66683917e-03 1.36692560e+02] [ 7.66488694e-03 4.49541300e-04 9.99970523e-01 2.43603149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.69, Z:2.44 [[ 1.67303168e-03 -9.99998513e-01 4.17544593e-04 2.83699777e+02] [ 9.99969216e-01 1.66978147e-03 -7.66669608e-03 1.36692211e+02] [ 7.66598747e-03 4.30358365e-04 9.99970523e-01 2.43595748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.69, Z:2.44 [[-1.59247485e-03 -9.99998644e-01 4.20183274e-04 2.83704128e+02] [ 9.99969339e-01 -1.59564954e-03 -7.66655146e-03 1.36689491e+02] [ 7.66721153e-03 4.07961601e-04 9.99970523e-01 2.43717406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.34589822699996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.71, Y:136.72, Z:2.44 [[-1.00474161e-02 -9.99949434e-01 4.22822700e-04 2.83709967e+02] [ 9.99920105e-01 -1.00503631e-02 -7.66640589e-03 1.36715451e+02] [ 7.67026775e-03 3.45761349e-04 9.99970523e-01 2.44094591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.375898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:283.71, Y:136.73, Z:2.44 [[-1.38576411e-02 -9.99903888e-01 4.25486374e-04 2.83713116e+02] [ 9.99874550e-01 -1.38604967e-02 -7.66625805e-03 1.36728561e+02] [ 7.67141868e-03 3.19196744e-04 9.99970523e-01 2.44134375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.72, Z:2.44 [[-1.67411059e-02 -9.99859766e-01 4.28189536e-04 2.83717730e+02] [ 9.99830422e-01 -1.67438975e-02 -7.66610707e-03 1.36715788e+02] [ 7.67220158e-03 2.99777815e-04 9.99970523e-01 2.44141070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.72, Z:2.44 [[-1.86764695e-02 -9.99825487e-01 4.30897203e-04 2.83720322e+02] [ 9.99796139e-01 -1.86792251e-02 -7.66595487e-03 1.36718833e+02] [ 7.67266589e-03 2.87636388e-04 9.99970523e-01 2.44067983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.72, Z:2.44 [[-1.97250524e-02 -9.99805348e-01 4.33599425e-04 2.83724132e+02] [ 9.99776000e-01 -1.97277980e-02 -7.66580203e-03 1.36723667e+02] [ 7.67286383e-03 2.82293951e-04 9.99970523e-01 2.44232677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:136.71, Z:2.44 [[-1.98649786e-02 -9.99802577e-01 4.36313623e-04 2.83726360e+02] [ 9.99773230e-01 -1.98677408e-02 -7.66564754e-03 1.36713136e+02] [ 7.67280273e-03 2.83936756e-04 9.99970523e-01 2.44414043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:136.71, Z:2.45 [[-1.97111142e-02 -9.99805621e-01 4.39026540e-04 2.83727910e+02] [ 9.99776276e-01 -1.97139017e-02 -7.66549216e-03 1.36711777e+02] [ 7.67265708e-03 2.87832928e-04 9.99970523e-01 2.44521762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:136.71, Z:2.44 [[-1.94339781e-02 -9.99811045e-01 4.41733153e-04 2.83730339e+02] [ 9.99781703e-01 -1.94367945e-02 -7.66533619e-03 1.36708036e+02] [ 7.67247366e-03 2.92668748e-04 9.99970523e-01 2.44260657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:136.72, Z:2.44 [[-1.97197707e-02 -9.99805448e-01 4.44438875e-04 2.83731236e+02] [ 9.99776107e-01 -1.97225993e-02 -7.66517931e-03 1.36717049e+02] [ 7.67245352e-03 2.93183790e-04 9.99970523e-01 2.43971797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:136.70, Z:2.44 [[-2.07599761e-02 -9.99784389e-01 4.47153692e-04 2.83733556e+02] [ 9.99755047e-01 -2.07627950e-02 -7.66502093e-03 1.36700668e+02] [ 7.67265242e-03 2.87918509e-04 9.99970523e-01 2.43752201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:136.73, Z:2.44 [[-2.24008050e-02 -9.99748969e-01 4.49866386e-04 2.83733634e+02] [ 9.99719625e-01 -2.24035965e-02 -7.66486172e-03 1.36725037e+02] [ 7.67301623e-03 2.78041182e-04 9.99970523e-01 2.43751899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.74, Y:136.70, Z:2.44 [[-2.57646736e-02 -9.99667933e-01 4.52591150e-04 2.83737893e+02] [ 9.99638582e-01 -2.57673873e-02 -7.66470082e-03 1.36700663e+02] [ 7.67381772e-03 2.54949060e-04 9.99970523e-01 2.44199365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.74, Y:136.71, Z:2.44 [[-2.73182375e-02 -9.99626684e-01 4.55319639e-04 2.83738715e+02] [ 9.99597330e-01 -2.73209265e-02 -7.66453873e-03 1.36710216e+02] [ 7.67411719e-03 2.45754606e-04 9.99970523e-01 2.44337915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.74, Y:136.71, Z:2.44 [[-2.92911929e-02 -9.99570816e-01 4.58038827e-04 2.83740041e+02] [ 9.99541459e-01 -2.92938447e-02 -7.66437623e-03 1.36711745e+02] [ 7.67450452e-03 2.33330075e-04 9.99970523e-01 2.44303764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.74, Y:136.74, Z:2.44 [[-3.28081349e-02 -9.99461562e-01 4.60772697e-04 2.83741339e+02] [ 9.99432198e-01 -3.28107043e-02 -7.66421187e-03 1.36738841e+02] [ 7.67520344e-03 2.09062573e-04 9.99970523e-01 2.44176271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.74, Y:136.71, Z:2.44 [[-3.46196405e-02 -9.99400453e-01 4.63537750e-04 2.83744509e+02] [ 9.99371086e-01 -3.46221779e-02 -7.66404463e-03 1.36713713e+02] [ 7.67549837e-03 1.97919755e-04 9.99970523e-01 2.44040501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.72, Z:2.44 [[-3.67702715e-02 -9.99323636e-01 4.66309265e-04 2.83745598e+02] [ 9.99294265e-01 -3.67727669e-02 -7.66387600e-03 1.36719378e+02] [ 7.67583991e-03 1.84177373e-04 9.99970523e-01 2.44002902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.72, Z:2.44 [[-3.93661858e-02 -9.99224741e-01 4.69066436e-04 2.83746776e+02] [ 9.99195366e-01 -3.93686260e-02 -7.66370725e-03 1.36722326e+02] [ 7.67623239e-03 1.66998086e-04 9.99970523e-01 2.43975829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.74, Z:2.44 [[-4.64686680e-02 -9.98919637e-01 4.71836952e-04 2.83747863e+02] [ 9.98890246e-01 -4.64709206e-02 -7.66353667e-03 1.36743958e+02] [ 7.67718396e-03 1.15198988e-04 9.99970523e-01 2.43993566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.76, Z:2.44 [[-4.98777638e-02 -9.98755217e-01 4.74635506e-04 2.83748746e+02] [ 9.98725821e-01 -4.98799375e-02 -7.66336334e-03 1.36763288e+02] [ 7.67749890e-03 9.17993089e-05 9.99970523e-01 2.43944095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.73, Z:2.44 [[-5.28148847e-02 -9.98604206e-01 4.77479534e-04 2.83752772e+02] [ 9.98574805e-01 -5.28169939e-02 -7.66318613e-03 1.36734293e+02] [ 7.67770893e-03 7.20687409e-05 9.99970523e-01 2.43893405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.75, Z:2.44 [[-5.52494885e-02 -9.98472465e-01 4.80318466e-04 2.83753673e+02] [ 9.98443060e-01 -5.52515478e-02 -7.66300819e-03 1.36754220e+02] [ 7.67784101e-03 5.61933563e-05 9.99970523e-01 2.43894244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.76, Z:2.44 [[-5.77782736e-02 -9.98329323e-01 4.83152319e-04 2.83755605e+02] [ 9.98299915e-01 -5.77802801e-02 -7.66282951e-03 1.36762760e+02] [ 7.67794407e-03 3.95858591e-05 9.99970523e-01 2.44114559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.75, Z:2.44 [[-5.85556964e-02 -9.98284025e-01 4.86020632e-04 2.83757415e+02] [ 9.98254617e-01 -5.85577021e-02 -7.66264758e-03 1.36751287e+02] [ 7.67795892e-03 3.64806737e-05 9.99970523e-01 2.44153232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.75, Z:2.44 [[-5.95282809e-02 -9.98226500e-01 4.88889815e-04 2.83758898e+02] [ 9.98197091e-01 -5.95302799e-02 -7.66246452e-03 1.36745286e+02] [ 7.67797888e-03 3.18750508e-05 9.99970523e-01 2.44284216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.74, Z:2.45 [[-6.04085105e-02 -9.98173617e-01 4.91746412e-04 2.83761090e+02] [ 9.98144208e-01 -6.04105054e-02 -7.66228119e-03 1.36743603e+02] [ 7.67799358e-03 2.79668400e-05 9.99970523e-01 2.44673245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.73, Z:2.45 [[-6.03477180e-02 -9.98177293e-01 4.94600151e-04 2.83762142e+02] [ 9.98147886e-01 -6.03497367e-02 -7.66209697e-03 1.36730578e+02] [ 7.67798020e-03 3.12940273e-05 9.99970523e-01 2.44724126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.74, Z:2.45 [[-5.94485560e-02 -9.98231247e-01 4.97443706e-04 2.83761417e+02] [ 9.98201843e-01 -5.94506230e-02 -7.66191236e-03 1.36742679e+02] [ 7.67793366e-03 4.10595988e-05 9.99970523e-01 2.44590519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.73, Z:2.44 [[-5.80719906e-02 -9.98312273e-01 5.00291316e-04 2.83762057e+02] [ 9.98282873e-01 -5.80741200e-02 -7.66172642e-03 1.36730009e+02] [ 7.67784949e-03 5.45005477e-05 9.99970523e-01 2.44354346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.72, Z:2.44 [[-5.52128237e-02 -9.98474482e-01 5.03142561e-04 2.83762631e+02] [ 9.98445090e-01 -5.52150592e-02 -7.66153917e-03 1.36717245e+02] [ 7.67763240e-03 7.93450081e-05 9.99970523e-01 2.44091913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.73, Z:2.44 [[-5.45447436e-02 -9.98511199e-01 5.05973615e-04 2.83761276e+02] [ 9.98481811e-01 -5.45470205e-02 -7.66135220e-03 1.36729029e+02] [ 7.67754533e-03 8.73189592e-05 9.99970523e-01 2.44061776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.70, Z:2.44 [[-5.43549126e-02 -9.98521549e-01 5.08808685e-04 2.83762883e+02] [ 9.98492163e-01 -5.43572167e-02 -7.66116391e-03 1.36699853e+02] [ 7.67749468e-03 9.16195902e-05 9.99970523e-01 2.44087281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.76, Z:2.44 [[-5.54250921e-02 -9.98462717e-01 5.11630973e-04 2.83758235e+02] [ 9.98433330e-01 -5.54273865e-02 -7.66097543e-03 1.36756507e+02] [ 7.67755671e-03 8.62191467e-05 9.99970523e-01 2.44336479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.335898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.76, Y:136.72, Z:2.44 [[-5.60754644e-02 -9.98426398e-01 5.19087986e-04 2.83760044e+02] [ 9.98397014e-01 -5.60777968e-02 -7.66047513e-03 1.36722840e+02] [ 7.67752990e-03 8.86911950e-05 9.99970523e-01 2.44222615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.71, Z:2.44 [[-5.75199269e-02 -9.98344226e-01 5.15151793e-04 2.83760786e+02] [ 9.98314836e-01 -5.75221866e-02 -7.66073982e-03 1.36710886e+02] [ 7.67768802e-03 7.36384829e-05 9.99970523e-01 2.44201252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.71, Z:2.44 [[-5.90705810e-02 -9.98253674e-01 5.17992574e-04 2.83760271e+02] [ 9.98224283e-01 -5.90728169e-02 -7.66054773e-03 1.36710259e+02] [ 7.67776920e-03 6.45597596e-05 9.99970523e-01 2.44148290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.73, Z:2.44 [[-6.11952186e-02 -9.98125680e-01 5.20825511e-04 2.83756329e+02] [ 9.98096286e-01 -6.11974136e-02 -7.66035512e-03 1.36731639e+02] [ 7.67787034e-03 5.10569017e-05 9.99970523e-01 2.44279084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:136.71, Z:2.44 [[-6.22892041e-02 -9.98058005e-01 5.23684543e-04 2.83756213e+02] [ 9.98028609e-01 -6.22913889e-02 -7.66015966e-03 1.36712715e+02] [ 7.67790471e-03 4.55069074e-05 9.99970523e-01 2.44374810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.72, Z:2.44 [[-6.33539577e-02 -9.97990981e-01 5.26551851e-04 2.83754792e+02] [ 9.97961585e-01 -6.33561331e-02 -7.65996256e-03 1.36718058e+02] [ 7.67793384e-03 4.01895753e-05 9.99970523e-01 2.44478069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.72, Z:2.44 [[-6.49753199e-02 -9.97886731e-01 5.29409803e-04 2.83753809e+02] [ 9.97857333e-01 -6.49774694e-02 -7.65976503e-03 1.36715495e+02] [ 7.67797760e-03 3.05797708e-05 9.99970523e-01 2.44434535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.74, Z:2.44 [[-7.01967090e-02 -9.97533026e-01 5.32275592e-04 2.83748602e+02] [ 9.97503619e-01 -7.01987266e-02 -7.65956588e-03 1.36743257e+02] [ 7.67803501e-03 -6.72948831e-06 9.99970523e-01 2.44209495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.74, Z:2.44 [[-7.05782772e-02 -9.97506100e-01 5.35172353e-04 2.83748848e+02] [ 9.97476694e-01 -7.05803059e-02 -7.65936348e-03 1.36740793e+02] [ 7.67803443e-03 -6.76272951e-06 9.99970523e-01 2.44207563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.74, Z:2.44 [[-7.39436184e-02 -9.97262278e-01 5.38102198e-04 2.83748171e+02] [ 9.97232866e-01 -7.39455703e-02 -7.65915764e-03 1.36735171e+02] [ 7.67797928e-03 -2.97326322e-05 9.99970523e-01 2.44162456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.75, Z:2.44 [[-7.96706041e-02 -9.96821098e-01 5.41028576e-04 2.83746684e+02] [ 9.96791677e-01 -7.96724095e-02 -7.65895092e-03 1.36751443e+02] [ 7.67770892e-03 -7.09004647e-05 9.99970523e-01 2.44489181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.75, Z:2.45 [[-8.21873937e-02 -9.96616745e-01 5.43971967e-04 2.83747159e+02] [ 9.96587321e-01 -8.21891475e-02 -7.65874187e-03 1.36747007e+02] [ 7.67753898e-03 -8.73364682e-05 9.99970523e-01 2.44686016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.75, Z:2.45 [[-8.41717413e-02 -9.96451112e-01 5.46932569e-04 2.83747018e+02] [ 9.96421686e-01 -8.41734592e-02 -7.65853044e-03 1.36745585e+02] [ 7.67738838e-03 -9.96563702e-05 9.99970523e-01 2.44716199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.73, Z:2.45 [[-8.56528634e-02 -9.96324889e-01 5.49893089e-04 2.83747682e+02] [ 9.96295461e-01 -8.56545603e-02 -7.65831786e-03 1.36731014e+02] [ 7.67727354e-03 -1.08100865e-04 9.99970523e-01 2.44731423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.75, Z:2.45 [[-8.69148492e-02 -9.96215591e-01 5.52841646e-04 2.83745620e+02] [ 9.96186162e-01 -8.69165316e-02 -7.65810500e-03 1.36745918e+02] [ 7.67717468e-03 -1.14869844e-04 9.99970523e-01 2.44656201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.72, Z:2.45 [[-8.71928631e-02 -9.96191295e-01 5.55795550e-04 2.83746657e+02] [ 9.96161867e-01 -8.71945599e-02 -7.65789061e-03 1.36720854e+02] [ 7.67718631e-03 -1.14051075e-04 9.99970523e-01 2.44677435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.74, Y:136.74, Z:2.45 [[-8.69211636e-02 -9.96215037e-01 5.58743942e-04 2.83743677e+02] [ 9.96185611e-01 -8.69228911e-02 -7.65767548e-03 1.36744278e+02] [ 7.67725910e-03 -1.09001389e-04 9.99970523e-01 2.44756090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.74, Y:136.75, Z:2.45 [[-8.65016781e-02 -9.96251547e-01 5.61695689e-04 2.83741493e+02] [ 9.96222123e-01 -8.65034407e-02 -7.65745897e-03 1.36748677e+02] [ 7.67734395e-03 -1.02809379e-04 9.99970524e-01 2.44877878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.74, Y:136.72, Z:2.45 [[-8.54810386e-02 -9.96339638e-01 5.64683366e-04 2.83739437e+02] [ 9.96310217e-01 -8.54828542e-02 -7.65723864e-03 1.36723087e+02] [ 7.67748112e-03 -9.19489049e-05 9.99970524e-01 2.44935298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.74, Y:136.72, Z:2.45 [[-8.52295950e-02 -9.96361176e-01 5.67654351e-04 2.83737656e+02] [ 9.96331758e-01 -8.52314409e-02 -7.65701838e-03 1.36720447e+02] [ 7.67753784e-03 -8.70325180e-05 9.99970524e-01 2.44978695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:136.74, Z:2.45 [[-8.50704197e-02 -9.96374778e-01 5.70600422e-04 2.83733516e+02] [ 9.96345361e-01 -8.50722930e-02 -7.65679884e-03 1.36737067e+02] [ 7.67758353e-03 -8.28520075e-05 9.99970524e-01 2.44960354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:136.71, Z:2.45 [[-8.47623202e-02 -9.96401034e-01 5.73567211e-04 2.83731237e+02] [ 9.96371619e-01 -8.47642253e-02 -7.65657659e-03 1.36713760e+02] [ 7.67763881e-03 -7.75031056e-05 9.99970524e-01 2.44931252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.71, Z:2.45 [[-8.34368146e-02 -9.96512903e-01 5.76532445e-04 2.83723805e+02] [ 9.96483492e-01 -8.34387817e-02 -7.65635330e-03 1.36709545e+02] [ 7.67776002e-03 -6.43166670e-05 9.99970524e-01 2.44616812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.70, Z:2.44 [[-8.31413437e-02 -9.96537597e-01 5.79473844e-04 2.83721239e+02] [ 9.96508188e-01 -8.31433421e-02 -7.65613068e-03 1.36700967e+02] [ 7.67780146e-03 -5.90905619e-05 9.99970524e-01 2.44335697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.71, Z:2.44 [[-8.30278357e-02 -9.96547058e-01 5.82407804e-04 2.83717423e+02] [ 9.96517651e-01 -8.30298599e-02 -7.65590748e-03 1.36713159e+02] [ 7.67782932e-03 -5.52737709e-05 9.99970524e-01 2.44132753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:136.69, Z:2.44 [[-8.30128072e-02 -9.96548309e-01 5.85351008e-04 2.83713735e+02] [ 9.96518903e-01 -8.30148546e-02 -7.65568245e-03 1.36694183e+02] [ 7.67785022e-03 -5.22063466e-05 9.99970524e-01 2.43940737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:136.69, Z:2.44 [[-8.35946163e-02 -9.96499671e-01 5.88293136e-04 2.83711685e+02] [ 9.96470266e-01 -8.35966690e-02 -7.65545635e-03 1.36694002e+02] [ 7.67783908e-03 -5.37383183e-05 9.99970524e-01 2.44009865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:136.69, Z:2.44 [[-8.39190130e-02 -9.96472403e-01 5.91220048e-04 2.83710051e+02] [ 9.96442999e-01 -8.39210787e-02 -7.65523031e-03 1.36692620e+02] [ 7.67784156e-03 -5.33022944e-05 9.99970524e-01 2.44162784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:136.69, Z:2.44 [[-8.38373302e-02 -9.96479277e-01 5.94151244e-04 2.83708758e+02] [ 9.96449875e-01 -8.38394208e-02 -7.65500280e-03 1.36685027e+02] [ 7.67786495e-03 -4.97330650e-05 9.99970524e-01 2.44153704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:136.69, Z:2.44 [[-8.08724022e-02 -9.96724284e-01 5.97077980e-04 2.83706351e+02] [ 9.96694890e-01 -8.08746027e-02 -7.65477451e-03 1.36687277e+02] [ 7.67798809e-03 -2.39554310e-05 9.99970524e-01 2.44040175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:136.70, Z:2.44 [[-7.88546300e-02 -9.96885945e-01 6.00004630e-04 2.83704992e+02] [ 9.96856557e-01 -7.88569125e-02 -7.65454510e-03 1.36702797e+02] [ 7.67802294e-03 -5.47777230e-06 9.99970524e-01 2.43969582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.265898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.71, Y:136.69, Z:2.44 [[-7.61020074e-02 -9.97099855e-01 6.02956160e-04 2.83706233e+02] [ 9.97070475e-01 -7.61043937e-02 -7.65431260e-03 1.36686605e+02] [ 7.67800160e-03 1.86812302e-05 9.99970524e-01 2.43904494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:136.66, Z:2.44 [[-7.25273220e-02 -9.97366242e-01 6.05912044e-04 2.83708519e+02] [ 9.97336873e-01 -7.25298362e-02 -7.65407861e-03 1.36659858e+02] [ 7.67786632e-03 4.91685998e-05 9.99970524e-01 2.43917239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:136.66, Z:2.44 [[-6.31927192e-02 -9.98001157e-01 6.08826810e-04 2.83708011e+02] [ 9.97971815e-01 -6.31955305e-02 -7.65384675e-03 1.36659831e+02] [ 7.67702305e-03 1.23924608e-04 9.99970524e-01 2.44133943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:136.62, Z:2.44 [[-5.81784941e-02 -9.98306010e-01 6.11718530e-04 2.83710570e+02] [ 9.98276684e-01 -5.81814749e-02 -7.65361563e-03 1.36623879e+02] [ 7.67624117e-03 1.65388514e-04 9.99970524e-01 2.44149539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:136.62, Z:2.44 [[-5.36098593e-02 -9.98561768e-01 6.14578265e-04 2.83711555e+02] [ 9.98532459e-01 -5.36129962e-02 -7.65338599e-03 1.36617911e+02] [ 7.67532803e-03 2.03379399e-04 9.99970524e-01 2.44126682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.71, Y:136.59, Z:2.44 [[-4.97253178e-02 -9.98762740e-01 6.17400399e-04 2.83714526e+02] [ 9.98733446e-01 -4.97285903e-02 -7.65315832e-03 1.36594146e+02] [ 7.67439183e-03 2.36062699e-04 9.99970524e-01 2.44008094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.58, Z:2.44 [[-4.49256418e-02 -9.98990141e-01 6.20197823e-04 2.83715861e+02] [ 9.98960866e-01 -4.49290764e-02 -7.65293162e-03 1.36583217e+02] [ 7.67306815e-03 2.75740489e-04 9.99970524e-01 2.43903312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.72, Y:136.57, Z:2.44 [[-4.39673928e-02 -9.99032772e-01 6.22966174e-04 2.83717004e+02] [ 9.99003503e-01 -4.39708767e-02 -7.65270626e-03 1.36566647e+02] [ 7.67269672e-03 2.85875847e-04 9.99970524e-01 2.43997747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.56, Z:2.44 [[-4.41181287e-02 -9.99026125e-01 6.25713721e-04 2.83717652e+02] [ 9.98996858e-01 -4.41216291e-02 -7.65248160e-03 1.36560501e+02] [ 7.67263655e-03 2.87472873e-04 9.99970524e-01 2.44000776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.57, Z:2.44 [[-4.51826341e-02 -9.98978546e-01 6.28444180e-04 2.83717330e+02] [ 9.98949277e-01 -4.51861242e-02 -7.65225736e-03 1.36569923e+02] [ 7.67283789e-03 2.82034715e-04 9.99970524e-01 2.43972206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.59, Z:2.44 [[-4.85631017e-02 -9.98819917e-01 6.31182179e-04 2.83717627e+02] [ 9.98790639e-01 -4.85665137e-02 -7.65203152e-03 1.36587706e+02] [ 7.67365580e-03 2.58812467e-04 9.99970524e-01 2.44087740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.57, Z:2.44 [[-5.05576274e-02 -9.98720944e-01 6.33950203e-04 2.83719552e+02] [ 9.98691662e-01 -5.05610021e-02 -7.65180219e-03 1.36573474e+02] [ 7.67406826e-03 2.46263817e-04 9.99970524e-01 2.44262700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.58, Z:2.44 [[-5.24564088e-02 -9.98623012e-01 6.36726856e-04 2.83719803e+02] [ 9.98593725e-01 -5.24597491e-02 -7.65157113e-03 1.36577849e+02] [ 7.67443754e-03 2.34457500e-04 9.99970524e-01 2.44391496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.59, Z:2.44 [[-5.40022281e-02 -9.98540610e-01 6.39498624e-04 2.83719526e+02] [ 9.98511321e-01 -5.40055443e-02 -7.65133946e-03 1.36587830e+02] [ 7.67470965e-03 2.25357236e-04 9.99970524e-01 2.44418412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.57, Z:2.44 [[-5.37849593e-02 -9.98552335e-01 6.42288726e-04 2.83721879e+02] [ 9.98523049e-01 -5.37883032e-02 -7.65110524e-03 1.36572558e+02] [ 7.67457663e-03 2.29825713e-04 9.99970524e-01 2.44446728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.56, Z:2.44 [[-5.32947302e-02 -9.98578618e-01 6.45077854e-04 2.83722573e+02] [ 9.98549336e-01 -5.32981098e-02 -7.65087008e-03 1.36564651e+02] [ 7.67437670e-03 2.36391006e-04 9.99970524e-01 2.44421555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.58, Z:2.44 [[-5.29266861e-02 -9.98598191e-01 6.47849366e-04 2.83721432e+02] [ 9.98568912e-01 -5.29300977e-02 -7.65063539e-03 1.36577370e+02] [ 7.67420139e-03 2.41999459e-04 9.99970524e-01 2.44473929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.55, Z:2.45 [[-5.26824539e-02 -9.98611103e-01 6.50630413e-04 2.83723884e+02] [ 9.98581828e-01 -5.26858940e-02 -7.65039888e-03 1.36554225e+02] [ 7.67405231e-03 2.46665922e-04 9.99970524e-01 2.44522245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:136.57, Z:2.44 [[-5.17206927e-02 -9.98661376e-01 6.53405675e-04 2.83724860e+02] [ 9.98632106e-01 -5.17241823e-02 -7.65016184e-03 1.36565318e+02] [ 7.67371802e-03 2.56840216e-04 9.99970524e-01 2.44452857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:136.54, Z:2.44 [[-5.11747715e-02 -9.98689497e-01 6.56173895e-04 2.83728675e+02] [ 9.98660233e-01 -5.11782982e-02 -7.64992439e-03 1.36537364e+02] [ 7.67348101e-03 2.63811641e-04 9.99970524e-01 2.44373376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.86589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.73, Y:136.56, Z:2.44 [[-5.04349554e-02 -9.98727130e-01 6.58930758e-04 2.83728266e+02] [ 9.98697871e-01 -5.04385248e-02 -7.64968692e-03 1.36555214e+02] [ 7.67318536e-03 2.72261127e-04 9.99970524e-01 2.44402223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.895898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:283.73, Y:136.52, Z:2.44 [[-4.66810556e-02 -9.98909626e-01 6.61681934e-04 2.83733789e+02] [ 9.98880383e-01 -4.66847560e-02 -7.64944894e-03 1.36523847e+02] [ 7.67199864e-03 3.03856752e-04 9.99970524e-01 2.44321473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.92589822699995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:283.74, Y:136.51, Z:2.44 [[-4.38975521e-02 -9.99035817e-01 6.64424467e-04 2.83736892e+02] [ 9.99006587e-01 -4.39013550e-02 -7.64921072e-03 1.36512581e+02] [ 7.67100462e-03 3.27982792e-04 9.99970524e-01 2.44350127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.955898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:283.74, Y:136.51, Z:2.44 [[-4.12890600e-02 -9.99147020e-01 6.67131538e-04 2.83739347e+02] [ 9.99117803e-01 -4.12929599e-02 -7.64897462e-03 1.36513591e+02] [ 7.66999803e-03 3.50724024e-04 9.99970524e-01 2.44396579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.98589822699995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:283.74, Y:136.49, Z:2.44 [[-3.87503481e-02 -9.99248699e-01 6.69833959e-04 2.83744107e+02] [ 9.99219494e-01 -3.87543428e-02 -7.64873795e-03 1.36487188e+02] [ 7.66895042e-03 3.72919891e-04 9.99970524e-01 2.44347998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:136.47, Z:2.44 [[-3.63405555e-02 -9.99339238e-01 6.72517359e-04 2.83747211e+02] [ 9.99310046e-01 -3.63446411e-02 -7.64850201e-03 1.36471884e+02] [ 7.66789057e-03 3.94102541e-04 9.99970524e-01 2.44308973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.04589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.75, Y:136.47, Z:2.44 [[-3.39235884e-02 -9.99424201e-01 6.75167166e-04 2.83750047e+02] [ 9.99395022e-01 -3.39277648e-02 -7.64826809e-03 1.36466804e+02] [ 7.66677114e-03 4.15302007e-04 9.99970524e-01 2.44169747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.075898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.75, Y:136.47, Z:2.44 [[-3.03422450e-02 -9.99539338e-01 6.77802647e-04 2.83754684e+02] [ 9.99510177e-01 -3.03465461e-02 -7.64803452e-03 1.36474625e+02] [ 7.66508033e-03 4.45412107e-04 9.99970524e-01 2.43668355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.10589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.76, Y:136.45, Z:2.44 [[-2.95985813e-02 -9.99561634e-01 6.80444352e-04 2.83759532e+02] [ 9.99532480e-01 -2.96029241e-02 -7.64779948e-03 1.36450214e+02] [ 7.66459009e-03 4.53762216e-04 9.99970524e-01 2.43788827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.135898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.76, Y:136.45, Z:2.44 [[-2.87849685e-02 -9.99585394e-01 6.83075343e-04 2.83762116e+02] [ 9.99556245e-01 -2.87893552e-02 -7.64756448e-03 1.36447118e+02] [ 7.66405905e-03 4.62637322e-04 9.99970524e-01 2.43806834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.16589822699996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:283.76, Y:136.45, Z:2.44 [[-2.83662023e-02 -9.99597363e-01 6.85686736e-04 2.83763163e+02] [ 9.99568220e-01 -2.83706211e-02 -7.64733034e-03 1.36449875e+02] [ 7.66370460e-03 4.68464951e-04 9.99970524e-01 2.43758988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.195898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:283.77, Y:136.45, Z:2.43 [[-2.77472634e-02 -9.99614734e-01 6.88301533e-04 2.83765288e+02] [ 9.99585596e-01 -2.77517202e-02 -7.64709498e-03 1.36451860e+02] [ 7.66325037e-03 4.75830339e-04 9.99970524e-01 2.43268157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.22589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.77, Y:136.44, Z:2.43 [[-2.80136132e-02 -9.99607303e-01 6.90924813e-04 2.83767654e+02] [ 9.99578167e-01 -2.80180822e-02 -7.64685796e-03 1.36442494e+02] [ 7.66321345e-03 4.76417237e-04 9.99970524e-01 2.43272849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.255898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.77, Y:136.43, Z:2.43 [[-2.87560954e-02 -9.99586217e-01 6.93545292e-04 2.83769412e+02] [ 9.99557082e-01 -2.87605627e-02 -7.64662028e-03 1.36433385e+02] [ 7.66340300e-03 4.73351166e-04 9.99970524e-01 2.43216155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.77, Y:136.42, Z:2.43 [[-2.93724072e-02 -9.99568295e-01 6.96153668e-04 2.83770928e+02] [ 9.99539160e-01 -2.93768764e-02 -7.64638281e-03 1.36421582e+02] [ 7.66353265e-03 4.71240183e-04 9.99970524e-01 2.43114274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.315898227 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:283.77, Y:136.44, Z:2.43 [[-2.99642257e-02 -9.99550728e-01 6.98748509e-04 2.83769745e+02] [ 9.99521592e-01 -2.99686975e-02 -7.64614568e-03 1.36437949e+02] [ 7.66365106e-03 4.69303387e-04 9.99970524e-01 2.42999809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.34589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.77, Y:136.44, Z:2.43 [[-3.18262670e-02 -9.99493170e-01 7.01350930e-04 2.83770116e+02] [ 9.99464030e-01 -3.18307043e-02 -7.64590696e-03 1.36439412e+02] [ 7.66435628e-03 4.57634351e-04 9.99970524e-01 2.42968938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.375898227 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:283.77, Y:136.44, Z:2.43 [[-3.34115703e-02 -9.99441430e-01 7.03972654e-04 2.83770019e+02] [ 9.99412285e-01 -3.34159813e-02 -7.64566557e-03 1.36442158e+02] [ 7.66491886e-03 4.48105226e-04 9.99970524e-01 2.43299849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.40589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.77, Y:136.45, Z:2.43 [[-3.48548719e-02 -9.99392135e-01 7.06270559e-04 2.83769761e+02] [ 9.99362987e-01 -3.48592584e-02 -7.64545329e-03 1.36448448e+02] [ 7.66542595e-03 4.39339361e-04 9.99970524e-01 2.43444907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.77, Y:136.43, Z:2.44 [[-3.63899158e-02 -9.99337417e-01 7.08578503e-04 2.83771739e+02] [ 9.99308264e-01 -3.63942751e-02 -7.64523938e-03 1.36430489e+02] [ 7.66596198e-03 4.29878737e-04 9.99970524e-01 2.43666494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.46589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.77, Y:136.43, Z:2.44 [[-3.67323743e-02 -9.99324886e-01 7.11211350e-04 2.83772043e+02] [ 9.99295735e-01 -3.67367437e-02 -7.64499445e-03 1.36428024e+02] [ 7.66596079e-03 4.29891671e-04 9.99970524e-01 2.43664562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49589822699994 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:283.77, Y:136.44, Z:2.44 [[-3.84988889e-02 -9.99258388e-01 7.13831188e-04 2.83773204e+02] [ 9.99229233e-01 -3.85032268e-02 -7.64474982e-03 1.36440479e+02] [ 7.66656519e-03 4.18966616e-04 9.99970524e-01 2.43538609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.77, Y:136.44, Z:2.44 [[-3.86648344e-02 -9.99251979e-01 7.16463073e-04 2.83774976e+02] [ 9.99222826e-01 -3.86691874e-02 -7.64450316e-03 1.36441310e+02] [ 7.66648995e-03 4.20332808e-04 9.99970524e-01 2.43540875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55589822699994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.78, Y:136.44, Z:2.44 [[-3.75386403e-02 -9.99294918e-01 7.19110318e-04 2.83777511e+02] [ 9.99265773e-01 -3.75430464e-02 -7.64425412e-03 1.36435720e+02] [ 7.66586189e-03 4.31627422e-04 9.99970524e-01 2.43681046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.585898227 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:283.78, Y:136.40, Z:2.44 [[-3.37547600e-02 -9.99429885e-01 7.21757477e-04 2.83783891e+02] [ 9.99400760e-01 -3.37592966e-02 -7.64400418e-03 1.36402808e+02] [ 7.66401224e-03 4.63303445e-04 9.99970524e-01 2.43833869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61589822699995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:283.78, Y:136.41, Z:2.44 [[-3.21210571e-02 -9.99483724e-01 7.24044869e-04 2.83784541e+02] [ 9.99454609e-01 -3.21256587e-02 -7.64378751e-03 1.36408725e+02] [ 7.66310162e-03 4.78123447e-04 9.99970524e-01 2.43886355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.645898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:283.79, Y:136.40, Z:2.44 [[-3.03013199e-02 -9.99540546e-01 7.26642264e-04 2.83786658e+02] [ 9.99511442e-01 -3.03059943e-02 -7.64354058e-03 1.36403923e+02] [ 7.66205034e-03 4.94677889e-04 9.99970524e-01 2.44091093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:283.79, Y:136.37, Z:2.44 [[-2.83230498e-02 -9.99598556e-01 7.29243796e-04 2.83791398e+02] [ 9.99569465e-01 -2.83278016e-02 -7.64329237e-03 1.36367983e+02] [ 7.66088189e-03 5.12448480e-04 9.99970524e-01 2.44126879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.705898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.79, Y:136.37, Z:2.44 [[-2.31628659e-02 -9.99731437e-01 7.31815224e-04 2.83792969e+02] [ 9.99702374e-01 -2.31677874e-02 -7.64304616e-03 1.36371551e+02] [ 7.65794806e-03 5.54562564e-04 9.99970524e-01 2.44120338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.73589822699995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:283.79, Y:136.38, Z:2.44 [[-2.02332408e-02 -9.99795017e-01 7.34363508e-04 2.83793127e+02] [ 9.99765973e-01 -2.02382667e-02 -7.64280131e-03 1.36375704e+02] [ 7.65609691e-03 5.79553008e-04 9.99970524e-01 2.44060312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.765898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:283.79, Y:136.37, Z:2.44 [[-1.68946264e-02 -9.99857004e-01 7.36922439e-04 2.83794572e+02] [ 9.99827980e-01 -1.68997688e-02 -7.64255456e-03 1.36365824e+02] [ 7.65391553e-03 6.07677570e-04 9.99970524e-01 2.44110184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.79589822699995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:283.80, Y:136.32, Z:2.44 [[-1.36232637e-02 -9.99906926e-01 7.39480195e-04 2.83798655e+02] [ 9.99877922e-01 -1.36285204e-02 -7.64230707e-03 1.36324070e+02] [ 7.65167379e-03 6.35276756e-04 9.99970524e-01 2.44092800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.825898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:283.80, Y:136.33, Z:2.44 [[-1.07651413e-02 -9.99941779e-01 7.42000150e-04 2.83797508e+02] [ 9.99912794e-01 -1.07705000e-02 -7.64206240e-03 1.36332750e+02] [ 7.64960918e-03 6.59667561e-04 9.99970524e-01 2.44020436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.85589822699995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:283.80, Y:136.32, Z:2.44 [[-7.31497707e-03 -9.99972968e-01 7.44497869e-04 2.83795204e+02] [ 9.99944005e-01 -7.32045468e-03 -7.64181906e-03 1.36323667e+02] [ 7.64706255e-03 6.88556450e-04 9.99970524e-01 2.43634840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.885898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:283.79, Y:136.30, Z:2.44 [[-7.89039712e-03 -9.99968592e-01 7.46684058e-04 2.83794543e+02] [ 9.99939629e-01 -7.89587463e-03 -7.64160544e-03 1.36304626e+02] [ 7.64726115e-03 6.86343678e-04 9.99970524e-01 2.43623283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91589822699996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.79, Y:136.32, Z:2.44 [[-8.90159828e-03 -9.99960099e-01 7.49166133e-04 2.83791012e+02] [ 9.99931135e-01 -8.90706532e-03 -7.64136210e-03 1.36317245e+02] [ 7.64773007e-03 6.81094206e-04 9.99970524e-01 2.43825721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.945898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:283.79, Y:136.31, Z:2.44 [[-1.07248282e-02 -9.99942205e-01 7.51647425e-04 2.83790169e+02] [ 9.99913234e-01 -1.07302612e-02 -7.64111802e-03 1.36305497e+02] [ 7.64874177e-03 6.69632529e-04 9.99970524e-01 2.44058586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97589822699996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:283.79, Y:136.33, Z:2.44 [[-1.28029929e-02 -9.99917754e-01 7.53820405e-04 2.83786355e+02] [ 9.99888775e-01 -1.28083822e-02 -7.64090364e-03 1.36327418e+02] [ 7.64993043e-03 6.55910126e-04 9.99970524e-01 2.44133727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.005898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:283.78, Y:136.34, Z:2.44 [[-1.88218089e-02 -9.99822569e-01 7.54599242e-04 2.83781245e+02] [ 9.99793559e-01 -1.88270295e-02 -7.64082672e-03 1.36338866e+02] [ 7.65367787e-03 6.10629282e-04 9.99970524e-01 2.44136116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.78, Y:136.32, Z:2.44 [[-2.19262283e-02 -9.99759305e-01 7.57127398e-04 2.83779924e+02] [ 9.99730282e-01 -2.19313780e-02 -7.64057620e-03 1.36323212e+02] [ 7.65534199e-03 5.89394169e-04 9.99970524e-01 2.44115817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.065898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.77, Y:136.35, Z:2.44 [[-2.66848773e-02 -9.99643607e-01 7.59656201e-04 2.83771076e+02] [ 9.99614563e-01 -2.66899080e-02 -7.64032477e-03 1.36349580e+02] [ 7.65787696e-03 5.55482273e-04 9.99970524e-01 2.43654492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09589822699996 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:283.77, Y:136.37, Z:2.44 [[-2.86617034e-02 -9.99588879e-01 7.61878398e-04 2.83766344e+02] [ 9.99559828e-01 -2.86666936e-02 -7.64010317e-03 1.36367988e+02] [ 7.65880269e-03 5.42564670e-04 9.99970524e-01 2.43733478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.125898227 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:283.77, Y:136.34, Z:2.43 [[-3.06567753e-02 -9.99529678e-01 7.64461197e-04 2.83765676e+02] [ 9.99500621e-01 -3.06617272e-02 -7.63984473e-03 1.36340807e+02] [ 7.65969124e-03 5.29866437e-04 9.99970524e-01 2.43485698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15589822699997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:283.76, Y:136.35, Z:2.44 [[-3.21494200e-02 -9.99482780e-01 7.67041269e-04 2.83761301e+02] [ 9.99453718e-01 -3.21543481e-02 -7.63958568e-03 1.36349750e+02] [ 7.66029804e-03 5.21014000e-04 9.99970524e-01 2.43568989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18589822699994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:283.75, Y:136.38, Z:2.44 [[-3.29964966e-02 -9.99455171e-01 7.69610344e-04 2.83754730e+02] [ 9.99426109e-01 -3.30014196e-02 -7.63932686e-03 1.36378749e+02] [ 7.66056297e-03 5.17097649e-04 9.99970524e-01 2.43640375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21589822699997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:283.75, Y:136.34, Z:2.44 [[-3.36801706e-02 -9.99432364e-01 7.72216222e-04 2.83754528e+02] [ 9.99403302e-01 -3.36850935e-02 -7.63906344e-03 1.36343311e+02] [ 7.66073941e-03 5.14470482e-04 9.99970524e-01 2.43608848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24589822699994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:283.74, Y:136.38, Z:2.44 [[-3.40598409e-02 -9.99419495e-01 7.74821233e-04 2.83744033e+02] [ 9.99390434e-01 -3.40647727e-02 -7.63879921e-03 1.36379365e+02] [ 7.66075895e-03 5.14172643e-04 9.99970524e-01 2.43744601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.27589822699997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.74, Y:136.35, Z:2.44 [[-3.40513413e-02 -9.99419783e-01 7.77431962e-04 2.83744111e+02] [ 9.99390725e-01 -3.40562931e-02 -7.63853349e-03 1.36350237e+02] [ 7.66057793e-03 5.16855982e-04 9.99970524e-01 2.43909335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.30589822699994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:283.74, Y:136.35, Z:2.44 [[-3.37384431e-02 -9.99430392e-01 7.80053868e-04 2.83741506e+02] [ 9.99401340e-01 -3.37434240e-02 -7.63826573e-03 1.36351154e+02] [ 7.66023660e-03 5.21883688e-04 9.99970524e-01 2.43810076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.335898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.74, Y:136.34, Z:2.44 [[-3.30412131e-02 -9.99453684e-01 7.82655922e-04 2.83739655e+02] [ 9.99424638e-01 -3.30462340e-02 -7.63799910e-03 1.36343063e+02] [ 7.65969017e-03 5.29836856e-04 9.99970524e-01 2.43751499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.36589822699995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:283.74, Y:136.34, Z:2.44 [[-3.18893170e-02 -9.99491098e-01 7.85256335e-04 2.83737504e+02] [ 9.99462062e-01 -3.18943912e-02 -7.63773175e-03 1.36336370e+02] [ 7.65889016e-03 5.41271867e-04 9.99970524e-01 2.43716310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.395898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.73, Y:136.32, Z:2.44 [[-2.69927337e-02 -9.99635320e-01 7.87522120e-04 2.83731072e+02] [ 9.99606312e-01 -2.69979673e-02 -7.63749812e-03 1.36321238e+02] [ 7.65597437e-03 5.81055129e-04 9.99970524e-01 2.43758056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:136.31, Z:2.44 [[-2.37082855e-02 -9.99718607e-01 7.90099874e-04 2.83726298e+02] [ 9.99689620e-01 -2.37136340e-02 -7.63723144e-03 1.36313224e+02] [ 7.65381851e-03 6.08788980e-04 9.99970524e-01 2.43823890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.455898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:283.72, Y:136.31, Z:2.44 [[-2.01483417e-02 -9.99796687e-01 7.92664037e-04 2.83720513e+02] [ 9.99767723e-01 -2.01538127e-02 -7.63696530e-03 1.36307902e+02] [ 7.65138781e-03 6.38607733e-04 9.99970524e-01 2.43855912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:136.30, Z:2.44 [[-1.25037011e-02 -9.99921510e-01 7.95221757e-04 2.83708438e+02] [ 9.99892592e-01 -1.25094128e-02 -7.63669896e-03 1.36295387e+02] [ 7.64604730e-03 6.99649342e-04 9.99970524e-01 2.43901651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.515898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:283.70, Y:136.30, Z:2.44 [[-9.66118414e-03 -9.99953011e-01 7.97771232e-04 2.83701836e+02] [ 9.99924114e-01 -9.66699736e-03 -7.63643261e-03 1.36296008e+02] [ 7.64378584e-03 7.23933711e-04 9.99970524e-01 2.43749137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.54589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.70, Y:136.29, Z:2.44 [[-8.21273798e-03 -9.99965955e-01 8.00316562e-04 2.83695998e+02] [ 9.99937070e-01 -8.21861231e-03 -7.63616585e-03 1.36289606e+02] [ 7.64248336e-03 7.37552369e-04 9.99970524e-01 2.43919150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.575898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.69, Y:136.29, Z:2.44 [[-8.38967069e-03 -9.99964484e-01 8.02861802e-04 2.83690226e+02] [ 9.99935602e-01 -8.39555916e-03 -7.63589823e-03 1.36285779e+02] [ 7.64236751e-03 7.38747428e-04 9.99970524e-01 2.44014721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:136.29, Z:2.45 [[-1.30609822e-02 -9.99914377e-01 8.05403649e-04 2.83677163e+02] [ 9.99885472e-01 -1.30667549e-02 -7.63563012e-03 1.36292083e+02] [ 7.64550035e-03 7.05582579e-04 9.99970524e-01 2.44503628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:136.31, Z:2.45 [[-1.76073057e-02 -9.99844653e-01 8.07632135e-04 2.83668872e+02] [ 9.99815725e-01 -1.76129639e-02 -7.63539440e-03 1.36310237e+02] [ 7.64843306e-03 6.73044585e-04 9.99970524e-01 2.44755119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.66589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.66, Y:136.31, Z:2.45 [[-2.22139561e-02 -9.99752912e-01 8.09882053e-04 2.83663063e+02] [ 9.99723961e-01 -2.22194979e-02 -7.63515575e-03 1.36305974e+02] [ 7.65126436e-03 6.40051480e-04 9.99970524e-01 2.44683603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:136.32, Z:2.45 [[-2.69046228e-02 -9.99637678e-01 8.09235074e-04 2.83655639e+02] [ 9.99608700e-01 -2.69100238e-02 -7.63522432e-03 1.36321291e+02] [ 7.65423444e-03 6.03495590e-04 9.99970524e-01 2.44640133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:136.36, Z:2.45 [[-3.18763996e-02 -9.99491491e-01 8.08911821e-04 2.83646373e+02] [ 9.99462487e-01 -3.18816540e-02 -7.63525857e-03 1.36355595e+02] [ 7.65716542e-03 5.65092467e-04 9.99970524e-01 2.44796027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.755898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.63, Y:136.38, Z:2.44 [[-3.97748454e-02 -9.99208338e-01 8.11218565e-04 2.83633240e+02] [ 9.99179297e-01 -3.97798880e-02 -7.63501348e-03 1.36376223e+02] [ 7.66123931e-03 5.06871315e-04 9.99970524e-01 2.44408863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.78589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.63, Y:136.39, Z:2.44 [[-4.35053701e-02 -9.99052864e-01 8.10545801e-04 2.83626660e+02] [ 9.99023803e-01 -4.35102991e-02 -7.63508490e-03 1.36391322e+02] [ 7.66312053e-03 4.77587354e-04 9.99970524e-01 2.44200677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.815898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.62, Y:136.40, Z:2.44 [[-4.75195667e-02 -9.98869979e-01 8.09864748e-04 2.83621106e+02] [ 9.98840897e-01 -4.75243737e-02 -7.63515714e-03 1.36401885e+02] [ 7.66501756e-03 4.46106673e-04 9.99970524e-01 2.44021219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:136.43, Z:2.44 [[-5.16846399e-02 -9.98663130e-01 8.07124851e-04 2.83614736e+02] [ 9.98634025e-01 -5.16893046e-02 -7.63544676e-03 1.36427577e+02] [ 7.66695888e-03 4.11387022e-04 9.99970524e-01 2.44127017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:136.47, Z:2.44 [[-6.05689758e-02 -9.98163690e-01 8.04354634e-04 2.83605068e+02] [ 9.98134542e-01 -6.05733603e-02 -7.63573858e-03 1.36471476e+02] [ 7.67043946e-03 3.40365278e-04 9.99970524e-01 2.44192468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:136.48, Z:2.44 [[-6.37233439e-02 -9.97967279e-01 8.03644385e-04 2.83601440e+02] [ 9.97938116e-01 -6.37276308e-02 -7.63581333e-03 1.36484731e+02] [ 7.67150621e-03 3.15407804e-04 9.99970524e-01 2.43785819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93589822699994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.60, Y:136.50, Z:2.44 [[-6.59608036e-02 -9.97821894e-01 8.00752458e-04 2.83597662e+02] [ 9.97792718e-01 -6.59650029e-02 -7.63611659e-03 1.36502605e+02] [ 7.67230595e-03 2.95300584e-04 9.99970524e-01 2.43927897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:136.50, Z:2.44 [[-6.70675572e-02 -9.97748118e-01 7.97833053e-04 2.83596639e+02] [ 9.97718934e-01 -6.70717018e-02 -7.63642160e-03 1.36495798e+02] [ 7.67273730e-03 2.83857001e-04 9.99970524e-01 2.44040415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.59, Y:136.49, Z:2.44 [[-6.51785657e-02 -9.97873300e-01 7.94906234e-04 2.83593673e+02] [ 9.97844121e-01 -6.51827432e-02 -7.63672626e-03 1.36486656e+02] [ 7.67229940e-03 2.95441649e-04 9.99970524e-01 2.44209174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:136.51, Z:2.44 [[-6.19228292e-02 -9.98080626e-01 7.92001535e-04 2.83588587e+02] [ 9.98051458e-01 -6.19270798e-02 -7.63702749e-03 1.36509938e+02] [ 7.67141552e-03 3.17551938e-04 9.99970524e-01 2.44022714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:136.49, Z:2.44 [[-5.81351496e-02 -9.98308410e-01 7.89086132e-04 2.83587298e+02] [ 9.98279255e-01 -5.81394885e-02 -7.63732871e-03 1.36492865e+02] [ 7.67028654e-03 3.43731069e-04 9.99970524e-01 2.43969948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:136.48, Z:2.44 [[-5.38146845e-02 -9.98550631e-01 7.86168669e-04 2.83586392e+02] [ 9.98521491e-01 -5.38191273e-02 -7.63762901e-03 1.36479750e+02] [ 7.66887018e-03 3.73989716e-04 9.99970524e-01 2.44041125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.48, Z:2.44 [[-4.97148816e-02 -9.98763144e-01 7.83287872e-04 2.83584676e+02] [ 9.98734019e-01 -4.97194220e-02 -7.63792444e-03 1.36477682e+02] [ 7.66742205e-03 4.02577735e-04 9.99970524e-01 2.43948327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.46, Z:2.44 [[-4.42358982e-02 -9.99020809e-01 7.80427569e-04 2.83582845e+02] [ 9.98991706e-01 -4.42405764e-02 -7.63821669e-03 1.36461309e+02] [ 7.66526398e-03 4.41757293e-04 9.99970524e-01 2.44329858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.47, Z:2.44 [[-4.28287624e-02 -9.99082125e-01 7.77590236e-04 2.83579972e+02] [ 9.99053026e-01 -4.28334601e-02 -7.63850553e-03 1.36473098e+02] [ 7.66480122e-03 4.49706140e-04 9.99970524e-01 2.44169063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.46, Z:2.44 [[-4.24593666e-02 -9.99097894e-01 7.74761911e-04 2.83579634e+02] [ 9.99068793e-01 -4.24640534e-02 -7.63879239e-03 1.36463679e+02] [ 7.66480092e-03 4.49702161e-04 9.99970524e-01 2.44155967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.47, Z:2.44 [[-4.28250306e-02 -9.99082289e-01 7.71936647e-04 2.83577741e+02] [ 9.99053183e-01 -4.28296853e-02 -7.63907789e-03 1.36474810e+02] [ 7.66512923e-03 4.44062020e-04 9.99970524e-01 2.44317804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.49, Z:2.45 [[-4.59270501e-02 -9.98944500e-01 7.69114015e-04 2.83575747e+02] [ 9.98915376e-01 -4.59315929e-02 -7.63936206e-03 1.36493636e+02] [ 7.66662535e-03 4.17426451e-04 9.99970524e-01 2.44877539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.49, Z:2.45 [[-4.71651084e-02 -9.98886813e-01 7.66626382e-04 2.83576912e+02] [ 9.98857680e-01 -4.71695961e-02 -7.63961170e-03 1.36486286e+02] [ 7.66726883e-03 4.05427536e-04 9.99970524e-01 2.45184409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.48, Z:2.45 [[-4.79836170e-02 -9.98847831e-01 7.64131270e-04 2.83577335e+02] [ 9.98818692e-01 -4.79880618e-02 -7.63986125e-03 1.36483285e+02] [ 7.66772802e-03 3.96640419e-04 9.99970524e-01 2.45381706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.50, Z:2.45 [[-4.81414359e-02 -9.98840239e-01 7.61288286e-04 2.83575947e+02] [ 9.98811096e-01 -4.81458544e-02 -7.64014454e-03 1.36499981e+02] [ 7.66793667e-03 3.92575659e-04 9.99970524e-01 2.45415091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.50, Z:2.45 [[-4.77667353e-02 -9.98858230e-01 7.58437351e-04 2.83575622e+02] [ 9.98829085e-01 -4.77711429e-02 -7.64042754e-03 1.36502512e+02] [ 7.66793535e-03 3.92591006e-04 9.99970524e-01 2.45417024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.49, Z:2.45 [[-4.75700266e-02 -9.98867620e-01 7.55570989e-04 2.83576165e+02] [ 9.98838473e-01 -4.75744181e-02 -7.64071099e-03 1.36493103e+02] [ 7.66800465e-03 3.91224548e-04 9.99970524e-01 2.45345449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.445898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:283.58, Y:136.48, Z:2.45 [[-4.73122008e-02 -9.98879867e-01 7.52716619e-04 2.83576938e+02] [ 9.98850718e-01 -4.73165781e-02 -7.64099217e-03 1.36481829e+02] [ 7.66804922e-03 3.90339379e-04 9.99970524e-01 2.45143682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.50, Z:2.45 [[-4.80947644e-02 -9.98842496e-01 7.49888291e-04 2.83575729e+02] [ 9.98813340e-01 -4.80990973e-02 -7.64126974e-03 1.36496777e+02] [ 7.66849388e-03 3.81493361e-04 9.99970524e-01 2.45298727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.51, Z:2.45 [[-5.19972494e-02 -9.98646949e-01 7.47062115e-04 2.83576151e+02] [ 9.98617773e-01 -5.20014467e-02 -7.64154603e-03 1.36508441e+02] [ 7.67005494e-03 3.48690131e-04 9.99970524e-01 2.45378659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.52, Z:2.45 [[-5.42162156e-02 -9.98528942e-01 7.44213445e-04 2.83575993e+02] [ 9.98499754e-01 -5.42203263e-02 -7.64182345e-03 1.36524807e+02] [ 7.67093339e-03 3.28786193e-04 9.99970524e-01 2.45461209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.54, Z:2.46 [[-5.60058837e-02 -9.98430164e-01 7.41341417e-04 2.83576304e+02] [ 9.98400965e-01 -5.60099202e-02 -7.64210206e-03 1.36538644e+02] [ 7.67162769e-03 3.12153307e-04 9.99970524e-01 2.45736375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.53, Z:2.46 [[-5.70298106e-02 -9.98372203e-01 7.38443281e-04 2.83578861e+02] [ 9.98342997e-01 -5.70337950e-02 -7.64238209e-03 1.36528436e+02] [ 7.67205807e-03 3.01376075e-04 9.99970524e-01 2.45675158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.53, Z:2.46 [[-5.67345127e-02 -9.98389029e-01 7.35546959e-04 2.83580218e+02] [ 9.98359822e-01 -5.67384836e-02 -7.64266084e-03 1.36525630e+02] [ 7.67208256e-03 3.00737892e-04 9.99970524e-01 2.45724346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.52, Z:2.46 [[-5.29252369e-02 -9.98598209e-01 7.32670400e-04 2.83581591e+02] [ 9.98569014e-01 -5.29292972e-02 -7.64293660e-03 1.36516138e+02] [ 7.67100252e-03 3.27117729e-04 9.99970524e-01 2.45542378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.51, Z:2.45 [[-4.94384073e-02 -9.98776908e-01 7.29811034e-04 2.83581492e+02] [ 9.98747724e-01 -4.94425477e-02 -7.64320962e-03 1.36511250e+02] [ 7.66994499e-03 3.51028998e-04 9.99970524e-01 2.45285406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.51, Z:2.45 [[-4.59689933e-02 -9.98942603e-01 7.26971853e-04 2.83580103e+02] [ 9.98913430e-01 -4.59732134e-02 -7.64347966e-03 1.36511440e+02] [ 7.66881869e-03 3.74818882e-04 9.99970524e-01 2.45172356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.53, Z:2.45 [[-4.22710277e-02 -9.99105918e-01 7.24141693e-04 2.83576916e+02] [ 9.99076758e-01 -4.22753341e-02 -7.64374778e-03 1.36533648e+02] [ 7.66752697e-03 4.00364062e-04 9.99970524e-01 2.45201811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.52, Z:2.45 [[-3.67643534e-02 -9.99323702e-01 7.21294492e-04 2.83576663e+02] [ 9.99294563e-01 -3.67687987e-02 -7.64401644e-03 1.36517449e+02] [ 7.66536794e-03 4.39758343e-04 9.99970524e-01 2.44725118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.52, Z:2.44 [[-3.47238710e-02 -9.99396686e-01 7.18806081e-04 2.83575773e+02] [ 9.99367553e-01 -3.47283568e-02 -7.64425043e-03 1.36518847e+02] [ 7.66460150e-03 4.52913509e-04 9.99970524e-01 2.44478579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:136.53, Z:2.44 [[-3.40072332e-02 -9.99421330e-01 7.16333708e-04 2.83573723e+02] [ 9.99392198e-01 -3.40117211e-02 -7.64448211e-03 1.36528144e+02] [ 7.66442222e-03 4.55930633e-04 9.99970524e-01 2.44253319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:136.53, Z:2.44 [[-3.43109565e-02 -9.99410951e-01 7.13853957e-04 2.83571973e+02] [ 9.99381814e-01 -3.43154166e-02 -7.64471366e-03 1.36534601e+02] [ 7.66470675e-03 4.51115224e-04 9.99970524e-01 2.44211576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:136.53, Z:2.45 [[-3.72966053e-02 -9.99303987e-01 7.11003182e-04 2.83571156e+02] [ 9.99274834e-01 -3.73009566e-02 -7.64497879e-03 1.36530906e+02] [ 7.66617889e-03 4.25355829e-04 9.99970524e-01 2.45083861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:136.53, Z:2.46 [[-3.93319529e-02 -9.99225948e-01 7.08514459e-04 2.83571103e+02] [ 9.99196784e-01 -3.93362258e-02 -7.64520943e-03 1.36534403e+02] [ 7.66716193e-03 4.07244351e-04 9.99970524e-01 2.45537465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:136.54, Z:2.46 [[-4.16445728e-02 -9.99132239e-01 7.06028614e-04 2.83571812e+02] [ 9.99103062e-01 -4.16487593e-02 -7.64543899e-03 1.36539375e+02] [ 7.66820980e-03 3.87004309e-04 9.99970524e-01 2.45548045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:136.54, Z:2.46 [[-4.38956272e-02 -9.99035875e-01 7.03177570e-04 2.83574416e+02] [ 9.99006685e-01 -4.38997262e-02 -7.64570121e-03 1.36536214e+02] [ 7.66919910e-03 3.66866243e-04 9.99970524e-01 2.45644030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.54, Z:2.45 [[-4.69611992e-02 -9.98896469e-01 7.00330570e-04 2.83579714e+02] [ 9.98867264e-01 -4.69651868e-02 -7.64596198e-03 1.36544686e+02] [ 7.67041557e-03 3.40473737e-04 9.99970524e-01 2.45425785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:136.56, Z:2.46 [[-4.68389409e-02 -9.98902211e-01 6.97483473e-04 2.83582523e+02] [ 9.98873003e-01 -4.68429103e-02 -7.64622169e-03 1.36558490e+02] [ 7.67049990e-03 3.38556486e-04 9.99970524e-01 2.45819781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:136.54, Z:2.46 [[-4.59975421e-02 -9.98941311e-01 6.94620076e-04 2.83588132e+02] [ 9.98912104e-01 -4.60015143e-02 -7.64648180e-03 1.36543817e+02] [ 7.67034013e-03 3.42145033e-04 9.99970524e-01 2.46065519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:136.57, Z:2.46 [[-4.42967656e-02 -9.99018177e-01 6.91763558e-04 2.83590358e+02] [ 9.98988974e-01 -4.43007657e-02 -7.64674022e-03 1.36566498e+02] [ 7.66987813e-03 3.52338308e-04 9.99970524e-01 2.46399468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:136.52, Z:2.46 [[-4.19101807e-02 -9.99121145e-01 6.88903709e-04 2.83598628e+02] [ 9.99091948e-01 -4.19142286e-02 -7.64699786e-03 1.36520621e+02] [ 7.66915212e-03 3.67791087e-04 9.99970524e-01 2.46483860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:136.50, Z:2.46 [[-3.71323274e-02 -9.99310122e-01 6.86074083e-04 2.83608201e+02] [ 9.99280942e-01 -3.71364934e-02 -7.64725172e-03 1.36495095e+02] [ 7.66745443e-03 4.01620501e-04 9.99970524e-01 2.46414654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:136.49, Z:2.46 [[-3.49145059e-02 -9.99390069e-01 6.83319559e-04 2.83611252e+02] [ 9.99360895e-01 -3.49187155e-02 -7.64749784e-03 1.36494685e+02] [ 7.66669404e-03 4.15874238e-04 9.99970524e-01 2.46321924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:136.48, Z:2.46 [[-3.29636191e-02 -9.99456321e-01 6.80594780e-04 2.83616047e+02] [ 9.99427152e-01 -3.29678650e-02 -7.64774032e-03 1.36475482e+02] [ 7.66602016e-03 4.28107703e-04 9.99970524e-01 2.46283286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:136.48, Z:2.46 [[-3.11917060e-02 -9.99513191e-01 6.77893731e-04 2.83622279e+02] [ 9.99484026e-01 -3.11959829e-02 -7.64797974e-03 1.36483797e+02] [ 7.66540419e-03 4.38990420e-04 9.99970524e-01 2.46242931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:136.49, Z:2.46 [[-3.10151130e-02 -9.99518687e-01 6.76880571e-04 2.83625844e+02] [ 9.99489522e-01 -3.10193874e-02 -7.64806941e-03 1.36487154e+02] [ 7.66538471e-03 4.39329302e-04 9.99970524e-01 2.45985968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:136.50, Z:2.46 [[-3.13631480e-02 -9.99507827e-01 6.75865167e-04 2.83628407e+02] [ 9.99478660e-01 -3.13674044e-02 -7.64815914e-03 1.36499560e+02] [ 7.66559506e-03 4.35642465e-04 9.99970524e-01 2.45749670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:136.50, Z:2.45 [[-3.20319073e-02 -9.99486619e-01 6.75188969e-04 2.83631577e+02] [ 9.99457448e-01 -3.20361390e-02 -7.64821883e-03 1.36504027e+02] [ 7.66592283e-03 4.29835608e-04 9.99970524e-01 2.45454046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:136.55, Z:2.45 [[-3.37289869e-02 -9.99430788e-01 6.74509416e-04 2.83635845e+02] [ 9.99401610e-01 -3.37331640e-02 -7.64827876e-03 1.36550526e+02] [ 7.66667861e-03 4.16137102e-04 9.99970524e-01 2.45391720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.40589822699997 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:283.66, Y:136.34, Z:2.45 [[-3.36643061e-02 -9.99432967e-01 6.77272178e-04 2.83659842e+02] [ 9.99403792e-01 -3.36685061e-02 -7.64803411e-03 1.36335640e+02] [ 7.66650016e-03 4.19402622e-04 9.99970524e-01 2.45166111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43589822699994 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:283.66, Y:136.35, Z:2.45 [[-3.47251661e-02 -9.99396672e-01 6.74664550e-04 2.83663332e+02] [ 9.99367489e-01 -3.47293152e-02 -7.64826413e-03 1.36351770e+02] [ 7.66708035e-03 4.08650575e-04 9.99970524e-01 2.45127232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.46589822699997 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:283.67, Y:136.33, Z:2.45 [[-3.57734068e-02 -9.99359697e-01 6.77113912e-04 2.83669773e+02] [ 9.99330513e-01 -3.57775441e-02 -7.64804728e-03 1.36334339e+02] [ 7.66737568e-03 4.03063886e-04 9.99970524e-01 2.44690559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49589822699994 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:283.68, Y:136.34, Z:2.44 [[-3.75101301e-02 -9.99296017e-01 6.79256737e-04 2.83678295e+02] [ 9.99266828e-01 -3.75142330e-02 -7.64785696e-03 1.36341502e+02] [ 7.66795479e-03 3.91886615e-04 9.99970524e-01 2.44223808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.52589822699997 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:283.68, Y:136.33, Z:2.44 [[-3.80898131e-02 -9.99274087e-01 6.81394056e-04 2.83684215e+02] [ 9.99244898e-01 -3.80939154e-02 -7.64766653e-03 1.36329482e+02] [ 7.66807196e-03 3.89581346e-04 9.99970524e-01 2.44221541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55589822699994 meters Centerline goodness : 0.997379 Centerline is valid? [True, True] Translation: X:283.76, Y:135.58, Z:2.44 [[-1.45870114e-02 -9.99893370e-01 6.83837436e-04 2.83758908e+02] [ 9.99864289e-01 -1.45918173e-02 -7.64744804e-03 1.35579463e+02] [ 7.65661102e-03 5.72191220e-04 9.99970524e-01 2.44002598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.585898227 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:283.77, Y:135.50, Z:2.45 [[-1.40766914e-02 -9.99900853e-01 3.62556416e-04 2.83766707e+02] [ 9.99871439e-01 -1.40790598e-02 -7.67366189e-03 1.35501941e+02] [ 7.67800552e-03 2.54490035e-04 9.99970491e-01 2.44985156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61589822699995 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:283.74, Y:135.93, Z:2.44 [[-2.69146726e-02 -9.99637650e-01 4.10137056e-04 2.83740026e+02] [ 9.99608248e-01 -2.69170277e-02 -7.66965681e-03 1.35925580e+02] [ 7.67791738e-03 2.03550082e-04 9.99970504e-01 2.44039543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.645898227 meters Centerline goodness : 0.993122 Centerline is valid? [True, True] Translation: X:283.75, Y:135.81, Z:2.45 [[-2.73758840e-02 -9.99625043e-01 5.78413616e-04 2.83750976e+02] [ 9.99595798e-01 -2.73795126e-02 -7.65519786e-03 1.35814680e+02] [ 7.66816418e-03 3.68612012e-04 9.99970531e-01 2.45123607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.67589822699995 meters Centerline goodness : 0.991546 Centerline is valid? [True, True] Translation: X:283.78, Y:135.46, Z:2.42 [[-3.53421102e-02 -9.99375126e-01 5.41074429e-04 2.83780663e+02] [ 9.99345819e-01 -3.53452201e-02 -7.65834966e-03 1.35461965e+02] [ 7.67268855e-03 2.70058230e-04 9.99970528e-01 2.42093080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.705898227 meters Centerline goodness : 0.986829 Centerline is valid? [True, True] Translation: X:283.63, Y:137.32, Z:2.47 [[-3.70507274e-02 -9.99313175e-01 6.48986162e-04 2.83630081e+02] [ 9.99283966e-01 -3.70546120e-02 -7.64919407e-03 1.37318393e+02] [ 7.66798834e-03 3.65113262e-04 9.99970534e-01 2.46558640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.73589822699995 meters Centerline goodness : 0.984504 Centerline is valid? [True, True] Translation: X:283.65, Y:137.24, Z:2.47 [[-4.33318433e-02 -9.99060521e-01 6.53270133e-04 2.83646152e+02] [ 9.99031292e-01 -4.33355770e-02 -7.64882536e-03 1.37240797e+02] [ 7.66994929e-03 3.21199604e-04 9.99970534e-01 2.47068525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.765898227 meters Centerline goodness : 0.982608 Centerline is valid? [True, True] Translation: X:283.65, Y:137.26, Z:2.47 [[-4.52833404e-02 -9.98973961e-01 6.66347026e-04 2.83648879e+02] [ 9.98944738e-01 -4.52871170e-02 -7.64769080e-03 1.37258023e+02] [ 7.67002091e-03 3.19330870e-04 9.99970534e-01 2.47236436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.79589822699995 meters Centerline goodness : 0.980830 Centerline is valid? [True, True] Translation: X:283.65, Y:137.25, Z:2.48 [[-4.49275389e-02 -9.98990023e-01 6.71453916e-04 2.83653817e+02] [ 9.98960806e-01 -4.49313649e-02 -7.64724394e-03 1.37247193e+02] [ 7.66968974e-03 3.27184296e-04 9.99970534e-01 2.47607073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.825898227 meters Centerline goodness : 0.979574 Centerline is valid? [True, True] Translation: X:283.66, Y:137.22, Z:2.48 [[-4.61089795e-02 -9.98936193e-01 6.66439242e-04 2.83659700e+02] [ 9.98906967e-01 -4.61127327e-02 -7.64768397e-03 1.37224047e+02] [ 7.67027965e-03 3.13083898e-04 9.99970534e-01 2.47947578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.85589822699995 meters Centerline goodness : 0.974419 Centerline is valid? [True, True] Translation: X:283.66, Y:137.31, Z:2.49 [[-4.66461576e-02 -9.98911249e-01 6.73412740e-04 2.83657595e+02] [ 9.98882027e-01 -4.66499483e-02 -7.64706694e-03 1.37311314e+02] [ 7.67015586e-03 3.15953593e-04 9.99970534e-01 2.48616537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.885898227 meters Centerline goodness : 0.974038 Centerline is valid? [True, True] Translation: X:283.67, Y:137.16, Z:2.49 [[-4.69460564e-02 -9.98897196e-01 6.77529856e-04 2.83673699e+02] [ 9.98867978e-01 -4.69498698e-02 -7.64669957e-03 1.37158023e+02] [ 7.67007670e-03 3.17780488e-04 9.99970534e-01 2.48861290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91589822699996 meters Centerline goodness : 0.110254 Centerline is valid? [True, False] Translation: X:285.34, Y:135.28, Z:3.23 [[ 9.69715363e-01 1.93563512e-01 -1.48947244e-01 2.85343683e+02] [-1.44985591e-01 9.46980083e-01 2.86719202e-01 1.35284895e+02] [ 1.96548449e-01 -2.56440811e-01 9.46365055e-01 3.23494650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.945898227 meters Centerline goodness : 0.969036 Centerline is valid? [False, True] Translation: X:285.33, Y:135.32, Z:3.22 [[ 9.71467524e-01 1.75297387e-01 -1.59755047e-01 2.85331113e+02] [-1.40373163e-01 9.67904106e-01 2.08463465e-01 1.35317803e+02] [ 1.91170667e-01 -1.80090165e-01 9.64894455e-01 3.22149589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97589822699996 meters Centerline goodness : 0.146641 Centerline is valid? [True, False] Translation: X:285.27, Y:135.35, Z:3.20 [[ 9.74374276e-01 1.52630694e-01 -1.65223005e-01 2.85269505e+02] [-1.29945231e-01 9.81531182e-01 1.40395066e-01 1.35348471e+02] [ 1.83600128e-01 -1.15327400e-01 9.76212366e-01 3.19728636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.005898227 meters Centerline goodness : 0.152463 Centerline is valid? [False, False] Translation: X:285.26, Y:135.37, Z:3.19 [[ 9.76156066e-01 1.37656721e-01 -1.67839094e-01 2.85261639e+02] [-1.23626065e-01 9.88110003e-01 9.14068865e-02 1.35367550e+02] [ 1.78426260e-01 -6.84780999e-02 9.81567532e-01 3.18612325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03589822699996 meters Centerline goodness : 0.143428 Centerline is valid? [False, False] Translation: X:285.26, Y:135.38, Z:3.18 [[ 9.77750646e-01 1.24250695e-01 -1.69013133e-01 2.85258839e+02] [-1.16128436e-01 9.91588059e-01 5.71603674e-02 1.35380843e+02] [ 1.74693619e-01 -3.62613554e-02 9.83954904e-01 3.17659629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.065898227 meters Centerline goodness : 0.156722 Centerline is valid? [False, False] Translation: X:285.26, Y:135.39, Z:3.17 [[ 9.78825984e-01 1.13804812e-01 -1.70141584e-01 2.85257209e+02] [-1.10774520e-01 9.93472460e-01 2.72300730e-02 1.35391312e+02] [ 1.72129891e-01 -7.80615066e-03 9.85043331e-01 3.17075962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09589822699996 meters Centerline goodness : 0.150514 Centerline is valid? [False, False] Translation: X:285.26, Y:135.39, Z:3.17 [[ 9.79722009e-01 1.04080850e-01 -1.71207363e-01 2.85259009e+02] [-1.02476680e-01 9.94568797e-01 1.82054484e-02 1.35394307e+02] [ 1.72172339e-01 -2.91516330e-04 9.85066800e-01 3.16977513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.125898227 meters Centerline goodness : 0.152270 Centerline is valid? [False, False] Translation: X:285.26, Y:135.40, Z:3.17 [[ 9.80495428e-01 9.45692259e-02 -1.72294448e-01 2.85261154e+02] [-9.43980878e-02 9.95491971e-01 9.20523848e-03 1.35397494e+02] [ 1.72388272e-01 7.23857215e-03 9.85002481e-01 3.16897727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15589822699997 meters Centerline goodness : 0.153623 Centerline is valid? [False, False] Translation: X:285.26, Y:135.39, Z:3.17 [[ 9.80826526e-01 9.00787877e-02 -1.72815328e-01 2.85263689e+02] [-9.04391577e-02 9.95885071e-01 5.80385390e-03 1.35394105e+02] [ 1.72627009e-01 9.93669882e-03 9.84937144e-01 3.16646066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18589822699994 meters Centerline goodness : 0.148883 Centerline is valid? [False, False] Translation: X:285.27, Y:135.40, Z:3.17 [[ 9.81150992e-01 8.50952755e-02 -1.73497909e-01 2.85266039e+02] [-8.62386373e-02 9.96274055e-01 9.51542154e-04 1.35397211e+02] [ 1.72932437e-01 1.40286167e-02 9.84833778e-01 3.16560785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21589822699997 meters Centerline goodness : 0.148013 Centerline is valid? [False, False] Translation: X:285.28, Y:135.39, Z:3.17 [[ 9.80073966e-01 8.70193149e-02 -1.78557160e-01 2.85282419e+02] [-8.70213543e-02 9.96175628e-01 7.83590421e-03 1.35391021e+02] [ 1.78556166e-01 7.85852013e-03 9.83898338e-01 3.17433475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24589822699994 meters Centerline goodness : 0.148570 Centerline is valid? [False, False] Translation: X:285.27, Y:135.40, Z:3.17 [[ 9.80055372e-01 7.96485951e-02 -1.82064738e-01 2.85272437e+02] [-8.28248738e-02 9.96514969e-01 -9.89727754e-03 1.35399807e+02] [ 1.80641933e-01 2.47793690e-02 9.83236734e-01 3.16905253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.27589822699997 meters Centerline goodness : 0.148570 Centerline is valid? [False, False] Translation: X:285.27, Y:135.40, Z:3.17 [[ 9.80055372e-01 7.96485951e-02 -1.82064738e-01 2.85272437e+02] [-8.28248738e-02 9.96514969e-01 -9.89727754e-03 1.35399807e+02] [ 1.80641933e-01 2.47793690e-02 9.83236734e-01 3.16905253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.30589822699994 meters Centerline goodness : 0.144428 Centerline is valid? [False, False] Translation: X:285.27, Y:135.40, Z:3.17 [[ 9.80121549e-01 7.97398424e-02 -1.81668120e-01 2.85271469e+02] [-8.27814654e-02 9.96525166e-01 -9.20986240e-03 1.35396689e+02] [ 1.80302460e-01 2.40655378e-02 9.83316771e-01 3.16797805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.335898227 meters Centerline goodness : 0.144243 Centerline is valid? [False, False] Translation: X:285.27, Y:135.40, Z:3.17 [[ 9.80509284e-01 7.47259410e-02 -1.81707394e-01 2.85270870e+02] [-7.84704076e-02 9.96825090e-01 -1.34957099e-02 1.35396980e+02] [ 1.80122010e-01 2.74913221e-02 9.83260031e-01 3.16746850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.36589822699995 meters Centerline goodness : 0.145597 Centerline is valid? [False, False] Translation: X:285.27, Y:135.39, Z:3.17 [[ 9.80607494e-01 7.46558835e-02 -1.81205522e-01 2.85269493e+02] [-7.81969408e-02 9.96859979e-01 -1.24667486e-02 1.35391888e+02] [ 1.79705817e-01 2.63947045e-02 9.83366228e-01 3.16595884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.395898227 meters Centerline goodness : 0.147152 Centerline is valid? [False, False] Translation: X:285.25, Y:135.39, Z:3.16 [[ 9.81147262e-01 6.81558709e-02 -1.80844761e-01 2.85248343e+02] [-7.05279434e-02 9.97487227e-01 -6.71121358e-03 1.35386778e+02] [ 1.79932931e-01 1.93392979e-02 9.83488755e-01 3.15760618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.42589822699995 meters Centerline goodness : 0.153291 Centerline is valid? [False, False] Translation: X:285.25, Y:135.39, Z:3.16 [[ 9.81445087e-01 6.31723160e-02 -1.81038117e-01 2.85249016e+02] [-6.62496969e-02 9.97742482e-01 -1.09962270e-02 1.35387169e+02] [ 1.79934763e-01 2.27859133e-02 9.83414604e-01 3.15655949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.455898227 meters Centerline goodness : 0.148997 Centerline is valid? [False, False] Translation: X:285.25, Y:135.38, Z:3.16 [[ 9.81348309e-01 6.75595336e-02 -1.79975569e-01 2.85246254e+02] [-6.97276014e-02 9.97549554e-01 -5.74011893e-03 1.35381220e+02] [ 1.79146748e-01 1.81823207e-02 9.83654332e-01 3.15512565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.48589822699995 meters Centerline goodness : 0.149915 Centerline is valid? [False, False] Translation: X:285.25, Y:135.38, Z:3.16 [[ 9.81616867e-01 6.26007058e-02 -1.80303849e-01 2.85247013e+02] [-6.55856404e-02 9.97790265e-01 -1.06353583e-02 1.35384461e+02] [ 1.79239644e-01 2.22651905e-02 9.83553461e-01 3.15515873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.515898227 meters Centerline goodness : 0.088355 Centerline is valid? [False, False] Translation: X:285.24, Y:135.34, Z:3.17 [[ 9.81362362e-01 8.37632635e-02 -1.72949788e-01 2.85244338e+02] [-7.33791736e-02 9.95144476e-01 6.55970149e-02 1.35342105e+02] [ 1.77604646e-01 -5.16835290e-02 9.82743813e-01 3.16658722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.54589822699995 meters Centerline goodness : 0.089331 Centerline is valid? [False, False] Translation: X:285.23, Y:135.36, Z:3.16 [[ 9.81626353e-01 8.16312579e-02 -1.72470403e-01 2.85230888e+02] [-7.55829337e-02 9.96281341e-01 4.13607173e-02 1.35356304e+02] [ 1.75205372e-01 -2.75649511e-02 9.84145950e-01 3.15862825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.575898227 meters Centerline goodness : 0.088266 Centerline is valid? [False, False] Translation: X:285.20, Y:135.37, Z:3.14 [[ 9.82228224e-01 8.06009382e-02 -1.69502818e-01 2.85204936e+02] [-7.70545359e-02 9.96650080e-01 2.74083439e-02 1.35367623e+02] [ 1.71144135e-01 -1.38602880e-02 9.85148505e-01 3.14446407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.60589822699995 meters Centerline goodness : 0.088068 Centerline is valid? [False, False] Translation: X:285.21, Y:135.38, Z:3.14 [[ 9.82741936e-01 8.10126037e-02 -1.66298664e-01 2.85212699e+02] [-7.99990272e-02 9.96712811e-01 1.27956593e-02 1.35376060e+02] [ 1.66788619e-01 7.28900390e-04 9.85992406e-01 3.14040249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 11036.70 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%| | 0/13251 [00:00